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Copyright © DENSO WAVE INCORPORATED, 2002
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- PROGRAMMER’S MANUAL I 1
- PROGRAM DESIGN AND COMMANDS 1
- (Ver. 1.95) 1
- Important 3
- How this book is organized 5
- PART 2 COMMAND REFERENCE 6
- 1. Introduction 8
- 2. Installation Precautions 8
- 2.8 Setting-up the safety 10
- 2.9 Positioning of rope or 10
- SAFETY PRECAUTIONS 11
- 3. Precautions 12
- 4. Daily and periodical 15
- 5. Management of 15
- CONTENTS 17
- Disables the gravity offset 39
- ST_SetCompFControl 40
- ST_ResetCompVMode 40
- VISREFCAL 48
- PROGRAM DESIGN 49
- Chapter 1 51
- Sample Program 51
- 1.1 Model Case Application 53
- 1.2 Program Flow 54
- 1.3 Program List 55
- Chapter 1 Sample Program 57
- Program coding list “PRO2” 58
- Chapter 2 61
- Program Flow 61
- Chapter 2 Program Flow 63
- 2.1.1 Calling a Subroutine 64
- 2.1.2 Calling a Program 65
- 2.1.3 Program Recursive Call 66
- 2.2 Running a Program 67
- 2.3 Multitasking 68
- 2.3.2.2 I/O 69
- 2.4 Serial Communication 70
- 2.4.4 Sample Application 71
- 2.5 Library 76
- 2.5.2 Palletizing Library 77
- [ 1 ] Palletizing Parameter 78
- [ 3 ] Palletizing Counter 82
- Count Rule 82
- 2.5.2.2 Palletizing Program 84
- Chapter 3 89
- Robot Motion 89
- 3.1.1 Absolute Motion 91
- 3.1.2 Relative Motion 91
- MOVEMENT1 motion 92
- MOVEMENT2 motion 92
- 3.2.1 Pass Motion 93
- 3.2.2 End Motion 93
- Pass motion 94
- End motion 94
- Encoder value check motion 94
- Servo deviation 94
- Same pass motion path unde 98
- Chapter 3 Robot Motion 101
- 3.3 Interpolation Control 102
- 3.3.2 CP Control 103
- Motion Instruction 104
- Chapter 4 113
- Speed, Acceleration 113
- Designation 113
- 4.2 Speed Designation 115
- Internal Deceleration 115
- Acceleration 116
- 4.6.1 Control Set 0 119
- Positioning time 121
- Motion range (deg.) 121
- 4.6.2 Control Set 1 122
- 4.6.3 Control Set 2 123
- 4.6.4 Control Set 3 124
- 4.6.6 Notes for Setting 125
- User Preferences 126
- [F6 Aux.] 131
- [F7 Config.] 131
- 4.8 Safety Features 137
- Chapter 5 139
- Vision Control 139
- 5.1 Vision Control 141
- [ 1 ] Area 142
- [ 2 ] Center of Gravity 142
- Window Object 143
- Major axis 143
- Minor axis 143
- 5.1.1.5 Binarization 144
- Number of pixels 145
- 5.1.1.7 Edge 147
- 5.1.1.8 Labeling 148
- Search model Window 149
- Search model 149
- Image data 149
- COMMAND REFERENCE 151
- Chapter 6 153
- Guide to Command 153
- Reference 153
- Explanations 155
- 6.2 Command List 156
- Chapter 7 157
- PAC Language 157
- Configuration 157
- Elements 157
- 7.1 New Robot Language PAC 159
- 7.3 Language Element 161
- 7.4 Name 161
- 7.5 Identifier 162
- [ 1 ] Global Variable 163
- [ 2 ] Local Variable 165
- 7.5.2 Function 166
- 7.5.3 Label 166
- 7.5.4 Program 167
- 7.6 Data Type 168
- 7.7 Data Type Conversion 169
- 7.8 Constant 170
- 7.8.3 Vector Type Constant 172
- 7.8.4 Pose Constant 172
- [ 2 ] Joint Type Constant 173
- 7.9 Expression and Operator 174
- 7.9.3 Relational Operator 175
- 7.9.4 Logical Operator 176
- 7.9.6 Vector Operation 177
- 7.9.7 Position Operation 177
- 7.9.8 Joint Operation 178
- Chapter 8 181
- 8.1 Statement and Line 183
- 8.3 Label 185
- 8.4 Character Set 186
- 8.5 Reserved Word 187
- 8.6 Declaration Statement 188
- 'postposition is used 189
- [ 3 ] Array Declaration 190
- 8.7 Assignment Statement 192
- Command Example 194
- 8.8 Flow Control Statement 195
- 8.8.4 Repeat 196
- *SUBROUTINE: 197
- [ 2 ] Program 198
- 8.9 Robot Control Statement 199
- 8.9.4 Time Control Statement 200
- 8.12 Time and Date Control 203
- 8.13 Error Control 204
- 8.14 System Information 205
- 8.15 Preprocessor 206
- 8.16.1 Calling with a Value 207
- 8.17 Vision Control 209
- 8.17.3 Draw 210
- 8.17.4 Image Processing 210
- 8.17.5 Code Recognition 211
- 8.17.6 Labeling 211
- 8.17.7 Search Function 211
- 8.17.8 Result Obtaining 212
- 8.17.9 Vision Calibration 212
- Chapter 9 213
- Declaration 213
- Statements 213
- 9.1 Program Name 215
- AREA (Statement ) 216
- Related Terms 217
- 9.3 User Function 218
- 9.4 Home Coordinates 219
- 9.5 Tool Coordinates 220
- 9.6 Work Coordinates 221
- 9.7 Local Variable 222
- DEFSNG (Statement) 223
- DEFDBL (Statement) 224
- DEFSTR (Statement) 225
- DEFVEC (Statement) 226
- DEFPOS (Statement) 227
- DEFJNT (Statement) 228
- DEFTRN (Statement) 229
- 9.8 Array 231
- Chapter 10 233
- Assignment 233
- 10.1 Variables 235
- 10.2 Vector 236
- LETO (Statement) 237
- LETP (Statement) 238
- 10.3 Figure 239
- 10.4 Link Angle 240
- 10.5 Posture 241
- 10.6 Rotation Component 242
- LETRY (Statement) 243
- LETRZ (Statement) 244
- LETT (Statement) 245
- 10.7 Axis Component 246
- DEFPOS lp1, lp2 247
- DEFVEC lv1, lv2 247
- Function 248
- Explanation 248
- Chapter 11 249
- Flow Control 249
- 11.1 Program Stop 251
- STOPEND (Statement) 253
- 11.2 Call 254
- 11.3 Repeat 259
- EXIT DO (Statement) 261
- EXIT FOR (Statement) 264
- REPEAT-UNTIL (Statement) 265
- WHILE-WEND (Statement) 266
- 11.4 Conditional Branch 267
- SELECT CASE (Statement) 269
- 11.5 Unconditional Branch 271
- 11.6 Comment 273
- Chapter 12 275
- Robot Control 275
- 12.1 Motion Control 277
- DEPART (Statement) 280
- DRAW (Statement) 283
- DRIVEA (Statement) 287
- for the specified 288
- ROTATEH (Statement) 298
- CURJNT (System Variable) 300
- 'lp1 302
- 'lp2 302
- CUREXJ (Statement) 303
- DESTJNT (System Variable) 304
- DESTPOS (System Variable) 305
- DESTTRN (System Variable) 306
- DESTEXJ (Statement) 307
- POSCLR (Statement) 310
- 12.2 Figure Control 311
- FIGAPRL (Function) 313
- FIGAPRP (Function) 315
- 12.3 Stop Control 316
- INTERRUPT ON/OFF (Statement) 318
- 12.4 Speed Control 320
- JSPEED (Statement) 322
- JACCEL 25 (JSPEED*JSPEED÷100) 323
- JDECEL 25 (JSPEED*JSPEED÷100) 323
- CURACC (System Variable) 327
- CURJACC (System Variable) 328
- CURDEC (System Variable) 329
- CURJDEC (System Variable) 330
- CURJSPD (System Variable) 331
- CURSPD (System Variable) 332
- CUREXTACC 333
- ACCEL, DECEL, CUREXTDEC 333
- CUREXTSPD 335
- 12.5 Time Control 336
- CHANGETOOL (Statement) 338
- CHANGEWORK (Statement) 339
- WORK, CHANGEWORK, WORKPOS 341
- 12.7 Interference Check 342
- RESETAREA (Statement) 343
- 12.8 Supervisor Task 344
- 12.9 Internal Servo Data 345
- 12.10 Particular Control 347
- Internal payload condition 348
- External payload condition 348
- Chapter 13 381
- Input/Output 381
- Control Statements 381
- 13.1 I/O Port 383
- Sets an I/O port to OFF 389
- RESET <I/O variable> 389
- SET, DEFIO 389
- (Server/Client) Port 390
- LINEINPUT (Statement) 391
- WRITE (Statement) 393
- FLUSH (Statement) 394
- (RS232C and Ethernet ports) 395
- (Version 1.5 or later) 396
- 13.4 Pendant 402
- PRINTDBG (Statement) 403
- BUZZER (Statement) 404
- PRINTLBL (Statement) 405
- TP operation screen sample 408
- <Parameter 410
- Type> 410
- Page caption example 415
- Chapter 14 423
- Multitasking 423
- 14.1 Task Control 425
- KILL (Statement) 426
- SUSPEND (Statement) 427
- DEFEND (Statement) 428
- STATUS (Function) 429
- 14.2 Semaphore 430
- CREATESEM (Function) 431
- DELETESEM (Statement) 434
- FLUSHSEM (Statement) 435
- GIVESEM (Statement) 436
- TAKESEM (Statement) 437
- 14.3 Arm Semaphore 438
- (2) extended-joints 439
- GIVEARM (Statement) 443
- TAKEVIS (Statement) 444
- GIVEVIS (Statement) 445
- Chapter 15 447
- Functions 447
- 15.1 Arithmetic Function 449
- Chapter 15 Functions 451
- DEFSNG lf1, lf2, lf3, lf4 453
- DEFSNG lf1, lf2 454
- DEFINT li1, li2 454
- RND (Function) 457
- SGN (Function) 458
- 15.2 Trigonometric Function 460
- (Function) [Conforms to SLIM] 461
- 'lf5 to lf3 465
- 15.3 Angle Conversion 467
- RAD (Function) 468
- 15.4 Speed Conversion 470
- 15.5 Time Function 471
- 15.6 Vector 472
- OVEC (Function) 473
- PVEC (Function) 474
- MAGNITUDE (Function) 475
- J2P (Function) 476
- J2T (Function) 477
- P2J (Function) 478
- P2T (Function) 479
- T2J (Function) 480
- T2P (Function) 481
- TINV (Function) 482
- 15.8 Distance Extraction 483
- 15.9 Figure Component 484
- 15.10 Angle Component 485
- 15.11 Axis Component 486
- 15.12 Rotation Component 489
- POSRY (Function) 490
- POSRZ (Function) 491
- POST (Function) 492
- 15.13 Figure Component 493
- 15.14 Position Function 494
- AREASIZE (Function) 495
- TOOLPOS (Function) 496
- WORKPOS (Function) 497
- ASC (Function) 498
- DIM li1 As Integer 499
- DEFSTR ls1, ls2 499
- SPRINTF$ (Function) 501
- Chapter 16 513
- Constants 513
- 16.1 Built-in Constants 515
- ON (Built-in constant) 516
- PI (Built-in constant) 517
- FALSE (Built-in constant) 518
- TRUE (Built-in constant) 519
- Chapter 17 521
- Time/Date Control 521
- 17.1 Time/Date 523
- DEFINT li1, li2, li3 525
- Chapter 18 527
- Error Controls 527
- 18.1 Error Information 529
- ERR (System Variable) 530
- ERRMSG$ (Function) 531
- 18.2 Error Interruption 532
- RESUME (Statement) 533
- Chapter 19 535
- System Information 535
- 19.1 System 537
- LETENV (Statement) 538
- VER$ (Function) 539
- 19.2 Log 540
- CLEARLOG (Statement) 541
- STOPLOG (Statement) 542
- Chapter 20 543
- Preprocessor 543
- (Preprocessor Statement) 545
- (Preprocessor Statement) 546
- 20.2 File Fetch 548
- 20.3 Optimization 549
- Chapter 21 551
- (Option) 551
- 21.3 Image Input and Output 555
- CAMMODE (Statement) 556
- CAMLEVEL (Statement) 558
- VISCAMOUT (Statement) 559
- VISPLNOUT (Statement) 560
- VISOVERLAY (Statement) 561
- VISDEFTABLE (Statement) 563
- VISREFTABLE (Function) 565
- 21.4 Window Setting 566
- (End X coordinate 567
- WINDCLR (Statement) 571
- WINDCOPY (Statement) 572
- WINDREF (Function) 574
- WINDDISP (Statement) 575
- 21.5 Draw 576
- VISBRIGHT (Statement) 578
- VISCLS (Statement) 579
- ( X coordinate, Y coordinate) 581
- VISLINE (Statement) 582
- VISPTP (Statement) 583
- VISRECT (Statement) 584
- (X coordinate, Y coordinate) 585
- VISELLIPSE (Statement) 586
- VISSECT (Statement) 587
- VISCROSS (Statement) 588
- VISLOC (Statement) 589
- VISDEFCHAR (Statement) 591
- VISPRINT (Statement) 592
- 21.6 Vision Processing 593
- (X coordinate 594
- Y coordinate) 594
- VISHIST (Statement) 595
- VISREFHIST (Function) 596
- VISLEVEL (Function) 597
- VISBINA (Statement) 599
- VISBINAR (Statement) 601
- VISFILTER (Statement) 602
- VISMASK (Statement) 604
- VISCOPY (Statement) 606
- VISMEASURE (Statement) 607
- VISPROJ (Statement) 610
- VISEDGE (Statement) 612
- 21.7 Code Recognition 616
- 21.8 Labeling 619
- Center of gravity coordinate 619
- Filet dia. width 619
- Filet dia. height 619
- Filet dia. reference point 619
- Main axis angle 622
- Peripheral length 622
- Label number 2 624
- Label number 0 624
- Label number 1 624
- Label number 3 624
- Label number2 626
- Label number3 626
- SHDEFMODEL (Statement) 628
- SHREFMODEL (Statement) 630
- SHCOPYMODEL (Statement) 631
- SHCLRMODEL (Statement) 632
- SHDISPMODEL (Statement) 633
- SHMODEL (Statement) 634
- Pad height 638
- Clearance 638
- Corner position 638
- SHCORNER (Statement) 639
- Pad width 641
- SHCIRCLE (Statement) 642
- 21.10 Obtaining Results 645
- VISGETSTR (Function) 646
- VISPOSX (Function) 647
- VISPOSY (Function) 648
- VISSTATUS (Function) 649
- VISREFCAL (Function) 650
- Chapter 22 651
- Appendices 651
- 22.1 Character Code Table 653
- [ 1 ] Available 32 Figures 654
- Chapter 22 Appendices 655
- (1) Shoulder figure 655
- (2) Elbow figure 655
- (3) Wrist figure 656
- (4) 6th-axis figure 656
- (5) 4th-axis figure 657
- Figure 7. Location of Pw 660
- ≤180° around 664
- 22.4 Configuration List 666
- (Tool end 672
- speed in CP motion) 672
- 199 Arc interpolation 672
- 22.5 Reserved Word List 673
- Correspondence Table (VS) 675
- 22.8 Setting Parameter Table 681
- Index 685
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