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9-1
9
OPERATING THE ROBOT
Chapter 9 OPERATING THE ROBOT
This chapter describes how to actually operate the robot. If the program has already been completed, you will be
able to operate the robot by the time you finish reading this chapter.
There are two types of robot operation: step and automatic. In step operation, the program is executed one step at a
time, with a step being carried out each time the RUN key on the TPB is pressed. This is used when you want to
check the program as it is being carried out. In automatic operation, the entire program is executed without stop-
ping, from beginning to end.
This chapter also covers how to initiate and recover from an emergency stop.
- User’s Manual 1
- General Contents 3
- Chapter 1 OVERVIEW 9
- OVERVIEW 10
- 1-2 Setting Up for Operation 11
- 1-3-1 SRCP controller 12
- 1-3-2 TPB 15
- 1-4 System Configuration 16
- 1-5 Accessories and Options 17
- INSTALLATION AND CONNECTION 19
- 2-1-1 Installation method 20
- 2-1-2 Installation location 20
- 2-2-1 Power supply 21
- 22
- 2-3 Grounding 23
- 2-5 Connecting to the Robot 24
- Use the interconnection 27
- Chapter 3 I/O INTERFACE 29
- 3-1 I/O Signals 30
- 3-2 Input Signal Description 31
- I/O INTERFACE 32
- 3-2-4 Interlock (LOCK) 35
- 3-3 Output Signal Description 36
- 3-4 I/O Circuits 38
- 3-5 I/O Connection Diagram 40
- 3-6 I/O Control Timing Charts 42
- 3-6-5 When alarm is issued 47
- BASIC OPERATION OF THE TPB 49
- 1EDIT2OPRT3SYS 4MON 50
- 4-2 Basic Key Operation 52
- 4-3 Reading the Screen 53
- 4-3-4 DIO monitor screen 54
- Chapter 5 PARAMETERS 59
- 5-1 Setting the Parameters 60
- 5-2 Parameter Description 61
- PARAMETERS 62
- Chapter 6 PROGRAMMING 75
- 6-1 Basic Contents 76
- 6-2 Editing Programs 77
- PROGRAMMING 78
- 6-2-2 Creating a new program 80
- 6-2-3 Adding a step 81
- 6-2-4 Correcting a step 83
- 6-2-5 Inserting a step 84
- 6-2-6 Deleting a step 85
- 6-3 Program Utility 86
- 6-3-2 Deleting a program 87
- Chapter 7 EDITING POINT DATA 89
- 7-1 Manual Data Input 90
- 7-2 Teaching Playback 91
- EDITING POINT DATA 92
- 7-3 Direct Teaching 93
- 7-6 Deleting Point Data 97
- Chapter 8 ROBOT LANGUAGE 99
- 8-1 Robot Language Table 100
- ROBOT LANGUAGE 101
- 8-2-2 Variables 102
- 8-3 Program Function 103
- 8-4-1 MOVA 104
- 8-4-2 MOVI 104
- 8-4-4 JMP 105
- 8-4-3 MOVF 105
- 8-4-5 JMPF 106
- 8-4-6 JMPB 107
- 8-4-8 CALL 108
- 8-4-9 DO 108
- 8-4-11 TIMR 109
- 8-4-19 TOFF 113
- 8-4-23 MOVM 117
- 8-5 Sample Programs 122
- Chapter 9 OPERATING THE ROBOT 133
- OPERATING THE ROBOT 134
- 9-5 Emergency Stop Function 142
- 9-7 Displaying the Variables 145
- Chapter 10 OTHER OPERATIONS 147
- 10-1 Initialization 148
- 10-2 DIO Monitor Display 150
- OTHER OPERATIONS 151
- 10-4 SERVICE mode function 152
- [SYS-SAFE-SVCE-SET] 156
- SERVICE mode = 1 156
- 0:Invalid 1:Valid 156
- 10-5 System utilities 159
- 10-6 Using a Memory Card 160
- Formatting a memory card 164
- COMMUNICATION WITH PC 177
- 2. Data handling 182
- Robot movements 184
- Data handling 193
- Utilities 205
- Chapter 12 MESSAGE TABLES 209
- 12-1 Error Messages 210
- MESSAGE TABLES 211
- Operation error message 211
- Program error message 212
- System error message 213
- Multi-task error message 213
- 12-2 TPB Error Messages 214
- 12-3 Stop Messages 215
- Chapter 13 TROUBLESHOOTING 219
- 13-1 If A Trouble Occurs 220
- TROUBLESHOOTING 221
- Alarm specifications 221
- Alarm message list 222
- If this occurs 226
- Relating to the I/O 227
- MAINTENANCE AND WARRANTY 231
- 14-1 Warranty 232
- 14-3 Updating the System 234
- Chapter 15 SPECIFICATIONS 235
- 15-1 SRCP sereis 236
- SPECIFICATIONS 237
- Robot number list 237
- LED display 237
- 15-2 TPB 238
- Basic specifications 239
- Dimensions 239
- Chapter 16 APPENDIX 241
- 16-1 How to Handle Options 242
- APPENDIX 243
- POPCOM communication cable 244
- User's Manual 246
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