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  5. Operation Manual

Loctite CARTESIAN 200 series Operation Manual

Summary of CARTESIAN 200 series

  • Page 1

    Equipment operation manual cartesian 200, 300, 400 and 500 series features ii variables/ commands/ functions thank you for purchasing the loctite® robot. *read this manual thoroughly in order to properly use this robot. Be sure to read “for your safety” before you use the robot. It will protect you ...

  • Page 2: For Your Safety

    For your safety safety precautions the precautions stated in this manual are provided for the customer to make the best use of this product safely, and to provide preventive measures against injury to the customer or damage to property. Be sure to follow the instructions various symbols are used in ...

  • Page 3: For Your Safety

    For your safety operators who are involved in the programming, inspection and/or maintenance of this robot must take the “special training course” for industrial robots specified in article 59 of the occupational health and safety law and relevant ministry ordinances. Do not leave the unit plugged i...

  • Page 4: For Your Safety

    For your safety check the mounting screws regularly so that they are always firmly tightened. Loose screws may cause injury or defect. Power the unit only with the rated voltage. Excessive voltage can cause fire or malfunction of the unit. Do not sprinkle water or oil on the unit, control box, or it...

  • Page 5: For Your Safety

    For your safety installation always use a safety barrier. A person entering the robot’s restricted area may be injured. At the entry/exit gate of the safety barrier, install an interlock that triggers an emergency stop when the gate is opened. Ensure there is no other way of entering the restricted ...

  • Page 6: For Your Safety

    For your safety confirm that the unit is properly grounded. Power supply earth should be connected complying with type d installation. (under 100 Ω of resistance.) insufficient grounding can cause electric shock, fire, or malfunction of the unit. Plug the power cord into the wall outlet firmly. Inco...

  • Page 7: For Your Safety

    For your safety be sure to confirm that all the air tubes are connected correctly and firmly. Use the robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation. Failure to do so may result in malfunction. Ip protection rating is “ip40.” use t...

  • Page 8: For Your Safety

    For your safety be sure to remove the eye bolt after installing the robot so that it does not hit the arm. Failure to do so may result in injury or breakdown of the unit. Warnings features ii cartesian benchtop robot vii.

  • Page 9: For Your Safety

    For your safety working environment when you lubricate or inspect the unit, unplug the power cord from the control box. Failure to do so may result in electric shock or injury. Be sure to shut off the power supply before removing the power cord from the control box. When going inside the safety barr...

  • Page 10: For Your Safety

    For your safety during operation when operations are taking place within the safety barrier, ensure no one enters the robot’s restricted area. If you must go inside the safety barrier, be certain to push the emergency stop switch and put a “do not operate” sign on the start switch. When starting the...

  • Page 11: For Your Safety

    For your safety cartesian series be sure to check grounding. Improper grounding can cause electric shock or fire. Be sure to use within the voltage range indicated on the unit. Failure to do so may cause electric shock or fire. Plug the power cord into the wall outlet firmly. Failure to do so can ca...

  • Page 12: For Your Safety

    For your safety use the machine indoors where no flammable or corrosive gas is present. Emission and accumulation of such gasses could lead to fire. Ip protection rating is “ip30.” (“ip40” for ce specification) be sure to unplug the power cord from the wall outlet if the robot will remain unused for...

  • Page 13: For Your Safety

    For your safety cautions be sure to check grounding. Improper grounding may cause malfunction or defect. Use the benchtop robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation. Failure to do so may result in malfunction. Ip protection rat...

  • Page 14: Preface

    Preface the loctite® benchtop robot cartesian series is a new low cost, high performance robot. We have succeeded in reducing price while maintaining functionality. Energy and space saving is made possible through the combined use of stepping motors and special micro step driving circuits. The locti...

  • Page 15

    Please be sure to follow the instructions described in these volumes. Proper use of the robot will ensure continued functionality and high performance. The contents described in this volume are based on the standard application. Menu items may vary depending on models. Be sure to shut off the power ...

  • Page 16: Contents

    Contents features ii for your safety ______________________________________________________________ i preface ____________________________________________________________________ xiii contents ____________________________________________________________________xv expression structure________________...

  • Page 17

    [ on/off output control ] ________________________________________________________ 28 outputting to i/o: set, reset, pulse, invpulse______________________________________ 28 outputting after x second: delayset, delayreset __________________________________ 31 sounding an alarm buzzer: onoffbz ______...

  • Page 18

    [ controlling tool movement ]______________________________________________________ 68 moving the z axis: upz, downz, movetoz________________________________________ 68 moving straight in cp drive: linemovespeed, linemovestopif_________________________ 70 executing mechanical initialization by a poi...

  • Page 19: Expression Structure

    Expression structure expression an expression is fixed numbers, variables, functions (both of string type and numeric type) and operators combined. Fixed number there are 2 types of fixed numbers, numeric type (e.G.: 125, 2.0,2e15) and string type (e.G.: "abc".) string type fixed numbers, characters...

  • Page 20

    Function function returns a converted value if values or strings are given. Both built-in functions, which are built-in as robot features, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. Whether t...

  • Page 21: Command List

    Command list if you assign point job data including one of the highlighted ( ) commands to a cp passing point, this command will be ignored. Point job commands categor y command parameters content set output destination on output reset output destination off output pulse output destination, pulse le...

  • Page 22

    Categor y command parameters content ld boolean variable or expression on input ldi boolean variable or expression off input and boolean variable or expression serial on input ani boolean variable or expression serial off input or boolean variable or expression parallel on input ori boolean variable...

  • Page 23

    Categor y command parameters content for control variable, initial value, end value, step value next - repeats commands from “for” to “next” until the specified variable changes from initial value to end value. Exitfor - exits “for” sentence. Do - loop - repeats commands from “do” to “loop.” for , d...

  • Page 24

    Categor y command parameters content outcom port, character string outputs a character string from the com. Eoutcom port, character string expression outputs the result of an expression from the com. Setwtcom port, wait time sets wait time (period for time out) for receiving from the com. Incom vari...

  • Page 25

    Execute condition categor y command parameters content ld boolean variable or expression on input ldi boolean variable or expression off input and boolean variable or expression serial on input ani boolean variable or expression serial off input or boolean variable or expression parallel on input or...

  • Page 26: Variable List

    Variable list built-in variables, which are built-in as robot functions, and user definition variables, which can be freely defined, can be used with this robot. User definition variables, except local variables (variables effective only in defined point job data which are defined by the “declear” c...

  • Page 27

    [variables] category type identifier description boo #seqt(1 to 99) set to 1 when #seqtcount reaches the given value or greater. Num #seqtcount (1 to 50): integrating timer #seqtcount (51 to 99): unintegrating timer one counter can count from 0.001 to 2,147,483,647 seconds. (0.001 sec increment) boo...

  • Page 28: Function List

    Function list built-in functions, which are built in as robot functions, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. (refer to the operation manual “features iv” for a description of the custo...

  • Page 29

    X, y: numeric value or numeric variable n, m: numeric value made a certain digit or greater by rounding or truncation a, b: string or string variable category type identifier description str chr(x) returns a string (1 character) with the given character code. Num ord(a) returns the top string code. ...

  • Page 30

    X, y: numeric value or numeric variable n, m: numeric value made a certain digit or greater by rounding or truncation a, b: string or string variable category type identifier description num val2sile(a) regards the top 2 characters as a 2 byte signed integer little endian and converts it. (2 byte si...

  • Page 31: [ Variables ]

    [ variables ] free variables: #mv, #mkv, #nv, #nkv, #sv, #skv a “variable” is a container into which a value is placed. This robot has the following variables which can be used freely. When using the following variables, variable declaration is unnecessary. Identifier #mv(1 to 99) boolean variable #...

  • Page 32

    Input variables:#sysin1 to 15, #genin1 to 18, #handin1 to 4 an input variable is a boolean variable that can be referenced only. A value cannot be written. The input variables correspond to the i/o-sys, i/o-1, and i/o-h input pins. When an on signal is received, the input variable becomes “1” (true)...

  • Page 33: Output Variables:

    Output variables: #sysout1 to 15, #genout1 to 18, #handout1 to 4 output variables are boolean variables. Output variables corresponds to the i/o-sys, i/o-1, and i/o-h output pins. When an on signal is output, the output variables become “1” (true). Identifier (js series) identifier (cartesian) categ...

  • Page 34

    Point job starting height : #jobstarthight when a value is assigned (let) to the variable “#jobstarthight” before movement or during movement, the point job starts from an assigned value above the set point z coordinate. Setting point job data that includes “#jobstarthight” at “point job” is meaning...

  • Page 35

    Pallet : #palletflag (1 to 100), #palletcount (1 to 100) #palletcount(1 to 100) is a numeric variable and #palletflag(1 to 100) is a boolean variable. These variables retain the value of the pallet counter and pallet flag of the “pallet routine” under additional function data (1 (true) when the pall...

  • Page 36

    Point job data set on p1 set #handout1 pick up workpiece. Point job data set on p2 if if ld #palletcount(3) = 5 or #palletcount(3) = 11 else reset #handout1 endif looppalette 3,1 #palletcount (3) is other than 5 (p2-5), 11 (p2-11), place (release) workpiece. Increase the pallet 3 counter by 1. If th...

  • Page 37

    Workpiece adjustment: #workadj_x, #workadj_y, #workadj_z, #workadj_r, #workadj_rotation numeric variables. These variables hold the adjustment amount and rotation adjustment amount of each axis of the [workpiece adjustment] under additional function data. Category identifier description workpiece ad...

  • Page 38

    Point job data set in p1 declear str hosei incom hosei,port1,10 #workadj_x(6) = hosei string type local variable “hosei” declaration. Receive workpiece adjustment from com1 at “hosei”. The “hosei” value is assigned to #workadj_x (6) (#workadj_x(6)=x direction adjustment amount of workpiece adjustmen...

  • Page 39: #point_R,#point_Tagcode

    Point coordinates: #point_x,#point_y,#point_z, #point_r,#point_tagcode these variables hold the coordinates and tag code value of the running point. “running point” is the point with point job data containing this variable set. When point job data containing this variable is set to a job before movi...

  • Page 40: Given Point Coordinates:

    Given point coordinates: #p_x, #p_y, #p_z, #p_r, #p_tagcode these variables hold the coordinates and tag code value of a given point in the current program. This variable holds the original coordinates of the point. This value does not change even when [workpiece adjustment] and “#jogstarthight” are...

  • Page 41: #prog_P_R, #prog_P_Tagcode

    Given point coordinates in given programs: #prog_p_x, #prog_p_y, #prog_p_z, #prog_p_r, #prog_p_tagcode these variables hold the coordinates and tag code value of a given point in a given program. This variable retains the original coordinates of the point. This value does not change even when [workp...

  • Page 42: [ Functions ]

    [ functions ] robot functions built-in functions, that are built-in as robot functions, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. (refer to operation manual “features iv” for a description o...

  • Page 43: Arithmetic Functions

    Arithmetic functions the following can be used as arithmetic built-in functions. X, y : numeric value n, m : rounded integer value category identifier description absolute value num abs(x) num max(x,y) maximum value num min(x,y) minimum value num degrad(x) conversion from degree to radian (x* π /180...

  • Page 44: String Functions

    String functions the following can be used as string built-in functions. X, y: numeric value or numeric variable n, m: numeric value made a certain digit or greater by rounding or truncation a, b: string or string variable type identifier description category str chr(x) returns a string (1 character...

  • Page 45

    X, y: numeric value or numeric variable n, m: numeric value made a certain digit or greater by rounding or truncation a, b: string or string variable category type identifier description num valbin(a) regards a string as a binary string (list of “0” and “1”) and converts it to a numeric value. Num v...

  • Page 46: [ On/off Output Control ]

    [ on/off output control ] outputting to i/o: set, reset, pulse, invpulse this section explains commands to be output to a tool (output to the i/o.) these commands belong to the category [on/off output control.] command category command parameter job set output destination on output to a specified ou...

  • Page 47

    Therefore, hand tool open ← #sysout15 off & #sysout16 on hand tool close ← #sysout15 on & #sysout16 off below are the output commands to open/close the hand tool. Set #sysout15 reset #sysout16 #sysout16 on output open hand tool. #sysout15 off output set #sysout15 reset #sysout16 #sysout16 on output ...

  • Page 48

    The commands [pulse] and [invpulse] move on to the next command before the pulse stops. In the following example 2 point job data have different results: pulse #genout1 100 pulse #genout2 200 set #genout3 set #genout1 delay 100 reset #genout1 set #genout2 delay 200 reset #genout2 set #genout3 ↓ ↓ #g...

  • Page 49

    Outputting after x second: delayset, delayreset the commands “delayset” and “delayreset” are used to output on/off signals to a specified output destination after a specified period of time. The delay time can be set from 0.001 sec to 9999.999 sec. Command category command parameter job delay time o...

  • Page 50

    Sounding an alarm buzzer: onoffbz a point job sounds an alarm buzzer. Command category command parameter job output destination (bz) set sounds an alarm buzzer. Reset output destination (bz) stops an alarm buzzer. On/off output control onoffbz on time, off time sounds an alarm buzzer off and on. If ...

  • Page 51

    Blinking the led (green): onoffgled the following commands are valid for the cartesian series only. The following explains how to turn on or blink the led light on the front body using point job commands. Command category command parameter job output destination (gled) set turns the led (green) on. ...

  • Page 52

    Blinking the led (red): onoffrled the following commands are valid for the cartesian series only. The following explains how to turn on or blink the led light on the front body using point job commands. Command category command parameter job output destination (rled) set turns the led (red) on. Rese...

  • Page 53

    Outputting values from i/o: dataout,dataoutbcd the optional numeric values “0 to 999,999,999” or tag codes can be output to the i/o or the boolean free variables (#mv(1~99), #mkv(1~99).) command category command parameter job output value output destination output width outputs values from the i/o. ...

  • Page 54

    [ if branch, wait condition ] if branch: if, then, else, endif this section explains point job data commands for executing different jobs according to certain conditions. These commands belong to the category [if branch, wait condition.] command category command parameter job if - if branch then - e...

  • Page 55

    Example 2: if #genin1 and #genin2 are both on, sound an alarm buzzer and stand by until a start instruction is received. If either #genin1 or #genin2 are not on, advance to the next job. Label 1 #genin1 #genin2 sound alarm and wait start the commands for example 2 are shown below. Label 1 if ld #gen...

  • Page 56

    Wait condition: waitcond,waitcondtime,timeup,endwait this section explains the point job data commands for waiting until the sensor (connected to #genin2) comes on. These commands belong to the category [wait condition.] command category command parameter job waitcondtime period for time out waits f...

  • Page 57

    [endwait] and [timeup] cannot be used alone. A period for time out of “waitcondtime” can be set using variable and expressions. Example) declear num wtime if ld #genin3 then wtime = 3000 else wtime = 1000 endif waitcondtime wtime ld #genin2 timeup set #genout2 waitstartbz reset #genout2 endwait decl...

  • Page 58: [ Condition ]

    [ condition ] condition settings: ld, ldi, and, ani, or, ori, anb, orb the following describes the condition commands placed after the if branch, wait condition (if, waitcond, waitcondtime) commans. The command category it belongs to is [condition.] command category command parameter job boolean var...

  • Page 59

    Ld: on input waitcond ld #genin2 endwait waits in place until the following condition is met. #genin2=on (condition) end of condition line ldi: off input waitcond ldi #genin2 endwait waits in place until the following condition is met. #genin2=off (condition) end of condition line and: series on inp...

  • Page 60

    Anb: block series connection waitcond waits in place until the following conditions are met. Ld count>=10 or flag count is 10 or greater or flag is on condition 1 ldi #genin1 ani #genin2 #genin1 is off and #genin2 is off condition 2 anb condition 1 is true and condition 2 is also true endwait end of...

  • Page 61: Time Delay: Delay

    [ delay, data in, wait start ] time delay: delay this section explains the point job data command for controlling time delay. Command category command parameter job delay, data in, stand by in place for a specified period of delay time. Delay delay time wait start the command “delay” is invalid at a...

  • Page 62

    Delay time can be set using variable or expression instead of values. Example) declear num wtime if ld #genin1 then wtime = 100 else wtime = 200 endif set #genout1 delay wtime reset #genout1 declare the local variable “wtime.” if #genin1=on then assign 100 to “wtime.” if not assign 200 to “wtime.” o...

  • Page 63

    Waiting for a start instruction: waitstart, waitstartbz this section explains the point job data commands to stop running until a start instruction is received. Command category command parameter job stands by in place until a start instruction is received. Waitstart - delay, data in, stands by in p...

  • Page 64

    If using “waitcondtime” “timeup” … “endwait” or “if” … ”endif”, command lines are indented. (see below.) waitcondtime 200 ld #genin2 timeup set genout2 if ld #genin1 then downz 20,20 waitcondtime 200 ld #genin4 timeup waitstartbz endwait endif endwait be sure not to exceed the 9 th level of the inde...

  • Page 65

    Inputting from i/o: datain, datainbcd read out a value from the i/o or boolean variable (#mv (1 to 99), #mkv (1 to 99)) and assign it to the specified variable. Command category command parameter job variable to assign to input destination input width read out numeric data from i/o. Datain delay, da...

  • Page 66: [ Pallet Control ]

    [ pallet control ] pallet command: looppallet, respallet, incpallet there are two methods for updating the pallet counter. One is [auto increment], which increases the counter automatically (the arm will proceed to the next position on the pallet), and the other is [increment by point job], which wi...

  • Page 67

    During the pallet operation [increment by point job], the tool unit can move as shown in the figure on the previous page. The tool unit returns to p1 before it moves to the next position each time. (p1 → p2 (p2-1) → p1 → p2-2 → p1 → p2-3, and so on.) below are the pallet commands used for [increment...

  • Page 68

    Below are the pallet commands for using the command “incpallet (increase the specified pallet counter by one)” instead of “looppallet.” reset #genout1 incpallet 10 if hold (pick up) the workpiece. Increase the counter of pallet 10 by one. Ld #palletflag(10) else gopoint ptp3,1 endif if the counter o...

  • Page 69: [ Execution Flow Control ]

    [ execution flow control ] subroutine call of type setting job: callbase when a point job, etc. Is set at a user definition type point created in the customizing mode, the point job, etc. Added to the type is not executed. Also, when an additional function is set at user definition type, and a funct...

  • Page 70

    In these cases, when the “callbase” command is used in the point job data set at a user definition type point, a subroutine of the point job, etc. Added to the type can be called. When the “callbase” command is used in point job data 7 of the example, a subroutine of the command string for the “poin...

  • Page 71

    Subroutine call of point job data: calljob while a point job is running, different point job data can be called and executed. The point job data is reduced and easier to read if error operation and other parts common to multiple point jobs are made into one point job data and used by calling it from...

  • Page 72

    When the point job data called by “calljob” command contains a “calljob” command, and the nest level exceeds 10, an error (no. 42) is generated. ( ↓ example of nest level 2) (command execution flow) calljob calljob nest level 1 nest level 2 point job data number can also be given by expression. Exam...

  • Page 73: End of Point Job: Returnjob

    End of point job: returnjob when there are complex conditions and operations that correspond to them and there are no more operations in the point job, the point job can be ended by “returnjob” command. Command category command parameters job returnjob ends a point job. Execution flow control e.G.) ...

  • Page 74

    Subroutine call of program: callprog the following explains how to call and execute other programs while running a point job. Command category command parameter job call a subroutine of a program specified by number. Callprog program number execute flow control the command is invalid at the cp passi...

  • Page 75

    Also, program number can be set using expressions. Example) declear num eprg waitcondtime 200 ld #genin1 timeup if ld #genin2 then eprg = 9 else eprg = 10 endif callprog eprg endwait declare the local variable “eprg.” wait for 0.2 sec until the following condition is met. #genin1=on (condition) if t...

  • Page 76

    Example: the subprogram is set to [absolute.] the tool unit runs on the coordinates of the point data regardless of the position of the called point. It executes the point job at the start in the work home (in the subprogram) at the current point (called point) and then shifts to p1 (sp1.) sp1 sp2 s...

  • Page 77

    If you run the program as a subprogram, the tool unit will not return to the work home. If the program is set to “relative” or “moving amount”, the tool unit will also not return to the work home. The tool unit returns to the work home only when the program is set to “absolute” and executed independ...

  • Page 78: Calling Points: Callpoints

    Calling points: callpoints call a point string (defined in customizing mode) with identifier to execute it. Command category command parameter job calls a subroutine of the specified point string. Callpoints point string identifier execute flow control the command “callpoints” is invalid at the cp p...

  • Page 79: Ending A Program: Endprog

    Ending a program: endprog the following explains how to end a program (running the operation) at the current point. The arm will not return to the work home position. Command category command parameter job endprog - ends program run at the current point. Execute flow control the command “endprog” is...

  • Page 80

    Assigning the returned value of a function: returnfunc assign a value of the specified expression as a returned value and end the function. Command category command parameter job assigns a value of the specified expression as a returned value and end the function. Returnfunc expression execute flow ...

  • Page 81: Gopoint, Gorpoint, Gocrpoint

    Jumping to a specified point: gopoint, gorpoint, gocrpoint the following explains how to jump to a specified point after carring out a point job instead of going to the next point. Command category command parameter job ptp condition number, jumps to a specified point. Gopoint point number gorpoint ...

  • Page 82

    [gopoint ptp3,25]: jump to point 25. (comply with ptp condition 03.) if you set “0” as the ptp condition number, the movement will comply with the ptp conditions setting in the program data. If you set “o” as the point number, the arm will go to the work home position. (jump to a point specified by ...

  • Page 83

    Jumping to a specified command line: jump, label command category command parameter job jump label number jumps to a “label” specified by number. Execute flow control label label number destination mark to “jump” to. Example: if #genin2 is on, the alarm buzzer sounds and stands by until a start sign...

  • Page 84: [ For, Do-Loop ]

    [ for, do-loop ] for, do-loop : for, next, exitfor, do, loop, exitdo command category command parameter job control variable, initial value, for end value, step value repeats commands from “for” to “next” until the specified variable changes from initial value to end value. Next - exitfor - exits fr...

  • Page 85

    Parameters (the initial value, end value and step value) of the command “for” can be set using variables or expressions. Declear num loop declear num ival if ld #genin1 then loop = 5 else loop = 10 endif for ival=1 to loop step 1 (contents of repetition) next declare the local variable “loop.” decla...

  • Page 86

    [ controlling tool movement ] moving the z axis: upz, downz, movetoz the following explains how to raise/lower the z axis only by setting a point job. These commands belong to the category [move.] parameter job command category command raises only the z axis by the specified distance. Distance, spee...

  • Page 87

    The distance or speed can be set using variable or expressions. Waitcond ld #genin2 endwait downz #p_z(1)-#point_z,20 wait in place until the following conditions are met. #genin2=on (condition) end of conditions lower or raise only the z axis at the speed of 20 mm/sec by a distance calculated by de...

  • Page 88

    Moving straight in cp drive: linemovespeed, linemovestopif the following explains how to move straight in cp drive using point job data commands. The speed of cp drive and the moving amount of each axis coordinates can be set. You also can end shifting by setting conditions. Command category command...

  • Page 89

    Stopping the arm shift due to setting conditions while running. Linemovespeed 3 x:20 y:0 z:0 r:0 linemovestopif ld #sysin1 endlinemove calljob11 if #sysin1 comes on, the tool unit stops shifting and goes the next command (calljob11) even before the movement in the z direction does not reach +20. In ...

  • Page 90

    Executing mechanical initialization by a point job: initmec the following commands are valid for the cartesian series only. The following explains how to execute mechanical initialization (executed when the power of the robot is turned on) using point job commands. Even if a position error occurs, t...

  • Page 91

    Position error detection: checkpos the following commands are valid for the cartesian series only. The following explains how to detect a position error using a point job command. If the checkpos command is executed, the tool unit goes to the absolute coordinates (x:0, y:0, z:0, r:0) regardless of w...

  • Page 92: [ Lcd, 7Sled ]

    [ lcd, 7sled ] displaying the specified strings on the teaching pendant: clrlcd, clrlinelcd, outlcd, eoutlcd the following explains how to display/ not display entered items on the teaching pendant lcd. Command category command parameter job clrlcd none clears the lcd display. Clears only the specif...

  • Page 93: Sys7Sled, Out7Sled

    Displaying arbitrary numbers on the 7sled: sys7sled, out7sled the following commands are valid for the cartesian series only. The following explains how to display arbitrary numbers on the 7sled on the front body using “out7sled” command. When executing “sys7sled” command or switching programs, the ...

  • Page 94: [ Com Input/output ]

    [ com input/output ] com input/output: outcom, eoutcom, setcom, cmpcom, ecmpcom, clrcom, shiftcom data can be output or input from the com. Command category command parameter job outcom port, character string outputs a character string from the com. Outputs the result of an expression from the com. ...

  • Page 95

    Com input: incom a specified number of characters out of data received from the com is assigned to a variable. If received data exceeds the specified number of characters, characters counted from the top by the specified number are assigned. If received data is less than the specified number of char...

  • Page 96

    Cmpcom(1) specified receive character buffer xth character : xth character wait time for reciving * x = x+1 x: specified number of character turns sysflag(3) on. Turns sysflag(5) on. >: turns sysflag(2) on. = > ≤ go to the next command ≠ received time out x = 1 if point job data including this recei...

  • Page 97

    Setting wait time for receiving data from the com: setwtcom you can set wait time for receiving data using “incom” or “cmpcom” command. If no data is received after a specified time goes by, it will be recognized as time out. (turns a system flag on.) 0.1 sec is set for the defalt wait time. Clearin...

  • Page 98

    Pc communication: stoppc, startpc stopping/starting com1 communication stoppc, startpc com1 is normally used to communicate with the pc. If you use com1 not to communicate with pc (for sending/receiving c&t data) but to connect to devices to control the robot by point job commands, it is necessary t...

  • Page 99

    [ variables, comments, system control ] declaration and assignment of variable: declear, let a variable that is valid only in point job data containing a declaration command and a user function (customizing mode) is known as a “local variable”. A local variable sets the type and identifier at declar...

  • Page 100

    Both of the following point job data use the local variable “count”, but since a local variable is a function which is valid only in point job data containing a declaration command, they do not interfere. For example, 0 is assigned to “count” at point job data 24, but the value of “count” used by po...

  • Page 101: Comment Insertion: Rem,crem

    Comment insertion: rem,crem comments can be added to point job data and sequencer program commands. Command category command parameters job rem string 1 line comment variable, comment, system control crem string comment in the end of a command line e.G.) if ld #genin1 rem #genin1 obstruction sensor ...

  • Page 102

    Changing a program number using point job: setprogno the program number being selected can be changed by the point job. It is available in the following cases. If you set a program number by the point job after the power is turned on, the same program number will always be activated when the power i...

  • Page 103: Setseqno

    Changing a sequencer program using point job: setseqno the sequencer number being selected can be changed using the point job. However, a complicated command cannot be created because the number of commands for sequencer program is 100 steps maximum. Therefore, you need to create some sequencer prog...

  • Page 104

    Warranty henkel corporation warrants, to the original buyer for a period of one (1) year from date of delivery, that the loctite® equipment or system sold by it is free from defects in material and workmanship. Henkel will, at its option, replace or repair said defective parts. This warranty is subj...

  • Page 105

    Henkel’s warranty herein is in lieu of and excludes all other warranties of henkel and its affiliated and related companies (hereinafter the “seller companies”), express, implied, statutory, or otherwise created under applicable law including, but not limited to, any warranty or merchantability and/...

  • Page 106

    The specifications of the robot or the contents of this manual may be modified without prior notice to improve its quality. No part of this manual may be reproduced in any form, including photocopying, reprinting, or translation to another language, without the prior written consent of loctite®. ©20...