MITSUBISHI

Mitsubishi Industrial Robot

RV-EN MOVEMASTER SUPER

Reference Manual

BFP-A5824-C
■ Revision history
Date of print Specifications No. Details of revisions

1998-01 BFP-A5824-B Up date.

Correct the wrong letters.
etc.

1999-08 BFP-A5824-C Correct the wrong letters.

■ Introduction

Thank you for purchasing the Mitsubishi Industrial Robot "EN series".
This Reference Manual describes methods for installing the options, the methods for operating the MELFA-
BASICIII and Movemaster commands, and other matters not described in the User's Manual, such as explanations
of the commands. Always read this manual and thoroughly understand the contents before starting use of the
robot.
・ Reproduction of this manual in part or whole without the consent of Mitsubishi Electric is prohibited.

・ We reserve the right to make changes to this manual without notice.

・ Although we have done our at most to ensure the accuracy of this manual, if you notice any errors,
questionable items, or missing information, please contact the sales outlet where you purchased your
unit or the company's MELFA Telephone Center. The telephone numbers for the MELFA Telephone Cen-
ters can be found in the appendix of this manual.

Copyright(C) 1997 MITSUBISHI ELECTRIC CORPORATION

 Contents
Page
1 Operations .................................................................................................................................................... 1
1.1 Preliminary preparations before operating ............................................................................................. 1
1.1.1 Outline of a program from the written stage to the execution stage ................................................. 1
1.1.2 Characteristics and functions of system components .............................................................................. 2
1.2 Basic operations of the system components ........................................................................................ 3
1.2.1 How to operate the controller ............................................................................................................................. 3
1.2.2 Functions of the connectors on the back panel .......................................................................................... 5
1.2.3 Simple alphabet display ........................................................................................................................................... 6
1.2.4 Exection ......................................................................................................................................................................... 7
1. Selecting the program ......................................................................................................................................... 7
2. Startup and restarting ......................................................................................................................................... 7
3. Stop ............................................................................................................................................................................. 7
4. Resetting a program ............................................................................................................................................. 8
1.2.5 Resetting the alarm .................................................................................................................................................. 8
1.3 How to operate the teaching box ............................................................................................................... 9
1.3.1 Categories of teaching box keys ......................................................................................................................... 9
1.3.2 Jog .................................................................................................................................................................................15
1. Jog mode.................................................................................................................................................................15
2. Jog speed................................................................................................................................................................15
3. Joint jog operation ..............................................................................................................................................16
4. XYZ jog operation................................................................................................................................................17
5. Tool jog operation................................................................................................................................................18
6. Opening and closing the hand ........................................................................................................................19
1.3.3 Operation of the Menu screen ...........................................................................................................................20
1. Screen tree ............................................................................................................................................................20
2. How to select a menu........................................................................................................................................21
1.3.4 Programming ..............................................................................................................................................................22
1.3.4.1 Programming with the teaching playback method .............................................................................23
1. Adding steps ..........................................................................................................................................................24
2. Replacing step data ............................................................................................................................................27
3. Deleting steps .......................................................................................................................................................29
4. Setting the interpolation method ..................................................................................................................31
5. Setting the speed ................................................................................................................................................32
6. Setting the timer..................................................................................................................................................34
7. Setting and displaying the I/O signals ........................................................................................................36
8. Manual Data Input (MDI)...................................................................................................................................38
1.3.4.2 Programming with the MELFA-BASIC III method..............................................................................39
1. Creating programs ...............................................................................................................................................40
2. Revising the program .........................................................................................................................................43
3. Entering current position data .......................................................................................................................46
4. Confirming the position number ....................................................................................................................47
5. Revising the data for the current position................................................................................................48
6. Manual Data Input (MDI)...................................................................................................................................49
7. Deleting a position number ..............................................................................................................................50
1.3.4.3 Programming with the Movemaster command method....................................................................51
1. Creating programs ...............................................................................................................................................52
2. Revising the program .........................................................................................................................................54
3. Registering the current position data .........................................................................................................57
4. Confirming the position number ....................................................................................................................57
5. Compensating the current position data. ..................................................................................................57
6. MDI (Manual Data Input) compensation .....................................................................................................57
7. Deleting the position number..........................................................................................................................57
1.3.5 Debugging programs ...............................................................................................................................................58
1. Incremental step feeding ..................................................................................................................................59
2. Decremental step feeding ................................................................................................................................60
3. Stepping up/down ...............................................................................................................................................61
4. Calling up steps ....................................................................................................................................................62

i
 5. Calling up lines ......................................................................................................................................................63
6. Jumping to a step................................................................................................................................................64
1.3.6 Execution ....................................................................................................................................................................65
1. Selecting the program .......................................................................................................................................65
2. Startup and restarting .......................................................................................................................................67
3. Stop ...........................................................................................................................................................................67
4. Resetting the program.......................................................................................................................................68
1.3.7 Execution screen .....................................................................................................................................................69
1. SERVO .....................................................................................................................................................................69
2. START......................................................................................................................................................................70
1.3.8 Program management screen .............................................................................................................................72
1. DIR .............................................................................................................................................................................72
2. PROTECT ...............................................................................................................................................................73
3. COPY........................................................................................................................................................................74
4. RENAME ..................................................................................................................................................................75
5. DELETE....................................................................................................................................................................76
1.3.9 Monitor screen operation .....................................................................................................................................77
1. Monitoring the input signals ............................................................................................................................77
2. Monitoring the Output signals ........................................................................................................................78
3. Monitoring variables............................................................................................................................................79
4. Alarm history .........................................................................................................................................................80
1.3.10 Maintenance screen .............................................................................................................................................81
1. Setting the parameters .....................................................................................................................................81
2. INIT. ...........................................................................................................................................................................83
3. BRAKE......................................................................................................................................................................84
4. Resetting the encoder.......................................................................................................................................85
5. Display of maintenance-related time data................................................................................................87
6. Resetting the battery alarm and battery cumulative time .................................................................88
1.3.11 Setting screen operation ...................................................................................................................................89
1. Setting the clock..................................................................................................................................................89
1.3.12 Resetting the alarm ..............................................................................................................................................90
1.3.13 Software version ...................................................................................................................................................91
1.3.4.2 .................................................................................................................................................................................91

2 Maintenance and Inspection ............................................................................................................... 93

2.1 Maintenance and inspection procedures .............................................................................................. 93
2.1.1 Replacing the backup battery ............................................................................................................................93
1. Replacing the controller battery ...................................................................................................................93
2. Resetting the alarm ............................................................................................................................................93
2.2 Maintenance parts ......................................................................................................................................... 94
1. Controller consumable parts...........................................................................................................................94
2. Controller spare parts .......................................................................................................................................94

3 Appendix ..................................................................................................................................................... 95
3.1 Alarm list. ........................................................................................................................................................... 95
1. ALARM NO.: 0100 ～ 0720 ..............................................................................................................................95
2. ALARM NO.:1200 ～ 1800................................................................................................................................96
3. ALARM NO.:2110 ～ 2900................................................................................................................................97
4. ALARM NO.:3400 ～ 3910................................................................................................................................99
5. ALARM NO.:4501 ～ 4910................................................................................................................................99
6. ALARM NO.:5600 ～ 5810............................................................................................................................. 100
7. ALARM NO.:6700 ～ 6903............................................................................................................................. 100
8. ALARM NO.:7001 ～ 7900............................................................................................................................. 101
9. ALARM NO.:8900 ～ 8999............................................................................................................................. 101
3.2 Troubleshooting ............................................................................................................................................ 102

ii
 1.Operations

1 Operations
1.1 Preliminary preparations before operating
First we'll give an outline about programming and explain about the characteristics of the various devices as a
primer before you start actual operations.

1.1.1 Outline of a program from the written stage to the execution stage
Below, we'll explain how to create a program and we'll explain the operating steps and work details that will lead
you up to the execution of the program.

Table 1-1 ： Operating steps and work details of a program, from the creating stage to execution stage.
NO Operating step Work details
1 Programming Write the procedures for making the robot do the work.
There are two programming methods, as follows:
1. Programming based on the teaching playback method (which uses the
teaching box)
2. Programming with the MELFA-BASIC III command method (using
personal computer or teaching box)
3. Programming based on MOVEMASTER commands (for the personal
computer or the teaching box)
2 Debugging Before you execute a program, you should operate the program one step
at time, or one line at time, and comfirm such items the robots
movements, input/output conditions, and values on the variables.
3 Execution Execution refers to the automatic operation of a program you have
written.
4 Maintenance and others Maintenance refers to the managemant of the program you written,
setting the time, and other such duties.

Preliminary preparations before operating- 1

1.Operations

1.1.2 Characteristics and functions of system components

Shown below are peripheral devices for implementing the various work details that can appear from the time the
program is written to the time when a program is executed. You'll also find a list of each device's operability.

Table 1-2 ： Operability of written programs, based on device used 6-axis type robot/5-axis type robot

Robot

Peripheral devices

Controller Teaching Box Personal External I/O

(Sequencer,etc)

BASIC Support
S/W

Program Language × ○ ◎ ◎ ×

TPB* × ◎ ○ ○ ×

Execution Automati ◎ ○ ◎ ◎ ◎
c

Step × ◎ ◎ ◎ ×

Jog × ◎ × × ×

Debugging × ◎ ○ ◎ ○

Maitenance × ◎ ○ ◎ ×
(Other)

(Meaning of symbols)◎ :Very good ○ :Good × :Not applicable

*) TPB is an abbreviation for teaching playback method.

Preliminary preparations before operating-2

 1.Operations

1.2 Basic operations of the system components

Below, you will find an explanation of the functions and operating methods for the teaching box and controller,
both of which you will need for creating and executing programs.

1.2.1 How to operate the controller

Below, you'll find an explanation of the names and functions of the buttons on the front of the controller.

Fig.1-1 ： Buttons and connectors on the front of the controller

Table 1-3 ： Functions and names of the buttons on the front of the controller
NO Name Description
1 POWER ･ This is the ON/OFF button.
(Power supply switch) Thrning ON the power will also turn ON the servo power.
2 START ･ Starts up a program or restarts a program that has been stopped.
(Starting switch) Press once for cycle execution, press again for continuous execution.
3 STOP ･ Stops a program in execution, and brings the robot to a gradual stop. This
(Stop switch) button is always enabled.
･ By pressing this button and the RESET button simultaneously, you can
select programs.
4 RESET ･ Resets a program that has been stopped. The program goes back to the
(Reset switch) start, and the LED lamp on the STOP button (red) turns OFF.
･When an alarm has been generated, this button can cancel the alarm status.
Accordingly, the alarm lamp turns OFF.
･ By pressing this button simultaneously with the STOP button, you can
select programs.
5 EMG. STOP ･ This push button comes with a lock function for emergency stops.
(Emergency stop) If you press this button, the power to the servo is cut, and the brakes
engage. The moving robot comes to an immediate stop. In this case, the
PRO/ALM display starts flashing, and an alarm condition will result.
To unlock the button, rotate it to the right and pull out.

Basic operations of the system components- 3

1.Operations

NO Name Description
6 T/B EMG. CANCEL ･ This button allows you to disable the emergency stop from the teaching
(Emergency stop disable box. If you press this button, the LED lamp willturn OFF, and the controller
switch) can be used without the teaching box being connected.
When the teaching box is connected, make sure to turn OFF this button. If
you don't turn OFF this button, this button's LED lamp will start flashing,
and an emergency stop will be generate
7 Program running lamp ･ This button lights up (green) when a program is running.
It flashes during cycle execution and remains lit during continuous
execution.
The lamp turns OFF when the program has finished executing or when the
program is interrupted.
8 Program stopped lamp ･ This lamp lights up (red) when a program is stopped, and turns OFF when it
is reset or restarted.
9 Alarm lamp ･ This lamp lights up (red) when an alarm is generated.
It turns OFF when the alarm condition is canceled.
10 PRO/ALM ･ Normally displays the program name (0 to 9 or A to Z)
(8-segument LED) ･ When the name is more than 2 characters long, a hyphen (-) is displayed.
･ When an alarm has been generated, a 4-digit alarm code will be displayed.
･ When the controller has control [over the robot] you will find a point (.)
displayed in the bottom right corner.
11 RS-422 (TB) ･ This connector is for connecting the (optional) teaching box to the
interface controller.
12 RS-232C ･ This connector is for connecting the personal computer to the RS232C
Interface interface.

Basic operations of the system components-4

 1.Operations

1.2.2 Functions of the connectors on the back panel

Shown below are the connectors on the back of the controller and an explanation of their functions.

Fig.1-2 ： Connectors on the back panel

Table 1-4 ： Functions and names of connectors on the controller's back panel
NO Name Description
1 User terminal block This terminal block is for the user. There are terminals for the emargency
stop input.
2 Machine cable This connector is for connecting the power between the controller and the
(power cable) main robot uni
3 Machine cable This connector is for connecting the signals between the controller and the
(signal cable) main robot unit.
4 Hand interface board This is where the hand interface board is installed.
insert slot
5 Option slot This slot is for the standard parallel I/O interface board.
(OPT1)
6 Option slot This slot is for installing various option boards. (First board)
（OPT2）
7 Option slot This slot is for installing various option boards (Second board)
（OPT3）
8 Not in use This is a slot reserved for function expansion.
9 Standard slot The standard mounted CPU board is inserted.

Basic operations of the system components- 5

1.Operations

1.2.3 Simple alphabet display

The program names shown on the PRO/ALM display are displayed in the simple alphabet display.
(Including some special characters.)

Fig.1-3 ： Controller's simple alphabet display

Basic operations of the system components-6

 1.Operations

1.2.4 Exection
1. Selecting the program
【Function】
【Switch to use】
To select a program whose name is 1 character long, using the controller.
The selected program can be used for execution or editing. STOP RESET

【Input format】
Hold down [STOP] and press [RESET].

【Explanation】
･As you hold down STOP, each time you press RESET, the PRO/ALM display will advance one 1-character-name
registered program at a time (0 to 9, then A to Z). When the last program is displayed, the next program will be
the first program.
･ From the controller it is possible to select only 1-character-name programs (a number, letter, or special
character). To select other program names, use the teaching box or the personal computer.

2. Startup and restarting

【Function】
【Switch to use】
Executes the program you select.
If a program has been stopped, it restarts the program at the point where it START
was interrupted.

【Input format】
Press [START].

【Explanation】
･ Press START once to start the cycle execution (LED lamp will flash). Press START again to start continuous
execution (LED lamp stays lit).
･ You can restart a program from the point where it was stopped, only when the STOP button is lit. If you press
START when STOP button isn't lit, you will start the program from the beginning.

3. Stop
【Function】
【Switch to use】
Stops a program in execution, and brings a moving robot to a gradual stop.
STOP
【Input format】
Press [STOP].

【Explanation】
･ Pressing STOP while the program is running will stop the program, and the
LED lamp on the START button will turn OFF, and LED lamp on the STOP button will light up.
It is possible to do jog operations even though the program is stopped.
･ A program that has been stopped can be restarted where it left off by pressing START.

Basic operations of the system components- 7

1.Operations

4. Resetting a program
【Function】
【Switch to use】
Resets the interrupted status of a program being executed, and moves the
line of execution to the start of the program. RESET

【Input format】
Press [RESET].

【Explanation】
･ This function is disabled when the program is running (or is being started up). Use this function when program is
stopped.
･ When an alarm is displayed, it also resets the alarm.
If the servo power has been cut, the servo power will be turned ON.
･The variables inside the program will not be initialized. In order to initialized the variables inside the program, first
read a separate program, and then re-read the original program.
･ When the program is reset, the STOP lamp will turn OFF.

1.2.5 Resetting the alarm

【Function】
【Switch to use】
Resets an alarm.
RESET
【Input format】
Press [RESET].

【Explanation】
･ When the alarm status is reset, the RESET lamp will turn OFF.
･ If a program has been interrupted, the program will also be reset.

Basic operations of the system components-8

 1.Operations

1.3 How to operate the teaching box

1.3.1 Categories of teaching box keys

The categories and explanations of the teaching box keys are shown in Fig. 1-4 and Table 1-5.

Fig.1-4 ： The teaching box

How to operate the teaching box- 9

1.Operations

Table 1-5 ： The functions of teaching box keys/switches

NO Switch/key Description
1 ･ This switch lets you toggle between enabling and disabling the teaching box
DISABLE ENABLE keys.
To use the teaching box keys, set the switch to ENBL.
To start up a program from the controller, or to use commands from the
personal computer, set the switch to DISABLE.
2 ･ This key is for making emergency stops. (The signal is kept internally)
EMG.STOP Regardless of the ENBL/DISABLE setting on the teaching box, if you press
this switch, the moving robot will come to an immediate stop, and the
controller's LED lamp will light up. (Alarm number 1300)

3 ･ Displays the robot's status or one of the various menus.

LCD There are 4 display lines, each with 16 characters can be displayed.

4 Contrast adjustment ･ This switch adjusts the contrast of the LCD screen.
switch ･ Each time [+] is pressed the screen becomes darker. Each time [-] is
+ - pressed the screen becomes lighter.

5 ･ Selects the tool jog mode.

TOOL ･ When entering text, press this key together with K14 to input "=", "*", or
=*/ "/."

6 ･ Press this key to select the joint jog mode.

JOINT ･ When entering text, you can press this key together with K14 to input "(,"
()? ")," or "?"

7 ･ To select the XYZ jog mode, press this key.

XYZ ･When entering text, you can press this key together with K14 to input "$," "
$ ": " ," or ":"

8 ･ To change the jog speed from high to low or vice versa, press this key.
SPD ･ When entering text, you can press this key together with k14 to input "#,"
#%! "%," or "!"

9 ･ To interrupt a program in execution and bring the robot to a gradual stop,

press this key. It serves the same function as STOP on the controller, and
STOP
will be functional regardless of the ENBL/DISABLE setting on the teaching
box.
10 ･ To change the interpolation mode (linear, joint, circular) at each step, press
STEP this key.
MOVE ･ This key can also be used to jump to a step you designate.

11 ･ To advance a step or to step feed, press this key.

+ ･ When entering text, press this key to input "+."
FORWARD

12 ･ To move back a step or to step feed backwards, press this key.

- ･ When entering text, press this key to input "-."
BACKWD

13 ･ To set the interpolation method (linear, joint, circular) of each step, the
speed, the timer, and I/O conditions, press this key.
COND
･ When adding a step, it adds a conditional step.

How to operate the teaching box-10

 1.Operations

NO Switch/key Description
14 ･ To toggle the display between the condition/interpolation screen and the
POS command/positioning screen.
CHAR ･ To enter text, press this key together with letter keys or symbol keys.
The letter key or symbol key will change each time you press it.
15 ･ To reset an alarm condition or to reset a program that has been stopped,
ALARM press this key.
RESET

16 ･ Moves the waist in the minus direction in the joint jog mode.
-X / -W (Clockwise from the top view of the robot.)
SPACE PQR ･ Moves the robot's hand tip in the minus direction along the X-axis of the
cartesian coordinate system. (It's the direction towards the back of the
robot.)
･ Moves the robot's hand tip in the minus direction along the X-axis of the
tool coordinates, in the tool jog mode.
･ When entering text, press this key together with k14 to input "P," "Q," or
"R."
17 ･ Moves the shoulder in the minus direction (i.e. upwards) in the joint jog
-Y / -S mode.
4 MNO (Clockwise from the top view of the robot.)
･ Moves the robot's hand tip in the minus direction along the Y-axis of the
cartesian coordinate system. (To the left of the robot as you face it.).
･ In the tool jog mode:
If you are using the RV-E24N/E4NM/E4NC, then press this key to move
the hand tip in the minus direction along the Y-axis of the tool
･ Press this key to enter "4" when entering numerical data, and press this
key together with k14 to enter "M," "N," or "O."
18 ･ Moves the elbow in the minus direction (i.e. upwards) in the joint jog mode.
-Z / -E ･ Moves the robot's hand tip in the minus direction along the Z-axis of the
3 JKL cartesian coordinate system. (It's the direction straight down)
･ Moves the robot's hand tip in the minus direction along the Z-axis of the
tool coordinates in the tool jog mode.
･ Press this key to enter "3" when entering numerical data, and press this
key together with k14 to enter "J," "K," or "L."
19 ･ Moves the twist wrist in the minus direction in the joint jog mode for the
-A / -T RV-E4N/E4NM/E4NC.
2 GHI ･ In the joint jog mode:
If A) you are using the RV-E4N/E4NM/E4NC, then pressing this key will
turn the hand tip clockwise around the X-axis of cartesian coordinate
system.
If B) you are using the RV-E5NJ/E5NJM/E5NJC, pressing this key will
move the wrist roll in the minus direction.
･ In the tool jog mode:
If you are using the RV-E4N/E4NM/E4NC, pressing this key will turn the
hand tip clockwise around the X-axis of the tool coordinate system.
･ Press this key to enter "2" when entering numerical data, and press this
key together with k14 to enter "G," "H," or "I."

How to operate the teaching box- 11

1.Operations

NO Switch/key Description
20 ･ Moves the wrist pitch in the minus direction in the joint jog mode.
-B / -P ･ In the joint jog mode:
1 DEF ･ If A) you are using the RV-E4N/E4NM/E4NC, then pressing this key will
turn the hand tip clockwise around the Y-axis of cartesian coordinate
system.
･ If B) you are using the RV-E5NJ/E5NJM/E5NJC, pressing this key will
fixate the hand tip, and move only the position of the hand towards the
back.
･ In the tool jog mode:
･ If you are using the RV-E4N/E4NM/E4NC, pressing this key will turn the
hand tip clockwise around the Y-axis of the tool coordinate system.
･ Press this key to enter "1" when entering numerical data, and press this
key together with k14 to enter "D," "E," or "F"
･ When opening or closing the hand, if you press this key together with k31,
hand 2 will close.
･
21 ･ Moves the wrist roll in the minus direction in the joint jog mode.
-C / -R ･ For the RV-E4N/E4NM/E4NC, turns the hand tip clockwise (facing the
0 ABC hand) around the Z-axis of the cartesian coordinate system, in the joint jog
mode
･ In the tool jog mode:
If you are using the RV-E4N/E4NM/E4NC, pressing this key will turn the
hand tip clockwise around the Z-axis of the tool coordinate system.
･ Press this key to enter "0" when entering numerical data, and press this
key together with k14 to enter "A," "B," or "C."
･ When opening or closing the hand, if you press this key together with k31,
hand 1 will close.
22 ･ Moves the waist in the plus direction in the joint jog mode.
＋ X/ ＋ W (Counterclockwise from the top view of the robot.)
． ';^ ･ Moves the robot's hand tip in the plus direction along the X-axis of the
cartesian coordinate system. (It's the direction towards the front of the
robot.)
･ Moves the robot's hand tip in the plus direction along the X-axis of the tool
coordinates, in the tool jog mode.
･Press this key to enter "." when entering numerical data, and press this key
together with k14 to enter "'," ",," or ";"
23 ･ Moves the shoulder in the plus direction (i.e. downwards) in the joint jog
＋Y/＋S mode.
9 &<> ･ Moves the robot's hand tip in the plus direction along the Y-axis of the
cartesian coordinate system. (To the right of the robot as you face it.)
･ When using the RV-E4N/E4NM/E4NC in the tool jog mode, this moves the
hand tip in the plus direction of the tool coordinate system Y-coordinates.
･ Press this key to enter "9" when entering numerical data, and press this
key together with k14 to enter "&," "<," or ">."
24 ･ Moves the elbow in the plus direction (i.e. downwards) in the joint jog mode.
＋Z/＋E ･ Moves the robot's hand tip in the plus direction along the Z-axis of the
8 ,@\ cartesian coordinate system. (It's the direction straight up)
･ Moves the robot's hand tip in the plus direction along the Z-axis of the tool
coordinates in the tool jog mode.
･ Press this key to enter "8" when entering numerical data, and press this
key together with k14 to enter ",," ",," or "@."

How to operate the teaching box-12

 1.Operations

NO Switch/key Description
25 ･ Moves the twist wrist in the plus direction in the joint jog mode for the RV-
＋A/＋T E4N/E4NM/E4NC.
7 YZ_ ･ In the joint jog mode:
If A) you are using the RV-E4N/E4NM/E4NC, then pressing this key will
turn the hand tip counterclockwise around the X-axis of cartesian
coordinate system.
If B) you are using the RV-E5NJ/E5JM/E5JC, pressing this key will move
the wrist roll in the plus direction.
･ In the tool jog mode:
If you are using the RV-E4N/E4NM/E4NC, pressing this key will turn the
hand tip counterclockwise around the X-axis of the tool coordinate system.
･ Press this key to enter "7" when entering numerical data, and press this
key together with k14 to enter "Y," "Z," or "_"
26 ･ Moves the wrist pitch in the plus direction in the joint jog mode.
＋B/＋P ･ In the joint jog mode:
6 VWX If A) you are using the RV-E4N/E4NM/E4NC, then pressing this key will
turn the hand tip counterclockwise around the Y-axis of cartesian
coordinate system.
If B) you are using the RV-E5NJ/E5JM/E5JC, pressing this key will fixate
the hand tip, and move only the position of the hand towards the front.
･ In the tool jog mode:
If you are using the RV-E4N/E4NM/E4NC, pressing this key will turn the
hand tip counterclockwise around the Y-axis of the tool coordinate system.
･ Press this key to enter "6" when entering numerical data, and press this
key together with k14 to enter "V," "W," or "X."
･ When opening or closing the hand, if you press this key together with k31,
hand 2 will open.
27 ･ Moves the wrist roll in the plus direction in the joint jog mode.
＋C/＋R ･ For the RV-E2 or the RV-E2M, turns the hand tip counterclockwise (facing
5 STU the hand) around the Z-axis of the cartesian coordinate system, in the joint
jog mode
･ In the tool jog mode:
If you are using the RV-E2 or the RV-E2M, pressing this key will turn the
hand tip counterclockwise around the Z-axis of the tool coordinate system.
･ Press this key to enter "5" when entering numerical data, and press this
key together with k14 to enter "S," "T," or "U."
･ When opening or closing the hand, if you press this key together with k31,
hand 1 will close.
28 ･ Adds position data and condition data as step data.
ADD ･ Moves the cursor upwards in the menu selection screen.
↑

29 ･ Replaces position data or condition data.

RPL ･ When using the menu selection screen, press this key to move the cursor
↓ downwards.

30 ･ Deletes position data or condition data.

DEL ･When using the menu selection screen, press this key to move the cursor to
← the left.

31 ･ Opens and closes the hand.

HAND ･When using the menu selection screen, press this key to move the cursor to
→ the right.

How to operate the teaching box- 13

1.Operations

NO Switch/key Description
32 ･ Inputs condition data, moves to the step jumped to, step feeds, and step
INP feeds in reverse.
EXE

33 Deadman switch ･ When the [Enable/Disable] switch 1 is Enable, releasing this switch will turn
the servo power OFF. Hold down this switch when operating functions with
the servo power ON during jog operation, etc.
Furthermore, when the servo power is OFF during emergency stop, servo
OFF, etc., operation, the servo power will not turn ON even if this switch is
pressed. In this case, carry out the alarm reset or servo ON operations.
･ The servo power will turn OFF even if this switch is pressed down with
force while the [Enable/Disable] switch 1 is set to Enable. (Only P8TB-TE.)
･ Always press the entire deadman switch using
CAUTION several fingers. If the deadman switch is pressed
as shown in the above or below examples, the
alarms 1270 ～ 1 (deadman switch error) could
occur,

How to operate the teaching box-14

 1.Operations

1.3.2 Jog

1. Jog mode
Mode Movement Application
JOINT Each robot axis moves independenty. This is happy when moving the arm a large distance.
XYZ The robot moves slong the cartesian This is handy when positioning the hand end, etc.
coordinate system.
TOOL The robot moves slong the tool This is happy when positioning the hand during inclined
coordinate system. work, etc.

2. Jog speed
【Function】
The speed for moving the robot with jog operation can be changed between high speed and low speed.
【Input format】
Press [STEP/MOVE]+[SPD].
Each time you press the keys, the speed will toggle between low speed and high speed.
The screen display of the teaching box for low and high speeds are shown below:

JOINT low JOINT high

W +90.00 W +90.00
S +0.00 S +0.00
E +90.00 E +90.00
Low speed High speed

【Explanation】
･ If the teaching box is switched from disabled to enabled, the low speed will be set.
･ In the low speed the robot moves in an inching motion (0.1 deg.) and after a fixed time (approx. 0.4sec.) it
accelerates.
･ The moving speeds of low speed and high speed for the various jog operations are shown below:

Table 1-6 ： Jog Speeds

Interpolation method
Jog mode
Joint XYZ Tool
Type Standard arm Long arm Standard arm/Long arm Standard arm/Long arm
Inching distance 0.1deg 0.1deg 0.1mm 0.1mm
Low speed 1.0% 1.0% 1.5mm/s 1.5mm/s
High speed 8.0% 4.0% 100mm/s 100mm/s

How to operate the teaching box- 15

1.Operations

3. Joint jog operation

【Function】
Moves each of the robot axes independently. Carry out this operation
holding down the deadman switch. The display screen and message are 【Key to use】
shown below:

JOINT low Display of the current jog mode and jog

speed
W +90.00
Display of the current position
S +0.00
E +90.00
[STEP/MOVE]+[JOINT]
[STEP/MOVE]+
Individual jog operation keys

【Input format】
･ Press [STEP/MOVE] + [JOINT] to select the joint jog mode.
･ Press [STEP/MOVE] + (Individual jog operation keys). The individual axes will move.
The relationship between the movements of the individual axes and the operating keys of teaching box is shown
below.

Fig.1-5 ： Joint jog operation

【Explanation】
･ When the robot approaches the edge of its operation space or when it approaches its speed limit, the robot
stops and the buzzer sounds.
In this case, you'll find the out-of-bounds symbol ( X ) displayed on the screen of the teaching box, next to the
axis whose limit was approached.
･ If you are using the 5-axis type, [+A/+T] and [-A/-T] are not applicable.

How to operate the teaching box-16

 1.Operations

4. XYZ jog operation

【Function】
Moves each axis of the robot along the cartesian coordinate system.
Carry out this operation while holding down the deadman switch. The 【Key to use】
displayed screen and message are shown below:

XYZ low Display of the current jog mode and jog

X +100.00 speed
Y +200.00 Display of the current position
Z +300.00
[STEP/MOVE]+[XYZ]
[STEP/MOVE]+
Individual jog operation keys

【Input format】
･ Press [STEP/MOVE] + [XYZ] to select the XYZ jog mode.
･ Press [STEP/MOVE] + (Individual jog operation keys). The individual axes will move along the XYZ coordinate
system.
When moving the robot in the X, Y, or Z directions, maintain the posture of the hand, and when moving the
robot in the A, B, or C directions(C:RV-E4N/E4NM/E4NC only), maintain the position of the hand tip as you
move.
The relationship between the movements of the individual axes and the operating keys of teaching box is shown
below.

Fig.1-6 ： XYZ jog operations

【Explanation】
･ When the robot approaches the edge of its operation space or when it approaches its speed limit, the robot
stops and the buzzer sounds.
In this case, you'll find the out-of-bounds symbol ( X ) displayed on the screen of the teaching box. If you
display the joint jog mode, the out-of-bounds symbol will appear next to the axis whose boundary was
approached. Move the robot in the opposite direction of this axis.
･ If you are using the 5-axis type, [+C/+R] and [-C/-R] are not applicable.

How to operate the teaching box- 17

1.Operations

5. Tool jog operation

【Function】
Moves each axis of the robot along the cartesian coordinate system.
Carry out this operation while holding down the deadman switch. The 【Key to use】
displayed screen and message are shown below:

TOOL low Display of the current jog mode and jog

X +100.00 speed
Y +200.00 Display of the current position
Z +300.00
[STEP/MOVE]+[TOOL]
[STEP/MOVE]+
Individual jog operation keys

【Input format】
･ Press [STEP/MOVE] + [TOOL] to select the tool jog mode.
･ Press [STEP/MOVE] + (Individual jog operation keys). The individual axes will move along the tool coordinate
system.
The relationship between the movements of the individual axes and the operating keys of teaching box is shown
below.

Fig.1-7 ： Tool jog operation

【Explanation】
･ When the robot approaches the edge of its operation space or when it approaches its speed limit, the robot
stops and the buzzer sounds.
In this case, you'll find the out-of-bounds symbol ( X ) displayed on the screen of the teaching box. If you
display the joint jog mode, the out-of-bounds symbol will appear next to the axis whose boundary was
approached. Move the robot in the opposite direction of this axis.
･If you are using the 5-axis type, you can press [+Y/+S]or[-Y/-S] the waist will move. Also, please note that the
following keys are not applicable:
[+A/+T],[-A/-T],[+B/+P],[-B/-P],[+C/+R],[-C/-R].

How to operate the teaching box-18

 1.Operations

6. Opening and closing the hand

【Function】
Opens and closes the motor-operated hand or the pneumatic hand.
【Key to use】

[HAND → ] + [+C/+R]
[HAND → ] + [-C/-R]
[HAND → ] + [+B/+P]
[HAND → ] + [-B/-P]
[HAND → ] + [+A/+T]

【Input format】
<For hand 1>
To open the hand, press [HAND → ] + [+C/+R].
To close the hand, press [HAND → ] + [-C/-R].
<For hand 2>
To open the hand, press [HAND → ] + [+B/+P].
To close the hand, press [HAND → ] +[-B/-P].
<For hand 3>
To open the hand, press [HAND → ] + [+A/+T].
To close the hand, press [HAND → ] + [-A/-T].

【Explanation】
･ If you are using the pneumatic hand, start up the solenoid (DC24V) to open and close it.
･ The open/close setting of the hand is simultaneously recorded with the condition data when re-entering data,
or when adding a position step.
The open/close setting of the hand that is once entered can be changed by re-entering the condition for the
hand's open/close confirmation signal. For details, refer to section 1.3.4.1 "Programming with the teaching
playback method : 7.Setting and displaying the I/O signals" in the Reference Manual.

How to operate the teaching box- 19

1.Operations

1.3.3 Operation of the Menu screen

1. Screen tree
You can find below the screen tree for the teaching box, and the method of selecting (i.e. what keys to press for)
the various functions.

Fig.1-8 ： Screen tree for the teaching box

How to operate the teaching box-20

 1.Operations

2. How to select a menu

There are two ways to select a menu. You can use either one.
1. Press the number key that corresponds to the number of the menu.
2. Move the cursor to the menu you want to select and press [INP/EXE].

【Input format】
Shown below is an illustration of the two methods to select ("3. FILE") in the File management screen, which is
under the Menu selection screen.
・ Using the number keys.
NO Display screen of the teaching box Description of the operation
1 Press [3] (-Z/-E) Key.
<MENU>
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 The file management screen appears.

<FILE>
1.DIR 2.COPY
3.RENAME 4.DELETE

・ Using the cursor

NO Display screen of the teaching box Description of the operation
1 Press [RPL ↓ ] Key.
<MENU> The cursor moves to "3.FILE".
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [INP/EXE] Key.

<MENU>
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

3 The file management screen is selected.

<FILE>
1.DIR 2.COPY
3.RENAME 4.DELETE

【Explanation】
･ The cursor can be moved by pressing ［ ADD ↑］ , ［ RPL ↓］ , ［ DEL ←］ ,and ［ HAND →］ .
･ If you press the wrong key, you can switch the ENABEL/DISABLE once to DISABLE and then back to
"ENABLE" and re-enter the key.

How to operate the teaching box- 21

1.Operations

1.3.4 Programming

There are two major ways to program the robot. Consider the purpose and application when choosing which one to
use.
Table 1-7 ： Programming methods
Method Machine Characteristics Meaning
Teaching Teaching box ･ A programming method that allows ･ Tasks which have the decision-
playback you, with the help of the teaching making functions of conditional
method box, to teach the robot a sequence branches, require an external
of moves by taking it through the controller or the selection of
actual steps of the operation. command method programming.
･Allows you to set such conditions as ･ Does not have a mathematical
the interpolation method, speed, addition function for the counter or
timer, and I/O device, for each step. position, an interrupt function from
･ Suitable for relatively simple tasks external signals, or a palalletized
where the path of the movement is function.
fixed.
Programming with the optional
"Personal computer support
software" is possible.
Movemaster Personal <program command mode> ･ Either the MELFA-BASIC III
command computer and ･ Allow you to teach positions using command method or the
method teaching box the teaching box. Teaching the Movemaster command method can
motions is done primarily by a be used. (Select with parameters)
MELFA- personal computer. (Line numbers ･ Personal computer programming
BASICIII and commands) requires the separately available
command ･ It is possible to describe complex BASIC language, or the optional
method operations in detail using the vast "Personal computer support
array of Movemaster commands. software."
･ Suitable for work programs that ･ Programs can be amended and new
require such things as palletizing, programs created with the teaching
interrupts, numerical calculations, box.
and conditional branches.
<Direct command mode> ･ Either the MELFA-BASIC III
･ Operates the robot by executing command method or the
Movemaster commands from the Movemaster command method can
personal computer one by one. be used. (Select with parameters)
･ There is no drain on the robot's ･ The personal computer must be
available memory, since the work connected to the robot at all times.
program is managed by the personal ･ When the robot is moving in the
computer. direct mode, the personal computer
cannot be used to stop it.

Programming-22
 1.Operations

1.3.4.1 Programming with the teaching playback method

In this method, instead of using direct commands, you primarily use only the teaching box to do the programming.
By pressing certain keys on the teaching box, you can teach the robot a series of moves as you actually take the
robot along its work course in gradual order.
One work operation is referred to as a "step", a unit that refers to the movements to a certain taught point.
There are two kinds of steps.
Table 1-8 ： Steps and a description of taught points
NO Step name Description
1 Position step Both the position data and condition data are entered.
Along with position data, the interpolation method, speed, timer, signal I/O,
open/close setting of the hand are also set.
2 Condition step Only the condition data is entered.
The speed, timer, and signal input/output are set. (It's not possible to set
the open/close setting of the hand.)

In addition, once the steps have been taught, it is possible to reset, add, or delete data, or to confirm the program
by advancing steps, retreating steps, or jumping steps.
The displays and messages on the screen for a program when it is being created using the teaching playback
method are shown below.

PR:5 ST:1 → Program number (PR:) and step number (ST:)

INTP :JOINT → Interpolation method used to move to the displayed step (Step 1)
SPD :-----% → Interpolation speed used to move to the displayed step (Step 1)
TIME : 0.0sec → Waiting period for moving to the displayed step (Step 1)

[COND] key

PR:5 ST:1 → Program number (PR:) and step number (ST:)

0 ＋ 76543210 → Bit numbers for the input/output signals for the display and settings
OUT:-----------110 → Output signal setting (1:ON, 0:OFF, -: not set)
IN :----------11110 → Input signal setting (1:ON, 0:OFF, -: not set)

Press [COND] Key repeatedly to scroll through various items in the Teach screen:
interpolation, speed, timer, and I/O signal.

◇◆◇ Tip ◇◆◇

･ When using this method, select the Movemaster command method in the language to be used. In the
factory default status, the MELFA-BASIC III command method has been selected. To change the method,
set the parameter RLNG to 0. For parameter details, refer to Chapter 3:"Command explanations 3.1
Parameter settings" in this manual.
･ The order of execution of the condition data for each step is as shown below:
1. Interpolation method 2. Speed 3. Move 4. Timer 5. Signal output (including that for the hand) 6. Signal
input waiting
Example: Moving from step 1 to step 2
The robot will move to step 2 according to the setting at step 2 for interpolation method and
interpolation speed. After arriving at step 2, the timer is activated, and then, after the robot
outputs signals, the robot goes into a waiting condition for input signals.

Programming with the teaching playback method- 23

1.Operations

1. Adding steps
(A) Adding position steps
【Function】
Add a step by entering the current position in the step currently
displayed. Steps are usually added at the end of the program or in the 【Keys used】
middle of programs that have already been completed.

[STEP/MOVE] + [ADD ↑ ]

【Input format】
Shown below is how to add step 6 as a new entry.
NO Display screen of the teaching box Description of the operation
1 Hold down [STEP/MOVE] and press [ADD ↑ ] and then release
PR:1 ST:6 only [ADD ↑ ] .
INTP :JOINT The buzzer [beeps] and a confirmation message appears.
SPD:-----%
TIME : 0.0sec

2 Hold down [STEP/MOVE] and press [ADD ↑ ].

PR:1 ST:6 The buzzer will "beep" and then, after you see the display "EXE-
INTP :JOINT CUTING", the step will be added.
SPD:-----% (To cancel,, release [STEP/MOVE].)
ADDITION ?

3 Step 6 is added as a position step.

PR:1 ST:7 The next step, step "7" is displayed.(ST:7)
INTP :JOINT
SPD:-----%
TIME : 0.0sec

【Explanation】
･ If additional work is added to steps that have already been entered, the trajectory of the robot will be different
both before and after the additional work.
･You can determine the step number you want to add by using operations described in section 1.3.5 "Debugging
programs : 4.Calling up steps" in the Reference Manual.
･ After you finish adding the step, all the step numbers after the one added will increase by 1.
･ If you exceed the limit for the program size, the alarm 4910 will be displayed.
･ When you add a step, the open/close setting of the hand can also be set. To change the open/close setting of
the hand, refer to"7.Setting and displaying the I/O signals"in the previous pages.

Programming with the teaching playback method-24

 1.Operations

Table 1-9 ： Adding position steps

Type of step added Before adding the step After adding the step
Adding a new step

Adding an existing step

(B) Adding a condition step

【Function】
Adding a condition step means adding only the condition data to the
【Keys used】
additional entry.
This is done after the position step is entered, and when you want only
condition data (such as for timer, I/O sign

[STEP/MOVE] +
( [COND] → [ADD ↑］）

【Input format】
Shown below is how to add step 6 as a condition step.
NO Display screen of the teaching box Description of the operation
1 Hold down [STEP/MOVE] and press [COND]. Then release
PR:1 ST:6 [COND] and press [ADD ↑ ]. Then release only [ADD ↑ ].
INTP :JOINT A buzzer will sound and a confirmation message will appear.
SPD:-----%
TIME : 0.0sec

2 Hold down [STEP/MOVE] and press [ADD ↑ ] again. You will

PR:1 ST:6 hear the buzzer "beep" and then, after a message reading
INTP :CONDITION "EXECUTING" is displayed on the bottom line, the step will be
SPD:-----% added.
ADDITION ? (To cancel, release [STEP/MOVE].)

3 Step 6 has been added as a condition step.

PR:1 ST:7 The next step will be displayed. (ST:7)
INTP :JOINT
SPD:-----%
TIME : 0.0sec

Programming with the teaching playback method- 25

1.Operations

【Explanation】
･ The condition step is added to the order and it follows the position step that precedes the current step being
displayed.
Consecutive entries of condition steps are possible.
Even though you may add additional operations between steps that have already been entered, since there is
no addition of positions, the robot's trajectory will not change.
･You can determine the step number you want to add by using operations described in section 1.3.5 "Debugging
programs : 4.Calling up steps" in the Reference Manual.
･ After you finish adding the step, all the step numbers after the one added will increase by 1.
･If you exceed the limit for the program size, the alarm 4910 (Out of memory) will be displayed. In this case, you
need to delected some unneeded files.
･ The open/close setting of the hand will not be entered. (Status: Not set) The open/close setting of the hand
will be decided by the hand's open/close confirmation signal.

Table 1-10 ： Adding condition steps

Type of step added Before adding the step After adding the step
Adding a new step

Adding an existing step

Programming with the teaching playback method-26

 1.Operations

2. Replacing step data

【Function】
Replacing step data refers to changing both the current positions of
【Keys used】
entered steps and their condition data.
Replacing step data is done when you want to replace positions for the
condition steps or when you want to change condition data and entered
positions for position steps.

[STEP/MOVE] + [RPL ↓ ]

【Input format】
Shown below is an example of how to replace the entries for both the condition data and
current position for step 6.
NO Display screen of the teaching box Description of the operation
1 Hold down [STEP/MOVE] and press [RPL ↓ ]. Then release only
PR:1 ST:6 [RPL ↓ ].
INTP :JOINT The buzzer will sound "beep, beep" and a confirmation message
SPD:-----% will appear.
TIME : 0.0sec

2 Hold down [STEP/MOVE] and press [RPL ↓ ] again. You buzzer

PR:1 ST:6 will "beep" and then, after you find "EXECUTING" displayed, the
INTP :CONDITION step will be replaced.
SPD:-----%
REPLACE ?

3 Step 6 has been replaced.

PR:1 ST:6
INTP :JOINT
SPD:-----%
TIME : 0.0sec

【Explanation】
･ If positions are replaced or if positions for condition steps are replaced, the trajectory of the robot will be
different both before and after the replacements.
･ If you try to replace a condition step, its replacement will be a position step. To replace condition data for a
condition step, refer to the following sections on "Setting the interpolation method," "Setting the
speed,""Setting the timer," and "Setting and displaying the I/O signals," and change the settings of the
various condition data.
･ The displayed step after the replacements is the same as before, and the following numbers don't change.
･ If you replace a position step that contains an added condition step, the condition step will be annexed and
replaced.
･ If you replace entries for a condition step, the condition data of the condition step will be replaced together
with the current position.
･ You can determine the step number for whose data you want to replace, by using operations described in
section 1.3.5 "Debugging programs : 4.Calling up steps" in the Reference Manual.
･ The open/close setting of the hand will be entered simultaneously.
･ If you want to change the open/close setting of the hand, refer to "7.Setting and displaying the I/O signals"

Programming with the teaching playback method- 27

1.Operations

Table 1-11 ： Replacing step data

Type of step data being
Before replacement of data After replacement of data
replaced
Replacing only the
position step

Replacing at a current
step that has an attached
condition step.

Replacing condition step

data (Replacement as a
position step)

Programming with the teaching playback method-28

 1.Operations

3. Deleting steps
【Function】
Deleting a step refers to deleting a displayed position step and/or
【Keys used】
condition step that has already been entered

[STEP/MOVE] + [DEL ← ]

【Input format】
Shown below is an example of how to delete the current position and condition data of step 6.
NO Display screen of the teaching box Description of the operation
1 Hold down [STEP/MOVE] and press [DEL ← ], then release only
PR:1 ST:6 [DEL ← ].
INTP :JOINT The buzzer will sound "beep-beep-beep" and a confirmation
SPD:-----% message will appear.
TIME : 0.0sec

2 Hold down on [STEP/MOVE] and press [DEL ← ] once again.

PR:1 ST:6 The buzzer will sound "beep" and then, after a message is
INTP :CONDITION displayed on the bottom line reading "EXECUTING" the step will
SPD:-----% be deleted.
DELETE ? (To cancel, release [STEP/MOVE])

3 Step 6 has been deleted.

PR:1 ST:7 Step 7 before the deletion becomes step 6, and step number "6"
INTP :JOINT will appear. (ST: 6)
SPD:-----%
TIME : 0.0sec

【Explanation】
･ If positions have been deleted, the trajectory of the robot will be different both before and after the place of
deletion.
･ After the deletion, the step numbers beyond the point where the deletion was made are all reduced by - 1.
･ If you delete a position step that contains an annexed condition step, the condition step will become annexed
to the previous step.
･ To jump to the step number you want to delete, refer to section 1.3.5 "Debugging programs : 4.Calling up
steps" in the Reference Manual.
･ If you attempt to delete a non-existing step, an alarm will sound.

Programming with the teaching playback method- 29

1.Operations

Table 1-12 ： Deleting Steps

Deleting a step Before deleting a step After deleting a step
Deleting a position step
only

Deleting a position step

with a condition step
annexed to it

Deleting a condition step

only

Programming with the teaching playback method-30

 1.Operations

4. Setting the interpolation method

【Function】
Setting the interpolation method refers to setting the type of movement
【Keys used】
(joint, linear, or circular) to the next step.

[STEP/MOVE] +
( [COND] → [RPL ↓ ] )
[INP/EXE]

【Input format】
Shown below is an example of how to make the setting for linear interpolation.
NO Display screen of the teaching box Description of the operation
1 Hold down [STEP/MOVE] and press and release [COND], and
PR:1 ST:5 then press [RPL ↓ ].
INTP :JOINT The setting screen for the linear interpolation method will appear.
SPD:-----%
TIME : 0.0sec

2 Press [2] (-A/-T) and you will find "2" (for linear) displayed.
PR:1 ST:5
INTP : （ ）
1.JOINT 2.LINER
3.CIRCULAR

3 Press [INP/EXE].
PR:1 ST:5
INTP : （ 2 ）
1.JOINT 2.LINER
3.CIRCULAR

4 Linear interpolation will be set.

PR:1 ST:5
INTP :LINER
SPD:----mm/s
TIME : 0.0sec

【Explanation】
･If you don't set the interpolation method the steps, they will use the interpolation method that was last used. If
the steps have never been set for the interpolation method, the joint interpolation method will be set.
･ When using joint interpolation or circular interpolation, depending on the setting for the speed and on the
posture of the robot, the maximum speed for the joints could be exceeded and cause an alarm. If this happens,
lower the setting for the speed.
･ Press [COND] to display the teaching box screen. Also, each time you press [COND], you can toggle between
the interpolation/speed setting screen and the I/O setting screen.
･ If there aren't at least 3 or more points for circular interpolation, the movement will be by linear interpolation.

Programming with the teaching playback method- 31

1.Operations

5. Setting the speed

【Function】
Setting the speed involves setting or changing the speed for the movement
【Keys used】
to the step being displayed.

[STEP/MOVE] +
( [COND] → [RPL ↓ ] )
[RPL ↓ ]

【Input format】
Shown below is an example of how to set the velocity to 50% (linear interpolation).
NO Display screen of the teaching box Description of the operation
1 While holding down [STEP/MOVE], press and release [COND] and
PR:1 ST:5 then press [RPL ↓ ].
INTP :JOINT The setting screen for the interpolation method will appear.
SPD:-----%
TIME : 0.0sec

2 Press [RPL ↓ ] to move the cursor to SPD.

PR:1 ST:5
INTP : （ ）
1.JOINT 2.LINER
3.CIRCULAR

3 Press [5] (+C/+R) then [0] (-C/-R) to input "50"

PR:1 ST:5
INTP :JOINT
SPD :( )%
SET SPEED

4 Press [INP/EXE].
PR:1 ST:5
INTP :JOINT
SPD :(50 )%
SET SPEED

5 The speed has been set to 50%.

PR:1 ST:5
INTP :JOINT
SPD: 50%
TIME : 0.0sec

Programming with the teaching playback method-32

 1.Operations

【Explanation】
･ If you don't set the speeds for the steps, they will use the speeds that were previously used.
･For steps that have the interpolation method set, but not the speed, the actual speed used will be the same as
the speed set for the last time the interpolation method was used.
･ In number 1 and 2 above, if the speeds have not been previously set for the steps, either 9.7% (for joint
interpolation) or 63.3 mm/sec. (for linear and circular interpolation) will be used. These values can be changed
at the SPI parameter (automatic operation speed level).
･ For joint interpolation and circular interpolation, depending on the setting of the speed, and on the posture of
the robot, the maximum speed for the joints could be exceeded and cause an alarm. If this happens, lower the
setting for the speed.
･ If you try to set a value that exceeds the designated limit, an alarm will sound.
･ If you want to leave the speed undefined, press [0] when setting the speed.
･ To display the teaching box screen, press [COND]. Then, each time you press [COND], you can toggle
between the interpolation/speed setting screen and the I/O setting screen.
･ The set value will differ according to the interpolation method designated for the steps, and will be designated
as shown below: Note that the joint interpolation speed is expressed as a percentage of the maximum
operating speed of the program.

Table 1-13 ： The unit of speed and the setting range for the interpolation methods
Interpolation method Unit Setting range
Joint interpolation % 0 ～ 100
Linear interpolation mm/s 0 ～ 650
Circular interpolation mm/s 0 ～ 650

Programming with the teaching playback method- 33

1.Operations

6. Setting the timer

【Function】
Setting the timer is for determining the amount of time you want to stop
【Keys used】
the robot after it moves to the step displayed, and is expressed in terms of
units of 0.1 seconds.
You can set the timer anywhere from 0 sec. to 25.5 sec.

[STEP/MOVE] +
( [COND] → [RPL ↓ ] )
[RPL ↓ ]

【Input format】
Shown below is an example for setting the timer to 1.5 sec.
NO Display screen of the teaching box Description of the operation
1 While holding down [STEP/MOVE], press and release [COND] and
PR:1 ST:5 then press [RPL ↓ ].
INTP :JOINT The setting screen for the interpolation method will appear.
SPD:-----%
TIME : 0.0sec

2 Press [RPL ↓ ] twice to move the cursor to TIME.

PR:1 ST:5
INTP : （ ）
1.JOINT 2.LINER
3.CIRCULAR

3 Press [1] (-B/-P), [.] (+X/+W), [5] (+C/+R) and for to input "1.5."
PR:1 ST:5
INTP :JOINT
SET TIMER
TIME( )sec

4 Press [INP/EXE].
PR:1 ST:5
INTP :JOINT
SET TIMER
TIME(1.5 )sec

5 The timer has been set to 1.5 seconds.

PR:1 ST:5
INTP :JOINT
SPD: 50%
TIME : 1.5sec

Programming with the teaching playback method-34

 1.Operations

【Explanation】
･ The timer will be valid only for the step that was set. If nothing is set, "0" seconds will be used.
･ If there is a series of linear interpolation steps, and you don't want to set the timer, these steps will be treated
as path movement steps, and the robot will operate continuously, not accelerating nor decelerating along the
way. However, along the way, if there is a setting to wait for a signal input, the robot will stop temporarily.
･ To leave the timer setting so that it is not set, press [0] when setting the timer.
･ To display the teaching box screen, press [COND]. Then, each time you press [COND], you can toggle
between the interpolation/speed setting screen and the I/O setting screen.

Programming with the teaching playback method- 35

1.Operations

7. Setting and displaying the I/O signals

【Function】
Setting and displaying the I/O signals refers to the display of the output
【Keys used】
signal status and the waiting status for the input signals.
Enter "1" for ON, "0" for OFF, and "-" for not set status.

[STEP/MOVE] +
( [COND] → [RPL ↓ ] )
[RPL ↓ ]

【Input format】
Shown below is an example of how to set bit 3 of the signal output to ON.
NO Display screen of the teaching box Description of the operation
1 While holding down [STEP/MOVE], press and release [COND] and
PR:1 ST:5 then press [RPL ↓ ].
0 ＋ 76543210 The setting screen for the bit number will appear.
OUT : ----11
IN : --1111

2 The bit number becomes the standard number of the I/O signal
PR:1 ST:5 for setting/displaying. The I/O bit of the designated number is
( 0 )76543210 displayed as the 0 bit.
BIT NUMBER Press [RPL ↓ ].
IN : --1111 The signal output screen is displayed.

3 Press [HAND → ] four times. The cursor is moved to position 3.

PR:1 ST:5
0 ＋ 76543210
OUT :( ---11)
IN : --1111

4 Press [1] (-B/-P) to display "1".

PR:1 ST:5
0 ＋ 76543210
OUT :( ---11)
IN : --1111

5 Press [INP/EXE].
PR:1 ST:5 After the bottom line of the screen displays "REPLACING" bit 3
0 ＋ 76543210 of the output signal will be turned ON.
OUT :( -1-11)
IN : --1111

Programming with the teaching playback method-36

 1.Operations

【Explanation】
･ You can individually set the output conditions or the waiting conditions by setting the general purpose I/O bits
from 0 to 15 and by setting the input confirmation for the open/close setting for the hand.
(The settings are ON, OFF, or Not set)
･ When steps are executed, if a plural number of bits is set for the signal output status, they will be output
simultaneously.
･ Once an output signal has been set, that same status will be maintained for all steps after that, until one is
reset (or changed).
Also, if not set, the steps will keep using the last output status.
･If a plural number of bits are set for the input signal waiting condition, the robot will wait until all the conditions
are fulfilled. (For AND conditions) When waiting for multiple input bits under OR conditions, you need to change
them beforehand into one input signal using the sequencer and then input it.
･ The step setting for the input signal for the waiting condition is valid only for the step displayed.
･ When the timer has been previously set for a step, the timer is activated, then, after the output signal is sent,
the input signal waiting condition is executed. (Fixed order.)
･ If the hand's open/close setting is set, ordinarily you would need to set the timer at the next step to wait for
the delay of the hand's movement.
･ Press [COND] to display the teaching box screen. Also, each time you press [COND], you can toggle between
the interpolation/speed setting screen and the I/O setting screen.
･To change the open/close setting of the hand, go to the Program editing screen and change the <O/C> setting
for the command "MPB."
By pressing [COND]+[ADD ↑ ] on the teaching box, the Program editing screen can be displayed. For details,
see section 1.3.4.3 "Programming with the Movemaster command method : 2.Revising the program" in this
manual and section 3.3 "Explanation of Commands(MPB commands)" in the Reference Manual.

Programming with the teaching playback method- 37

1.Operations

8. Manual Data Input (MDI)

【Function】
MDI allows you to replace position data of a previously created program by keying in entries.

【Input format】
Shown below is an example of how to change the value of the Y-coordinate from -500.00 to -450.00, and the
posture from RIGHT to LEFT.
NO Display screen of the teaching box Description of the operation
1 Press [POS CHAR].
PR:1 ST:1 The Program editing screen will appear.
INTP :JOINT
SPD:-----%
TIME : 0.0sec

2 Press [RPL ↓ ] twice to display the input line of the value of the
PR:1 ST:1 Y-coordinate.
X: 1000.00
Y: -500.00
Z: 100.00

3 Press [HAND → ] three times to move the cursor on top of 5.

PR:1 ST:1
X: 1000.00
Y( -500.00)
Z: 100.00

4 Press [4] (-Y/-S) to enter [5] (+C/+R) to enter and then press
PR:1 ST:1 [INP/EXE].
X: 1000.00 After you see "REPLACING" displayed, the position data will be
Y( -500.00) replaced.
Z: 100.00

5 The value of the Y-coordinate becomes -450.00.

PR:1 ST:1 Press [RPL ↓ ] seven times.
X: 1000.00
Y: -450.00
Z: 100.00

6 Press [0] (-C/-R) and press [INP/EXE].

PR:1 ST:1
STRUC.FLAG( 111 )
SET 1:RAN
FLAG 0:LBF

7 The posture has been changed from RIGHT to LEFT.

PR:1 ST:1
X: 1000.00
Y: -450.00
Z: 100.00

Programming with the teaching playback method-38

 1.Operations

1.3.4.2 Programming with the MELFA-BASIC III method

This method is one that programs using MELFA-BASIC III with the teaching box or personal computer. Using the
abundant operation functions, it is possible to describe higher level work than with the teaching playback method
or Movemaster command method.
The programming method explained here uses the teaching box. Refer to "Appendix 6.8: Programming using a
personal computer" in this manual for details on programming information using a personal computer.
The individual lines will be processed according to their functions, as shown in Table 2.14. (For information on the
commands and descriptions for MELFA-BASIC III, refer to "Chapter 3. 2. 2. 1: MELFA-BASIC III" in the
Reference Manual).

Table 1-14 ： Processing individual lines

Type of input Function
Line number and command It will be input as a single line in the program
Line numbers only The designated line will be deleted from the program
Command only The command will be executed immediately (Direct execution)

Programming with the MELFA-BASIC III method- 39

1.Operations

1. Creating programs
(1)Opening the Program editing screen
【Function】
Opens the Program editing screen for a previously created program.
The displays and messages on the screen associated with this function are shown below:

PR:1 ST:1 → Program name is(PR:), Step number is (ST:1)

LN:0 → Display of the line number
-- NO DATA --

【Input format】
Shown below is an example of how to open the Program editing window for program name, 3.
NO Display screen of the teaching box Description of the operation
1 Press [1] (-B/-P) Key or press [INP/EXE].
<MENU> The Program editing screen will appear.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [3] (-Z/-E) Key for then [INP/EXE].

<TEACH> This selects the program named 3.
( )
SELECT PROGRAM

3 Press [COND] + [ADD ↑ ].

PR:3 ST:1 The Program editing window will appear.
(You can also press [COND] Key + [RPL ↓ ] or [COND] + [ DEL
← ] to display the Program editing window.)
-- NO DATA --

4 The Program editing window for program 3 appears.

PR:3 ST:1 The head line is displayed.
LN:0
-- NO DATA --

【Explanation】
･ The program editing screen can be opened from any screen of the teaching box
･ by pressing the [COND] + [ADD 37] keys.
･ When a program is not selected, the previously edited or executed program's edit screen will open. If the
program has not been registered yet, program "1" will automatically be selected.

Programming with the MELFA-BASIC III method-40

 1.Operations

(2) Creating a program

【Function】
Creating a program refers to creating a new program.
A program is newly created. Here the commands are input in order, and the position is taught separately. (Refer to
the following section "3.Entering current position data")
The displays and messages on the screen associated with this function are shown below:

PR:3 ST:1 → Program name is(PR:)and the step number is(ST:)

LN:0 → Line number
→ Command editing
CODE EDIT

【Input format】
Shown below is an example of a program for program 3.
10 OVRD 50
20 MVS P10
30 DLY 0.3
40 GOTO 20
NO Display screen of the teaching box Description of the operation
1 In the Program editing windows, press [RPL ↓ ] three times.
PR:3 ST:1 The cursor will move to the line for the line for the command
LN:0 editing.
-- NO DATA --

2 Press [1] (-B/-P), [0] (-C/-R) and press [SPACE] (-W/-X) input
PR:3 ST:1 "10".
LN:0

CODE EDIT

3 Press [POS/CHAR] + ([MNO] [MNO] [MNO]). "0" is input.

PR:3 ST:1
LN:0
10
CODE EDIT

4 Hold down [POS/CHAR]. Four commands assigned to "O" are

PR:3 ST:1 displayed.
LN:0
10 O
CODE EDIT

5 Hold down the [POS/CHAR] key, and press [1] (-B/-P).

1.OVRD 2.ON The OVRD command is input.
3.OFF 4.OUT ◇◆◇ Tip ◇◆◇
10 O When inputting a command, press [POS/CHAR] again after
CODE EDIT inputting the first character. Select the number of the
required command from the list. Every time [POS/CHAR] is
pressed, the character input and command selection changes.

Programming with the MELFA-BASIC III method- 41

1.Operations

NO Display screen of the teaching box Description of the operation

6 Press [5] (+C/+R), [0] (-C/-R). "10 OVRD 50" is input.
PR:3 ST:1
LN:0
10 OVRD
CODE EDIT

7 Press [INP/EXE]. "10 OVRD 50" is registered, and the edit

PR:3 ST:1 screen in step 2 is displayed.
LN:0
10 OVRD 50
CODE EDIT

8 Press [2] (-A/-T), [0] (-C/-R), [Space] (-X/-W), [POS/CHAR] +

PR:3 ST:2 [MNO] (-Y/-S).
LN:0

CODE EDIT

9 Press [POS/CHAR] again. Four commands assigned to "M" are

PR:3 ST:2 displayed.
LN:0
20 M
CODE EDIT

10 Hold down the [POS/CHAR] key, and press [3] (-A/-T). The MVS
1.MOV 2.MVS command is input.
3.MVC 4.MVR
20 M
CODE EDIT

11 Press [POS/CHAR] + [PQR] (-X/-W), [1] (-B/-P), [0] (-C/-R).

PR:3 ST:2 "20 MVS P10" is input.
LN:0
20 MVS
CODE EDIT

12 Press [INP/EXE]. "20 MVS P10" is registered, and the edit

PR:3 ST:2 screen in step 3 is displayed.
LN:0
20 MVS P10
CODE EDIT

13 Input the remaining commands in the same manner.

PR:3 ST:3
LN:0

CODE EDIT

Programming with the MELFA-BASIC III method-42

 1.Operations

2. Revising the program

(1) Open the editing window for the program
【Function】
To revise a program, open the editing window for the program you want to revise.
The displays and messages on the screen associated with this function are shown below:
The operation method is the same as "Creating a program." Refer to Chapter 1.3.4.2 "Programming with the
MELFA-BASIC Ⅲ method : 1.Creating programs" in this manual.

(2) Revising the program

【Function】
Revising a program refers to revising a previously created program.

【Input format】
Shown below is how to make the following revision:

Before making the revision After making the revision

10 OVRD 50 10 OVRD 50
20 MVS P10 20 MOV P10
30 DLY 0.3 30 DLY 0.3
35 MOV P20
40 GOTO 20 40 GOTO 20

NO Display screen of the teaching box Description of the operation

1 In the Program editing screen, press [RPL ↓ ] twice.
PR:3 ST:1 The cursor will move to the line number display.
LN:10
10 OVRD 50

2 Press [2] (-A/-T), then press [0] (-C/-R) then [INP/EXE]

PR:3 ST:1 This brings you to line 20.
LN:( 10 ) Next press [RPL ↓ ].
The cursor moves to the display for the line number and command
10 OVRD 50
number.
LINE NUMBER

3 Press [HAND] six times. The cursor moves to the right of the
PR:3 ST:1 "S."
LN:20
20 MVS P10
CODE EDIT

4 Press [POS/CHAR] + [DEL] twice. Delete "V" and "S," leaving

PR:3 ST:1 only "M."
LN:20
20 MVS P10
CODE EDIT

Programming with the MELFA-BASIC III method- 43

1.Operations

NO Display screen of the teaching box Description of the operation

5 Press [POS/CHAR] again. Four commands assigned to "M" are
PR:3 ST:1 displayed.
LN:20
20 M P10
CODE EDIT

6 Hold down the [POS/CHAR] key, and press [1] (-B/-P). The
1.MOV 2.MOVS MOV command is input, and the line becomes "20 MVS P10."
3.MVC 4.MVR
20 M P10
CODE EDIT

7 Press [INP/EXE]. The revised line 20 is registered, and the next

PR:3 ST:1 "30 DLY 30" is displayed.
LN:20
20 MOV P10
CODE EDIT

Next, use line 20 "20 MOV P10" to input "35 MOV P20" for line 35.
NO Display screen of the teaching box Description of the operation
8 Press [-/BACKWD], and display "20 MOV P10."
PR:3 ST:1
LN:20 Press [HAND -] twice. The cursor moves to the right of the "0."
20 MOV P10
CODE EDIT

9 Press [POS/CHAR] + ([DEL], [DEL]). Line No. "20" is deleted.

PR:3 ST:1
LN:20
20 MOV P10
CODE EDIT

10 Press [3] (-Z/-E), [5] (+C/+R). Line No. "35" is input.

PR:3 ST:1
LN:20
MOV P10
CODE EDIT

11 Press [HAND -] seven times. The cursor will move above the "0".
PR:3 ST:1 Press [POS/CHAR] + [DEL]. "1" is deleted.
LN:20
35 MOV P10
CODE EDIT

12 Press [2] (-A/-T). The line becomes "35 MOV P20."

PR:3 ST:1
LN:20
35 MOV P0
CODE EDIT

Programming with the MELFA-BASIC III method-44

 1.Operations

NO Display screen of the teaching box Description of the operation

13 Press [INP/EXE]. The newly entered line No. 35 is registered
PR:3 ST:1 (inserted), and the next line No. 40 is displayed.
LN:20
35 MOV P20
CODE EDIT

14 This completes the program revision.

PR:3 ST:1
LN:20
40 GOTO 20
CODE EDIT

【Explanation】
･ When entering characters or symbols, hold down [POS/CHAR] and press the various keys.
･ While holding down on [POS/CHAR], if you repeatedly press one of the other keys, the letters or symbols
allotted to it will rotate, and when you've found the character or symbol you were looking for, release [POS/
CHAR] to choose it.
･ If you make a mistake, press [POS/CHAR]+[DEL ← ] to delete and make the revision.
･ When the cursor is on the line for line number and command, press [+/FORWD] and [-/BACKWD] to scroll up
or down the display lines.
･ The display of the line number and command that have finished being entered correctly is shown as follows:
If a previously existing line has been overwritten: The overwritten line (line number and command) will be
displayed.
If a new line has been added: The next line after the line added will be displayed (line number and command).
･ By inputting new line numbers and commands into a program that hasn't been entered, you can create a new
program without the personal computer.
･ If you display a step that has been created with the teaching playback method in the Program editing screen,
the line number will not be displayed, and a command (such as MPB) will be displayed after the colon (":").

Programming with the MELFA-BASIC III method- 45

1.Operations

3. Entering current position data

【Function】
Entering current position data refers to entering the current position at a position number.
The displays and messages on the screen associated with this function are shown below:
【Explanation】
Shown below will be an example where position number 3 will be given a certain position.

MO.POS( P1 ) → Designate the position number where you want to enter the position.
X: ＋ 0.00 (When using the Movemaster command method, the current position is
called the "MO position.")
Y: ＋ 0.00
Z: ＋ 0.00

NO Display screen of the teaching box Description of the operation

1 Hold down [POS/CHAR] and press [ADD ↑ ].
PR:3 ST:1 The Position enter screen will be displayed.
LN:10
10 OVRD 50

2 [P](-X/-W), [3](-Z/-E), and input [INP/EXE].

MO.POS( P1 ) The screen jumps to position 3 and the currently enterd position
X: ＋ 0.00 is displayed.
Y: ＋ 0.00
Z: ＋ 0.00

3 Move the robot to the positon you want to enter, using jog opera-
MO.POS( P3 ) tions.
X: ＋ 0.00
Y: ＋ 0.00
Z: ＋ 0.00

4 When you have finished with the jog operationw, hold down
MO.POS( P3 ) [STEP/MOVE] and press [ADD ↑ ], thenrelease only [ADD ↑ ].
X: ＋ 0.00 The buzzer will "beep" and a confirmation message will be dis-
played.
Y: ＋ 0.00
Z: ＋ 0.00

5 Hold down [STEP/MOVE] and press [ADD ↑ ] again.

MO.POS( P3 ) The buzzer will "beep" and after "EXECUTING" is displayed on
X: ＋ 0.00 the buttom line, the current position will be revised and entered.
Y: ＋ 0.00
ADDITION ?

6 We've finished entering the position.

MO.POS( P3 ) When the [COND] key is held down, and [ADD ↑ ] is pressed, the
X: ＋ 34.50 screen will return to the program edit screen.
Y: ＋ 20.00
Z: ＋ 80.00

Programming with the MELFA-BASIC III method-46

 1.Operations

4. Confirming the position number

【Function】
You can confirm the position number by moving to the position of the position number that has been entered.
The displays and messages on the screen associated with this function are shown below:

MO.POS( P3 ) → Designates the position number to move to.

X: ＋ 34.50 (In the MELFA-BASICIII and Movemaster command method, the
current position is referred to as the "MO position.")
Y: ＋ 20.00
Z: ＋ 80.00

【Input format】
Shown below is an example of how to move to position 3.
NO Display screen of the teaching box Description of the operation
1 Hold down [POS/CHAR] and press [ADD ↑ ] .
PR:3 ST:1 The Position enter screen will appear.
LN:10
10 OVRD 50

2 [P] (-X/-Y), [3] (-Z/-E) and press [INP/EXE].

MO.POS( P1 ) You will jump to position 3 and the current position entered will be
X: ＋ 0.00 displayed.
Y: ＋ 0.00
Z: ＋ 0.00

3 While pressing the deadman switch, hold down the [STEP/MOVE]

MO.POS( P3 ) key and press [INP/EXE]. The robot will move to position 3. (in
X: ＋ 34.50 joint interpolation)
Release [INP/EXE] and the robot will stop.
Y: ＋ 20.00
Z: ＋ 80.00

4 The robot has finished moving to the position number.

MO.POS( P3 ) Hold down [COND] and press [ADD ↑ ] to return to the Program
X: ＋ 34.50 editing screen.
Y: ＋ 20.00
Z: ＋ 80.00

Programming with the MELFA-BASIC III method- 47

1.Operations

5. Revising the data for the current position

【Function】
Revising the data for the current position involves revising a position number that has already been entered, to
the current position.
The displays and messages on the screen associated with this function are shown below:

MO.POS( P3 ) → Designates the position number whose position you want to change.
X: ＋ 0.00 (In the MELFA-BASIC III and Movemaster command method, the current
position is referred to as the "MO position.)
Y: ＋ 0.00
Z: ＋ 0.00

【Input format】
Shown below is an example of how to revise position 3 to a certain a position.
NO Display screen of the teaching box Description of the operation
1 Hold down [POS/CHAR] and press [ADD ↑ ] .
PR:3 ST:1 The Position enter screen will appear.
LN:10
10 OVRD 50

2 [P] (-X/-W), [3] (-Z/-E) and press [INP/EXE] .

MO.POS( P1 ) You will jump to position 3 and the currently entered position will
X: ＋ 0.00 be displayed.
Y: ＋ 0.00
Z: ＋ 0.00

3 Move the robot to the position you want to revise using jog
MO.POS( P3 ) operations.
X: ＋ 34.50
Y: ＋ 20.00
Z: ＋ 80.00

4 When you have finished with the jog operations, hold down
MO.POS( P3 ) [STEP/MOVE] and press [RPL ↓ ] , and then release only [RPL
X: ＋ 34.50 ↓].
The buzzer will "beep" and a confirmation message will be
Y: ＋ 20.00
displayed.
Z: ＋ 80.00

5 Hold down [STEP/MOVE] and press [RPL ↓ ] again.

MO.POS( P3 ) The buzzer will sound "beep, beep" and then, after "EXECUTING"
X: ＋ 0.00 is displayed on the bottom line, the current position will be revised
and entered.
Y: ＋ 0.00
ADDITION ?

6 The revision of the position has been completed.

MO.POS( P3 ) Press [POS/CHAR] to return to the Program editing screen.
X: ＋ 34.50
Y: ＋ 20.00
Z: ＋ 70.00

Programming with the MELFA-BASIC III method-48

 1.Operations

6. Manual Data Input (MDI)

【Function】
MDI allows you to replace position data of a previously created program by keying in entries. The displays and
messages on the screen associated with this function are shown below:

MO.POS( P3 ) → The position number for revising the position

X: ＋ 34.50 (In the MELFA-BASIC Ⅲ and Movemaster command method, the
current position is referred to as the "MO position.")
Y: ＋ 20.00
Z: ＋ 80.00

【Input format】
Shown below is an example of how to change the value of position 3's Y-coordinate from +20.00 to +15.00.
NO Display screen of the teaching box Description of the operation
1 [P] (-X/-W), [3] (-Z/-E) and [INP/EXE].
MO.POS( P1 ) You will jump to position 3 and the position data currently entered
X: ＋ 0.00 will be displayed.
Y: ＋ 0.00
Z: ＋ 0.00

2 Press [RPL ↓ ] twice.

MO.POS( P3 ) The cursor will move to the Y-coordinate value.
X: ＋ 34.50
Y: ＋ 20.00
Z: ＋ 80.00

3 Press [HAND → ] four times

MO.POS( P3 ) The cursor will move on top of "2."
X: ＋ 34.50
Y:( ＋ 20.00)
Z: ＋ 80.00

4 Press [1] (-B/-P) and [5] (+C/+R).

MO.POS( P3 ) "20" will be written over "15."
X: ＋ 34.50
Y:( ＋ 20.00)
Z: ＋ 80.00

5 Press [INP/EXE].
MO.POS( P3 ) The value for the Y-coordinate will be revised.
X: ＋ 34.50
Y:( ＋ 15.00)
Z: ＋ 80.00

【Function】
･ The cursor can be moved by pressing [ADD ↑ ],[ RPL ↓ ], [DEL ← ], and [HAND → ].
･ If you make a mistake , press [POS/CHAR]+[DEL ← ] to delete the character.

Programming with the MELFA-BASIC III method- 49

1.Operations

7. Deleting a position number

【Function】
This function deletes a position number that has been previously entered.
The displays and messages on the screen associated with this function are shown below:

MO.POS( P3 ) → Designates the position number you want to delete

X: ＋ 34.50 (In the MELFA-BASIC Ⅲ and Movemaster command method, the
current position is referred to as the "MO position.")
Y: ＋ 20.00
Z: ＋ 80.00

【Input format】
Shown below is an example of how to delete position number 3.
NO Display screen of the teaching box Description of the operation
1 Hold down [POS/CHAR] Key and press [ADD ↑ ].
PR:3 ST:1 The Position enter screen will be displayed.
LN:10
10 OVRD 50

2 [P] (-X/-W), [3] (-Z/-E) and press [INP/EXE].

MO.POS( P1 ) You will jump to position 3, and the currently entered position will
X: ＋ 0.00 be displayed.
Y: ＋ 0.00
Z: ＋ 0.00

3 Hold down [STEP/MOVE] and press

MO.POS( P3 ) [DEL ← ] and release [DEL ← ] only.
X: ＋ 34.50 The buzzer will sound "beep, beep, beep" and a confirmation
message will appear.
Y: ＋ 20.00
Z: ＋ 80.00

4 Hold down [STEP/MOVE] and press [DEL ← ] again.

MO.POS( P3 ) The buzzer will sound "beep" and then, after "EXECUTING" is
X: ＋ 0.00 displayed on the bottom line of the screen, the position variable
"3" will be deleted.
Y: ＋ 0.00
DELETE ?

5 The deletion of the position number has been completed.

MO.POS( P3 ) Press [POS/CHAR] to return to the Program editing menu.
X: ＋ 0.00
Y: ＋ 0.00
Z: ＋ 0.00

Programming with the MELFA-BASIC III method-50

 1.Operations

1.3.4.3 Programming with the Movemaster command method

The Movemaster command method is a method of programming that uses Movemaster commands with the
teaching box and the personal computer. It is possible to describe more detailed work than the teaching playback
method using this method. Here we'll describe how to use this programming method with the teaching box.
The individual lines will be processed according to their functions, as shown in Table 1-15.
(For information on the commands and descriptions for Movemaster commands, refer to 3.3"Explanation of the
Commands" in the Reference manual.)

Table 1-15 ： Processing individual lines

Type of input Function
Line number and command It will be input as a single line in the program
Line numbers only The designated line will be deleted from the program
Command only The command will be executed immediately (Direct execution)

Programming with the Movemaster command method- 51

1.Operations

1. Creating programs
(1) Opening the Program editing screen
【Function】
Opens the Program editing screen for a previously created program.
This operation is the same as "Creating a program." Refer to Chapter 1.3.4.2 "Programming with the MELFA-
BASIC Ⅲ method : 1.Creating programs" in this manual.

(2)Creating programs
【Function】
Creating a program refers to creating a new program.
The displays and messages on the screen associated with this function are shown below:

PR:3 ST:1 → Program name is(PR:)and the step number is(ST:)

LN:0 → Line number
-- NO DATA -- → Command editing

【Input format】
Shown below is an example of a program for program 3.
10 SP 7
20 ＭS 10,O
30 TI 3
40 GT 20

NO Display screen of the teaching box Description of the operation

1 In the Program editing window, press [RPL ↓ ] three times.
PR:3 ST:1 The cursor will move to the line for the command editing.
LN:0
-- NO DATA --

2 Press [1] (-B/-P), [0] (-C/-R) and press [SPACE] (-X/-W) input
PR:3 ST:1 "10 ".
LN:0

CODE EDIT

3 Press [POS/CHAR] +[STU] (+C/+R) for and

PR:3 ST:1 [POS/CHAR] + [PQR] (-X/-W) and then [SPACE] (-X/-W) and
LN:0 [7] (-A/-T).
This inputs "SP 7" so that it becomes "10 SP 7"
10
CODE EDIT

4 Press [INP/EXE].
PR:3 ST:1 This enters "10 SP 7" at line 10 and the editing window for step 2
LN:0 is displayed.
10 SP 7
CODE EDIT

Programming with the Movemaster command method-52

 1.Operations

NO Display screen of the teaching box Description of the operation

5 Press [2] (-A/-T), [0] (-C/-R), and [SPACE] (-X/-W)
PR:3 ST:2 [POS/CHAR] + [MNO] (-Y/-S),
LN:0 [POS/CHAR] + [STU] (+C/+R), [SPACE] (-X/-W),
[1] (-B/-P), [0] (-C/-R),
[POS/CHAR] + [ , ＠￥] (+Z/+E)
CODE EDIT "20 MS 10" will be input.

6 Hold down [POS/CHAR] and press [MNO] (-Y/-S) three times

PR:3 ST:2 for MNO.
LN:0 Release [POS/CHAR] and you can confirm the characters.
MS 10， "O" is input and it becomes "20 MS 10,O"
20
CODE EDIT

7 Press [INP/EXE].
PR:3 ST:2 On line 20, 20 MS 10,0 is entered, and the editing window for step
LN:0 3 is displayed.
In a similar fashion, continue creating the rest of the program, for
no.5 to no.7.
CODE EDIT

Programming with the Movemaster command method- 53

1.Operations

2. Revising the program

(1) Open the program edit screen.
【Function】
Open the edit screen for the program to be revised.
This operation is the same as "Creating a program." Refer to Chapter 1.3.4.2 "Programming with the MELFA-
BASIC Ⅲ method : 1.Creating programs" in this manual.

(2) Revising the program

【Function】
Revising a program refers to revising a previously created program.

【Input format】
Shown below is how to make the following revision:

Before making the revision After making the revision

10 SP 7 10 SP 7
20 MS 10 , O 20 MO 10 , O
30 TI 3 30 T Ｉ 3
35 MO 20 , C
40GT 20 40 GT 20

NO Display screen of the teaching box Description of the operation

1 In the Program editing screen, press [RPL ↓ ] twice.
PR:3 ST:1 The cursor will move to the line number display.
LN:0
10 SP 7

2 Press [2] (-A/-T), then press [0] (-C/-R) then [INP/EXE]

PR:3 ST:1 This brings you to line 20.
LN:( 10 ) Next press [RPL ↓ ].
The cursor moves to the display for the line number and command
10 SP 7
number.
LINE NUMBER

3 Press [HAND → ] five times.

PR:3 ST:1 The cursor will move to the right of S.
LN:20
20 MS 10 , O
CODE EDIT

4 Press [POS/CHAR] + [DEL ← ].

PR:3 ST:1 "S" will be deleted.
LN:20
20 MS 10 , O
CODE EDIT

Programming with the Movemaster command method-54

 1.Operations

NO Display screen of the teaching box Description of the operation

5 Hold down [POS/CHAR] and press [MNO] (-Y/-S) three times.
PR:3 ST:2 "0" is input and the line becomes "20 MO 10,0"
LN:20
20 M 10 , O
CODE EDIT

6 Press [INP/EXE].
PR:3 ST:2 "20 MO 10,0" is entered for line 20.
LN:20
20 MO 10 , O
CODE EDIT

Next, let's use "20 MO 10,O" to enter "35 MO 10,C" for line 35.
NO Display screen of the teaching box Description of the operation
7 Press [-/BACKWD], and display "20 MO 10, 0.
PR:3 ST:2 "Press [HAND → ] twice.
LN:20 The cursor will move to the right of 0.
20 MO 10 , O
CODE EDIT

8 Hold down [POS/CHAR] and press [DEL ← ] twice.

PR:3 ST:2 Line number "20" will be deleted.
LN:20
20 MO 10 , O
CODE EDIT

9 Press [3] (-Z/-E) and [5] (+C/+R).

PR:3 ST:2 Line number "35" is input.
LN:20
MO 10 , O
CODE EDIT

10 Press [HAND → ] five times.

PR:3 ST:2 The cursor moves on top of "0."
LN:20 Next, press [POS/CHAR] + [DEL ← ].
"1" will be deleted.
35 MO 10 , O
CODE EDIT

11 Press [2] (-A/-T).

PR:3 ST:2 The display will read, "35 MO 20,0."
LN:20
35 MO 0 , O
CODE EDIT

12 Press [HAND → ] three times.

PR:3 ST:2 The cursor moves to the right of "0."
LN:20 Next press [POS/CHAR] + [DEL ← ] .
"0" is deleted.
35 MO 20 , O
CODE EDIT

Programming with the Movemaster command method- 55

1.Operations

NO Display screen of the teaching box Description of the operation

13 Hold down [POS/CHAR] and press [ABC] (-C/-R) for "ABC"
PR:3 ST:2 three times.
LN:20 "C" is input.
35 MO 20,
CODE EDIT

14 Press [INP/EXE].
PR:3 ST:2 "35 MO 20, C" is entered for line 35.
LN:20
35 MO 20 , C
CODE EDIT

15 "35 MO 20, C" is entered for line 35 and the next line (line 40) is
PR:3 ST:2 displayed.
LN:20
40 GT 20
CODE EDIT

【Explanation】
･ When entering characters or symbols, hold down [POS/CHAR] and press the various keys.
･ While holding down on [POS/CHAR], if you repeatedly press one of the other keys, the letters or symbols
allotted to it will rotate, and when you've found the character or symbol you were looking for, release [POS/
CHAR] to choose it.
･ If you make a mistake, press [POS/CHAR] + [DEL ← ] to delete and make the revision.
･ When the cursor is on the line for line number and command, press [+/FORWD] and [-/BACKWD] to scroll up
or down the display lines.
･ The display of the line number and command that have finished being entered correctly is shown as follows:
If a previously existing line has been overwritten: The overwritten line (line number and command) will be
displayed.
If a new line has been added: The next line after the line added will be displayed (line number and command).
･ By inputting new line numbers and commands into a program that hasn't been entered, you can create a new
program without the personal computer.
･ If you display a step that has been created with the teaching playback method in the Program editing screen,
the line number will not be displayed, and a command (such as MPB) will be displayed after the colon (":").

Programming with the Movemaster command method-56

 1.Operations

3. Registering the current position data

【Function】
Registers the current position and hand 1 status in the position number.
【Method】
This operation method is the same as the MELFA-BASIC III method.
Refer to Chapter 1.3.4.2 "Programming with the MELFA-BASIC Ⅲ method : 3.Entering current position data"
in this manual.

4. Confirming the position number

【Function】
Moves to the position of the registered position number.
【Method】
This operation method is the same as the MELFA-BASIC III method. Refer to Chapter 1.3.4.2 "Programming
with the MELFA-BASIC Ⅲ method : 4.Confirming the position number" in this manual.

5. Compensating the current position data.

【Function】
Compensates a registered position number to the current position number and hand 1 status.
【Method】
This operation method is the same as the MELFA-BASIC III method. Refer to Chapter 1.3.4.2 "Programming
with the MELFA-BASIC Ⅲ method : 5.Revising the data for the current position" in this manual.

6. MDI (Manual Data Input) compensation

【Function】
Compensates the registered position data with numerical value input. The registered hand open/close 1 status
becomes the always closed status.
【Method】
This operation method is the same as the MELFA-BASIC III method. Refer to Chapter 1.3.4.2 "Programming
with the MELFA-BASIC Ⅲ method : 6.Manual Data Input (MDI)" in this manual.

7. Deleting the position number

【Function】
Deletes the a registered position number.

【Method】
This operation method is the same as the MELFA-BASIC III method. Refer to Chapter 1.3.4.2 "Programming
with the MELFA-BASIC Ⅲ method : 7.Deleting a position number" in this manual.

Programming with the Movemaster command method- 57

1.Operations

1.3.5 Debugging programs

Debugging refers to the operation of testing to see whether a program you have created operates properly as well
as to the operation of correcting mistakes when there is something wrong. You can confirm the correctness of a
program created either by the teaching playback method or by the movemaster command method by using the
debugging functions of the teaching box. The available functions for debugging are shown below. Every time you
create a program, you should debug it and confirm that there are no mistakes in the program before you execute
it.

Table 1-16 ： Available debugging functions according to program type

Program using Teaching Program using Movemaster
NO Available Debugging function
playback method command method
1 Incremental step feeding ○ ○
2 Decremental step feeding ○ ○
3 Incremental/Decremental step calling ○ ○
4 Direct call stepping ○ ○
5 Direct line calling × ○
6 Step jumping ○ ○
7 Servo power ON/OFF ○ ○
8 Program startup ○ ○
9 I/O signal monitor ○ ○
10 Variables monitor △ ○
11 Alarm hisories monitor ○ ○

Circle indicates OK, An "X" indicates Not Available, and triangle indicates possible, but inadvisable

When you debug a program the screen display for the teaching box is shown below for both program creation
methods:

<Screen for a program created with teaching playback method>

PR:1 ST:5
INTP :JOINT
SPD:-----%
TIME : 0.0sec

<Screen for a program created with MELFA-BASIC Ⅲ >

PR:1 ST:1
LN:10
10 MO Ｖ P1

<Screen for a program created with Movemaster command method>

PR:1 ST:1
LN:10
10 MO 1

Programming with the Movemaster command method-58

 1.Operations

1. Incremental step feeding

【Function】
"Incremental step feeding" refers to executing the program by moving it
forward step by step or line by line. For programs created with the teaching 【Keys used】
playback method, it means advancing from one previously - entered step
to the next previously-entered step. For programs created with the
MELFA-BASICIII/Movemaster command method, it means moving from
line to line in numerical order of the line numbers, from small to large.
By doing so, you can confirm that the program is operating properly.

[+/FORWD]+[INP/EXE]

【Input format】
Shown below is an example of how to use incremental step feeding to move from step 5 to step 6 in a program
that was created with the teaching playback method.
NO Display screen of the teaching box Description of the operation
1 Hold down [+/FORWD] and also hold down [INP/EXE].
PR:1 ST:5 The START button on the front of the controller will flash, and the
INTP :JOINT robot will move.
SPD:-----% Once the robot starts moving, it will continue to move even if you
TIME : 0.0sec release [+/FORWD].

2 When the START button lamp turns OFF, and the robot stops, it
PR:1 ST:6 will have moved to step 6.
INTP :JOINT
SPD:-----%
TIME : 0.0sec

【Explanation】
<For programs created with the teaching playback method>
･ The interpolation method, speed, and after-movement timer and I/O controls that will be used when the robot
moves to a designated step, will be based on the data settings already made for that step.
･ An alarm will sound if you try to designate a non-existing step.
･ If you release [INP/EXE] while the robot is still moving, the robot will stop moving. To restart, redo the key
entries shown above.
･ If the robot is stopped along the way, and you were using jog operations to move the robot, when you restart
the robot, it will move to the designated step only after it moves to the position where it stopped using joint
interpolation.

<For programs created with the MELFA-BASIC Ⅲ /Movemaster command method>

･The interpolation method used for moving to a designated line will be determined according to the interpolation
method used in the command.
･ An alarm will sound if you try to designate a non-existing step.

Programming with the Movemaster command method- 59

1.Operations

2. Decremental step feeding

【Function】
"Decremental step feeding" refers to executing the program by moving it
backward step by step or line by line. For programs created with the 【Keys used】
teaching playback method, it means retreating from one previously-entered
step to the prior previously-entered step. For programs created with the
Movemaster command method, it means moving from line to line in
numerical order of the line numbers, from large to small.
By doing so, you can confirm that the program is operating properly.

[- /BACKWD] + [INP/EXE]

【Input format】
Shown below is an example of how to use decremental step feeding to move from step 6 to step 5 in a program
that was created with the teaching playback method.
NO Display screen of the teaching box Description of the operation
1 Hold down [-B/BACKWD] and also hold down [INP/EXE].
PR:1 ST:6 The START button on the front of the controller will flash, and the
INTP :JOINT robot will move.
SPD:-----% Once the robot starts moving, it will continue to move even if you
TIME : 0.0sec release [-/BACKWD].

2 When the START button lamp turns OFF, and the robot stops, it
PR:1 ST:5 will have moved to step 5.
INTP :JOINT
SPD:-----%
TIME : 0.0sec

【Explanation】
<For programs created with the teaching playback method>
･ The interpolation method and speed that will be used when the robot moves to the designated step, will be
based on the data settings already made for that step, but the timer and I/O controls will not be executed.
･ An alarm will sound if you try to designate a non-existing step.
･ If you release [INP/EXE] while the robot is still moving, the robot will stop moving. To restart, redo the key
entries shown above.
･ In the event the starting point of the robot is not entered in the step (i.e. it's not "on step"), then it will move
to the designated step only after it moved back on step using joint interpolation.

<For programs created with the Movemaster command method>

･ Commands whose default values will change as a result of movements, such as relative movements and
calculation commands, cannot be used for decremental step feeding. The following commands can be used for
decremental step feeding:
MPB, MPC, MO, MS, MR, MA, MRA, and TI.

Programming with the Movemaster command method-60

 1.Operations

3. Stepping up/down
【Function】
"Stepping up" refers to jumping one step ahead from the displayed step or
line. 【Keys used】
"Stepping down" refers to jumping one step back from the displayed step
or line.
This is done to designate the next jump during confirmation, revision, or
step jumping for a previously-entered step or line.

[+/FORWD] [-/BACKWD]
[INP/EXE]

【Input format】
Shown below is an example of jumping one step past step 5 in a previously-created program with the teaching
playback method. (Stepping up)
NO Display screen of the teaching box Description of the operation
1 Press [+/FORWD] .
PR:1 ST:5 The cursor will be displayed at the step (ST:)
INTP :JOINT
SPD:-----%
TIME : 0.0sec

2 Press [+/FORWD], and [INP/EXE].

PR:1 ST:( 5 )
INTP :JOINT
SPD:-----%
TIME : 0.0sec

3 You will jump to the next step, step 6.

PR:1 ST:6
INTP :JOINT
SPD:-----%
TIME : 0.0sec

【Explanation】
･ To step down, use [+/FORWD] Key instead of [-/BACKWD] Key.
･ To automatically count up the step numbers or line numbers, hold down [+/FORWD] KEY.
If you step up from the previously-entered final step or line, and there are no more steps with data, or if on
the line display, you see "--NO DATA--," then you will jump to the head step or top line.
･ By pressing [-/BACKWD] Key, the step number or the line number will automatically count down.
If you try to step down at the top line or at the head step, and there are no more steps with data, or if on the
line display, you see "--NO DATA--," then you will jump to the final step or the last line.

Programming with the Movemaster command method- 61

1.Operations

4. Calling up steps
【Function】
By designating a step number the system can call up a previously-entered
step. This is done to confirm the correctness of a step, or to designate the 【Keys used】
jump to location when making revisions or when jumping to steps.

Numeric keys
[INP/EXE]

【Input format】
Shown below is an example of calling up step 8:
NO Display screen of the teaching box Description of the operation
1 Press [8] (+Z/+E).
PR:1 ST:5 The step display will display "8."
INTP :JOINT
SPD:-----%
TIME : 0.0sec

2 Press [INP/EXE].
PR:1 ST:( 5 ) Step 8 will be called up.
INTP :JOINT
SPD:-----%
TIME : 0.0sec

3 Step 8 has been called up.

PR:1 ST:8
INTP :JOINT
SPD:-----%
TIME : 0.0sec

【Explanation】
･ If you call up a step number that is larger than the last step in the program, the step following the final step is
called up.

Programming with the Movemaster command method-62

 1.Operations

5. Calling up lines
【Function】
By designating a program line of a program created with the Movemaster
command method, the system can call up a previously-entered line. 【Keys used】
This is done when you want to confirm a previously-entered line or when
you want to make a revision.

Numeric keys
[INP/EXE]

【Input format】
Shown below is an example of how to call up line number 30.
NO Display screen of the teaching box Description of the operation
1 Press [RPL ↓ ] twice.
PR:1 ST:1 The cursor will move to the line number display.
LN:10
10 SP 7

2 Press [3] (-Z/-E) and [0] (-C/-R) and [INP/EXE].

PR:1 ST:1 Line 30 will be called up.
LN:( 10 )
10 SP 7
LINE NUMBER

3 Line 30 has been called up.

PR:1 ST:1
LN:30
30 TI 3
LINE NUMBER

【Explanation】
･ If you input a value that is larger than the last previously-entered line number,
･ If you are using a program that has been created with the teaching playback method, it is not possible to call
up a line.

Programming with the Movemaster command method- 63

1.Operations

6. Jumping to a step
【Function】
Jumps to a step or line that has been previously entered.
You can confirm the positions entered for previously-entered steps 【Keys used】
or lines.

Numeric keys [INP/EXE]

[STEP/MOVE]+ [INP/EXE]

【Input format】
Shown below is an example of calling up step 8 and moving to it.
NO Display screen of the teaching box Description of the operation
1 Press [8] (+Z/+E) and [INP/EXE] .
PR:1 ST:5 Step 8 will be called up.
INTP :JOINT
SPD:-----%
TIME : 0.0sec

2 Hold down [STEP/MOVE] and press [INP/EXE]. While holding

PR:1 ST:8 down the deadman switch and the [STEP/MOVE] key, press
INTP :JOINT [INP/EXE].
SPD:-----%
TIME : 0.0sec

3 The lamp on the START button on the front of the controller will
PR:1 ST:8 turn OFF, and when the robot stops, the robot will have finished
INTP :JOINT moving to step 8.
SPD:-----%
TIME : 0.0sec

【Explanation】
･ When the robot moves to the previously-entered position in a step that you designate, it does so in joint
interpolation mode. When the robot stops moving, the controls for the timer and I/O signals set at that step
will take over.
･ The starting point for moving the robot can be at any of the previously entered steps, or any other point.
･If you release [INP/EXE] while the robot is moving, it will stop immediately. To restart it, repeat the key entries
mentioned above. (Numeric key entries won't be necessary.)
･ While the robot is moving, operate it carefully so that you avoid contact with surrounding obstacles.

Programming with the Movemaster command method-64

 1.Operations

1.3.6 Execution
1. Selecting the program
【Function】
A program can be selected by designating the name of a program in the Program selection menu.
The displays and messages on the screen associated with this function are shown below:

PR:5 ST:1 → Display of the program name (PR:) and the step number (ST:).
INTP :JOINT → Interpolation method that will be used to move to the displayed step.
SPD:-----% → Interpolation speed that will be used to move to the displayed step.
TIME : 0.0sec → The timer for the displayed step (waiting period)

【Input format】
The example below shows how to select the previously created program 5 which uses the teaching playback
method.
NO Display screen of the teaching box Description of the operation
1 Press [1] (-B/-P) to select "1.TEACH"and display the program
<MENU> selection screen.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [5] (+C/+R) to display "5"on the top of the screen.

<TEACH>
( )

SELECT PROGRAM

3 Press [INP/EXE].
<TEACH>
(5 )

SELECT PROGRAM

4 Program 5 is selected. (PR:5)

PR:5 ST:1
INTP :JOINT
SPD: 100%
TIME : 0.0sec

【Explanation】
･ When you select a previously created program that was made using the teaching playback method, at the line
for INTP, you will find one of the following displayed: "JOINT","LINEAR", or "CIRCULAR".
When you select a previously created program that was made using the Movemaster command method, at the
line for INPT, you will find the display reads : " -----".
･ If you select a new program, the screen will display "--NO DATA--"

Programming with the Movemaster command method- 65

1.Operations

(Display of screen when selecting a program that was (Display of screen when selecting
created using the Movemaster command method.) a new program)

PR:5 ST:1 PR:5 ST:1

INTP :: ------
SPD: ----% --NO DATA --
TIME : 0.0sec

･ You can use up to 8 characters to name a program. Only program names that are 8 characters or less can be
selected from the teaching box. If you want to use a program name that is 9 characters or more long, use a
personal computer. Program names that are more than 2 characters long cannot be selected by the controller.

Programming with the Movemaster command method-66

 1.Operations

2. Startup and restarting

【Function】
In the startup screen, you can designate the program number, and the program will start from the designated step
or line number.
The displays and messages on the screen associated with this function are shown below:

<START>
PR:5 ST:1 → Program number and step number
MD:CYCL LN:0 → Operating mode (Cycle/Continuous) and line number
OV:60% HALT → Override and program execution status

【Input format】
First select"2. RUN" from the Menu selection screen and then select "2. START" from the execution window.
The Start up screen will be displayed, and, if necessary, set the operating mode and the override, and then press
[1](-B/-P) and [INP/EXE].
For details, refer to section 1.3.7 "Execution screen : 2. START" in the Reference Manual.

【Explanation】
If you designate the cycle mode, the [START] button on the front of the controller will flash. If you designate the
continuous mode, the lamp on the button will turn OFF.

3. Stop
【Function】
Stopping the robot involves stopping a program in progress and bringing
the moving robot to a gradual stop. 【Keys used】

[STOP].

【Input format】
Press [STOP].
【Explanation】
If you press [STOP] while a program is running, the START button's lamp will turn OFF, and the STOP button will
flash.

Programming with the Movemaster command method- 67

1.Operations

4. Resetting the program

【Function】
Resetting the program refers to resetting a program that has
been interrupted and to moving the line of execution to the head 【Keys used】
of the program.

[ALARM RESET] + [INP/EXE]

【Input format】
NO Display screen of the teaching box Description of the operation
1 Press [ALARM RESET] + [INP/EXE] to reset the program.
PR:5 ST:5
INTP :JOINT
SPD:-----%
TIME : 0.0sec

2 The line of execution returns to the head of the program and the
PR:5 ST:1 1 is displayed as the step number. (ST:1)
INTP :JOINT
SPD:-----%
TIME : 0.0sec

【Explanation】
･ It's not possible to reset a program when it is being started up.
You can reset a program when the robot has stopped.
･ When an alarm is displayed, resetting the program will also reset the alarm condition. If the servo power is
OFF, resetting the program will turn it ON.
･ When an interrupted program is reset, the STOP button will turn OFF.

Programming with the Movemaster command method-68

 1.Operations

1.3.7 Execution screen

1. SERVO
【Function】
Turns the power of the robot's servo ON/OFF from the teaching box. It is used primarily for disengaging brakes
and as a safety measure for turning off the servo power. (The robot can't move without the servo power.) When
power is supplied to the controller, or when the program is reset, power will continue to be supplied to the servo.
The displays and messages on the screen associated with this function are shown

<SERVO>
SERVO ON( ) → Status of the servo power

0:OFF 1:ON

【Input format】
Hold down the deadman switch when turning ON the servo power. If the deadman switch is released, the servo
power will not turn ON.
NO Display screen of the teaching box Description of the operation
1 Press [2] (-A/-T). "2. START" will be selected, and the Startup
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [1] (-B/-P).

<RUN> "1. SERVO" will be selected, and the Servo screen will appear.
1.SERVO 2.ON

3 When turning the servo power ON, press [1] (-B/-P). When
<SERVO> turning servo power OFF, press [0] (-C/-R).
SERVO ON( ) Then press [INP/EXE].

0:OFF 1:ON

4 The servo power is turned ON or OFF.

<SERVO>
SERVO ON( )

0:OFF 1:ON

【Explanation】
･ When the servo power is cut, the brakes are automatically activated.

Programming with the Movemaster command method- 69

1.Operations

2. START
【Function】
Executes a designated program from a designated step number or designated line number.
It is possible to designate the execution mode (cycle/continuous) and the override, and it is done when you want
to execute the program from the teaching box.
The displays and messages on the screen associated with this function are shown below:

<START>
PR:5 ST:1 → Program number, step number
MD:CYCL LN:0 → Execution mode(cycle/continuous) and line number
OV:60% STOPPING → Override and program execution status

【Input format】
Shown below is an example of how to start executing the robot from step 3 of program "5" using the
"continuous" mode.
NO Display screen of the teaching box Description of the operation
1 Press [2](-A/-T). "2. START" will be selected, and the Startup
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [2] (-A/-T) .

<RUN> "2. START"will be selected, and the Startup screen will be
1.SERVO 2.START displayed.

3 Press [INP/EXE] .
<START> The cursor will move to the designated line for the program
PR:5 ST:1 number.
MD:CYCL LN:0
OV:60% STOPPING

4 Press [5] (+C/+R), [INP/EXE] and [RPL ↓ ] .

<START> "5" will be input as the program number and cursor will move to
PR:( ) the step number.
MD:CYCL LN:0
SELECT PROGRAM

5 Press [3] (-Z/-E) , [INP/EXE] , and [RPL ↓ ].

<START> "3" will be input as the step number and the cursor will move to
PR:5 ST:( ) the setting line for the execution mode.
MD:CYCL LN:0
SET STEP NUMBER

6 Press the [1] (-B/-P) , [INP/EXE] and [RPL ↓ ] three times. The
<START> execution mode will be set to "CONT" and the program execution
PR:5 ST:3 designation will be displayd.
MD: ( ) LN:0
0:CYCL 1:CONT

Programming with the Movemaster command method-70

 1.Operations

NO Display screen of the teaching box Description of the operation

7 Press [1] (-B/-P) and [INP/EXE] .
<START> The program will start continuous execution from step 3 in
PR:5 ST:1 program 5.
1:START
OV:60% HALT( )

【Explanation】
･ The starting line will be the step number for programs created with the teaching playback method, and the line
number for programs created with the Movemaster command method.
･ Use [RPL ↓ ] and [ADD ↑ ] to move the cursor between the setting categories.
･When you designate continuous execution, the first time the robot will start executing from the designated line
number or designated step number, but on the second time and thereafter, it will start executing from the first
step or first line.
･ To stop the execution of the robot, press [STOP] or the STOP button on the front of the controller.
The program will be in a state of interruption, and the STOP button lamp on the controller will turn ON.

Programming with the Movemaster command method- 71

1.Operations

1.3.8 Program management screen

1. DIR
【Function】
Confirms the condition of the programs in the memory.
The displays and messages on the screen associated with this function are shown below:

<DIR> 7 → Total number of programs

1 93-05-05
2 93-02-10 → Program numbers (names) and date of creation
5 93-03-24

【Input format】
NO Display screen of the teaching box Description of the operation
1 Press [3](-Z/-E). "3. FILE" will be selected, and the FILE screen
<MENU> will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [1] (-B/-P) for "1. DIR"will be selected and the program's
<FILE> directory will be displayed.
1.DIR 2.COPY
3.RENAME 4.DELETE

3 Press [ADD ↑ ] and [RPL ↓ ] to scroll up and down the screen.

<DIR> 7
1 93-05-05
2 93-02-10
5 93-03-24

4 Press [HAND → ] to display the program creation time (Hour,

<DIR> 7 minutes, seconds)
1 09:28:48
2 11:30:50
5 19:08:30

5 Press [HAND → ] to display the program size (in terms of bytes).

<DIR> 7 The upper right numerical value is the total size of all programs.
1 199
2 3202
5 1205

6 Press [HAND → ] to display the protect status.

<DIR> PROTECT (Refer to "2.PROTECT"on the next page .)
1 ON( 1 )
2 OFF( 0 )
0=OFF 1=ON

【Explanation】
･ The programs are displayed in order.

Programming with the Movemaster command method-72

 1.Operations

2. PROTECT
【Function】
Protects programs from being inadvertently deleted or changed.
The displays and messages on the screen associated with this function are shown below:

<DIR> PROTECT
1 ON( 1 ) → Program number (name) and protect status
2 OFF( 0 ) "0" is OFF (unprotected) and "1" is ON (protected)
0=OFF 1=ON

【Input format】
Shown below is an example of how to protect program 2:
NO Display screen of the teaching box Description of the operation
1 Press [HAND → ] three times in the Program directory screen.
<DIR> 7 Theprogram protect status will be displayed.
1 93-05-05 See the previous page"1.DIR" and display the program
management screen.
2 93-02-10
5 93-03-24

2 Press [RPL ↓ ] and [1] (-B/-P).

<DIR> PROTECT
1 ON( 1 )
2 OFF( 0 )
0=OFF 1=ON

3 Press [INP/EXE].
<DIR> PROTECT
1 ON( 1 )
2 OFF( 1 )
0=OFF 1=ON

4 Program 2 has been protected.

<DIR> PROTECT
1 ON( 1 )
2 ON( 1 )
0=OFF 1=ON

【Explanation】
･ Program protection protects your programs from the following operations: DELETE, RENAME, and changes of
commands. Changes of commands includes changes made using the teaching playback method.
･ Copying a program will not copy the protect status of a program.
･ Initializing operations will ignore the protect status of a program and proceed with initialization.

Programming with the Movemaster command method- 73

1.Operations

3. COPY
【Function】
A function that copies a previously-entered program to (a file under a)another program name.
If you try to copy to a program name that already exists, an alarm will be generated.
The displays and messages on the screen associated with this function are shown below:

<COPY>
FROM ( ) ← Input for the copy-from program
TO ( ) ← Input for the copy-to program
INPUT SOURSE

【Input format】
The method for copying program 1 to program 5 is shown below.
NO Display screen of the teaching box Description of the operation
1 Press [3](-Z/-E). "3. FILE" will be selected, and the FILE screen
<MENU> will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [2] (-A/-T).

<FILE> "2. COPY"will be selected and the Program copy screen will
1.DIR 2.COPY appear.
3.RENAME 4.DELETE

3 Press [1] (-B/-P) and press [RPL ↓ ] .

<COPY> The cursor moves to the input line for the copy-to program's
FROM ( ) name.
TO ( )
INPUT SOURSE

4 Press [5] (+C/+R) and [INP/EXE].

<COPY> The COPY function will be executed.
FROM (1 ) (To cancel, switch the [ENABLE/DISABLE] switch to DISABLE.)
TO ( )
INPUT SOURSE

5 Program 1 has been copied to program 5.

<FILE> The Program management screen will be displayed.
1.DIR 2.COPY
3.RENAME 4.DELETE

【Explanation】
･ The program protect status will not be copied.

Programming with the Movemaster command method-74

 1.Operations

4. RENAME
【Function】
This function changes the name of a previously-existing program.
If you try to change the name to one that already exists, an alarm will be generated.
The displays and messages on the screen associated with this function are shown below:

<RENAME>
FROM (1 ) ← Input for change-from name
TO ( ) ← Input for change-to name
INPUT DEST.

【Input format】
Shown below is an example of how to rename program 1 to program 5:
NO Display screen of the teaching box Description of the operation
1 Press [3](-Z/-E). "3. FILE" will be selected, and the FILE screen
<MENU> will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [3] (-Z/-E).

<FILE> "3. RENAME"will be selected, and the Program rename screen will
1.DIR 2.COPY be displayed.
3.RENAME 4.DELETE

3 Press [1] (-B/-P) and press [RPL ↓ ] .

<RENAME> The cursor will move to the input line for the change-to name.
FROM ( )
TO ( )
INPUT DEST.

4 Press [5] (+C/+R) and press [INP/EXE].

<RENAME> The program will be renamed.
FROM (1 ) (To cancel, switch the [ENBLE/DISABLE] switch to DISABLE.)
TO ( )
INPUT DEST.

5 Program 1 has been renamed to program 5.

<FILE> The display will return to the Program management screen.
1.DIR 2.COPY
3.RENAME 4.DELETE

【Explanation】
･ You can't rename a program that has been protected.

Programming with the Movemaster command method- 75

1.Operations

5. DELETE
【Function】
A function that deletes a previously-entered program.

<DELETE>
DELETE ( ) → Input for the program name to be deleted

INPUT DEL. FILE

【Input format】
The method for deleting program 1 is shown below.
NO Display screen of the teaching box Description of the operation
1 Press [3](-Z/-E). "3. FILE" will be selected, and the FILE screen
<MENU> will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [4] (-Y/-S).

<FILE> "4. DELETE"will be selected and the Program delete screen will
1.DIR 2.COPY appear.
3.RENAME 4.DELETE

3 Press [1] (-B/-P) and [INP/EXE].

<DELETE> A confirmation message will be displayed.
DELETE ( )

INPUT DEL. FILE

4 Press [1] (-B/-P) and [INP/EXE].

<DELETE> (To cancel, switch the [ENABLE/DISABLE] switch to DISABLE.)
DELETE 1
OK?( )
INPUT DEL. FILE

5 Program 1 has been deleted and the Program management screen

<FILE> will return.
1.DIR 2.COPY
3.RENAME 4.DELETE

【Explanation】
･ You can't delete a program that has been protected.

Programming with the Movemaster command method-76

 1.Operations

1.3.9 Monitor screen operation

1. Monitoring the input signals
【Function】
This function confirms the input signal status from external sources in real time.
Confirms status of input signals from the outside, confirms and sets in real time, the status of output signals.

<INPUT>
NUMBER ( 0 ) → Bit number for standard
BIT: 76543210 → Status of current input signal or current output signal
(0 is OFF, 1 is ON)
DATA (00000000)

【Input format】
Shown below is an example of how to set bit 3 of the output signal to ON.
NO Display screen of the teaching box Description of the operation
1 Press [4](-Y/-S). "4. MONITOR" will be selected, and the Moni
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [1](-B/-P). "1. INPUT" will be selected, and the Input

<MONI> Signal screen will be displayed.
1.INPUT 2.OUTPUT
3.VAR. 4.ALARM

3 Press [INP/EXE]. The input signal status from 0 to 7 displays.

<INPUT>
NUMBER ( 0 )
BIT: 76543210
DATA (00000000)

4 The input signal status from zero to seven is displayed.

<INPUT>
NUMBER ( 0 )
BIT: 76543210
DATA (00000000)

Programming with the Movemaster command method- 77

1.Operations

2. Monitoring the Output signals

【Function】
This function confirms and sets the status of signals output to external sources.
Confirms status of input signals from the outside, confirms and sets in real time, the status of output signals.

<OUTPUT>
NUMBER ( 0 ) → Bit number for standard
BIT: 76543210 → Status of current input signal or current output signal
(0 is OFF, 1 is ON)
DATA (00000000)

【Input format】
Shown below is an example of how to set bit 3 of the output signal to ON.
NO Display screen of the teaching box Description of the operation
1 Press [4](-Y/-S). "4. MONITOR" will be selected, and the Moni
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [2] (-A/-T) .

<MONI> "2. OUTPUT"will be selected, and the Signal output screen will be
1.INPUT 2.OUTPUT displayed.
3.VAR. 4.ALARM

3 Press [INP/EXE] .
<OUTPUT> The cursor will move to the data entry line.
NUMBER (0 )
BIT: 76543210
DATA (00000000)

4 Press [HAND → ] four times, and then press [1] (-B/-P).

<OUTPUT> "1" will appear in the data line for bit 3.
NUMBER (0 )
BIT: 76543210
DATA (00000000)

5 Press [INP/EXE].
<OUTPUT>
NUMBER (0 )
BIT: 76543210
DATA (00000000)

6 Bit 3 of the output signal has been set to ON.

<OUTPUT>
NUMBER (0 )
BIT: 76543210
DATA (00000000)

Programming with the Movemaster command method-78

 1.Operations

3. Monitoring variables
【Function】
This function changes and displays the contents of the variables used in the program. A variable means the
counter number during the Movemaster command method, or the arithmetic variable during the MELFA-BASIC III
command method. In program operation (interrupt status), the variable content can be confirmed. The variable can
also be changed.
The displays and messages on the screen associated with this function are shown below:

<VAR.>
COUNTER ( ) → Counter number
DATA ( ) → Data contents
SET DATA

【Input format】
Shown below is an example of how to set the data of counter 5 to "10."
NO Display screen of the teaching box Description of the operation
1 Press [4](-Y/-S). "4. MONITOR" will be selected, and the Moni
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [3] (-Z/-E).

<MONI> "3.VAR"will be selected, and the variable screen will be displated.
1.INPUT 2.OUTPUT
3.VAR. 4.ALARM

3 Press [5] (+C/+R) for and [RPL ↓ ] .

<VAR.> "5" will be input for the counter number, and the cursor will move
COUNTER ( ) to the data setting line.
DATA ( )
SET DATA

4 Press [1] (-B/-P) , [0] (-C/-R) and then [INP/EXE].

<VAR.>
COUNTER ( 5 )
DATA ( )
SET DATA

5 The data for counter 5 has been set to 10.

<VAR.>
COUNTER ( 5 )
DATA ( 10 )
SET DATA

Programming with the Movemaster command method- 79

1.Operations

4. Alarm history
【Function】
Displays alarms generated by the robot.
Use this function when doing troubleshooting.
The displays and messages on the screen associated with this function are shown below:

<ALARM HISTORY> -1 → Alarm history number of the most recent alarm ("-1")
93-09-15 12:00
1300 PUT IT BACK → Contents of the alarm
EMG PROTECT SWI

【Input format】

NO Display screen of the teaching box Description of the operation

1 Press [4](-Y/-S). "4. MONITOR" will be selected, and the Moni
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [4] (-Y/-S).

<MONI> "4. ALARM" will be selected and the alarm history will be
1.INPUT 2.OUTPUT displayed.
3.VAR. 4.ALARM

3 Press [RPL ↓ ] or [ADD ↑ ] to display the alarm history.

<ALARM HISTORY> -1
93-09-15 12:00
1300 PUT IT BACK
EMG PROTECT SWI

【Explanation】
･ Up to 128 alarms can be displayed.
･When you exceed 128 alarms, old alarms will successively be erased in the order of the oldest first, so that new
ones can be accommodated.
･ Refer to Chapter 3.1 : "Alarm list." in this manual for details on alarms.

Programming with the Movemaster command method-80

 1.Operations

1.3.10 Maintenance screen

1. Setting the parameters
【Function】
Items such as speed and tool length, which are used for jog operations and automatic execution, are parameters
that can be set, and the robot operates according to the setting values of the various parameters. This function
allows you to change and display these various parameters.
When you purchased this product, the factory settings were set. For details on the various parameters, refer to
section 6.2"Parameter directory"in this manual.
The displays and messages on the screen associated with this function are shown below:(For parameter "XTL")

<PARAMETE>
(XTL )( 3 ) ← Parameter name and element number (axis number)
(123.00 ) ← Setting value
SET DATA

【Input format】
Shown below is an example of how to change the setting value of the parameter "XTL" (tool data) of the Z-axis
to 100mm.
NO Display screen of the teaching box Description of the operation
1 Press [5](+C/+R). "5. MAINT" will be selected, and the Mainte
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [1] (-B/-P).

<MAINT> "1. PARAM"will be selected, and the Parameter screen will be
1.PARAM 2.INIT displayed.
3.BREAK 4.Z
5.ORIGIN 6.POWER

3 Hold down [POS/CHAR] and press [VWX] (+B/+P) three times.

<PARAMETE> "X" will be displayed.
( )( ) To select the character, press [POS/CHAR].
( )
SET PARAM.NAME

4 Hold down [POS/CHAR] and press [STU] (+C/+R) twice. (to input
<PARAMETE> "T") and once more hold down [POS/CHAR] and press the [JKL]
(X )( ) three times. (to input "L")
The parameter name "XTL" will be input.
( )
SET PARAM.NAME

5 Press [RPL ↓ ] .
<PARAMETE> The cursor will move to the element number (axis number).
( XLT )( )
( )
SET PARAM.NAME

Programming with the Movemaster command method- 81

1.Operations

NO Display screen of the teaching box Description of the operation

6 Press [3] (-Z/-E).
<PARAMETE> "3" will be input for the element number (axis number).
( XLT )( ) Attery life will be displayed.
( )
SET PARAM.NAME

7 Press [INP/EXE].
<PARAMETE>
( XLT )(3 )
( )
SET ELEMENT NO.

8 The setting value for parameter XTL (tool data) of the Z axis will
<PARAMETE> be displayed.
( XLT )(3 )
( 123.00 )
SET DATA

9 Press [1] (-B/-P), [0] (-C/-R), and [0] (-C/-R)."100" will be

<PARAMETE> input.
( XLT )(3 )
( 123.00 )
SET DATA

10 Press [INP/EXE].
<PARAMETE>
( XLT )(3 )
( 100. 00 )
SET DATA

11 After the data for parameter "XTL" of the Z axis changes from
<PARAMETE> 123.00 to 100.00, turn the power source OFF once.
( XLT )(3 )
( 100. 00 )
SET PARAM.NAME

【Explanation】
･ In order to use the actual value of the parameter, turn the power source OFF once, and turn it ON again. Until
then, the old parameter is still valid. (However UNG, HOE parameters will be effective immediately after they
are changed.)
･ If you select a parameter name that does not exist, the next nearest name, in alphabetical order, will be
selected.
･ If you make a mistake inputting data, hold down [POS/CHAR] and press [DEL ← ] to delete the character so
that you can input the right one.

Programming with the Movemaster command method-82

 1.Operations

2. INIT.
【Function】
Initialization (INIT.) is a function that deletes all of the programs.
The displays and messages on the screen associated with this function are shown below:

<INIT>
INIT.( ) ← Selection of program initialization
1.PROGRAM

【Input format】
NO Display screen of the teaching box Description of the operation
1 Press [5](+C/+R). "5. MAINT" will be selected, and the Mainte
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [2] (-A/-T).

<MAINT> "2. INIT."will be selected, and the Initialization screen will be
1.PARAM 2.INIT displayed.
3.BREAK 4.Z
5.ORIGIN 6.POWER

3 Press [1] (-B/-P).

<INIT> A confirmation message will appear.
INIT( )
1.PROGRAM

4 Press [1] (-B/-P) and press [INP/EXE].

<INIT> (To cancel, switch the [ENABLE/DISABLE] switch to DISABLE.)
PROGRAM
OK? ( )
1:EXECUTE

5 All programs have been deleted.

<MAINT>
1.PARAM 2.INIT
3.BREAK 4.Z
5.ORIGIN 6.POWER

【Explanation】
･ The protected program will also be deleted.。

Programming with the Movemaster command method- 83

1.Operations

3. BRAKE
【Function】
A function that disengages the brakes of the robot arm's startup motor when the servo power is cut.
Refer to section 1.3.7 "Execution screen : 1. SERVO" in this manual before turning the servo power OFF.
This function makes it possible to move the robot's arm when you want to go outside the operation space, or
when servo power is cut (in a condition where jog operations don't work).
The displays and messages on the screen associated with this function are shown below:

<BREAK> 12345678 ← Display of the axis whose brakes are to be disengaged

BREAK (01000000) (1.waist, 2. shoulder, 3. elbow, 4. twist, 5. pitch, 6. roll)
← Designation to disengage brakes
0:LOCK 1:FREE (Note: There are no brakes for 4 For RV-E5NJ/E5NJM/E5NJC)

【Input format】
Shown below is an example of how to disengage the brakes for the shoulder axis.
Carry out this operation while holding down the T/B deadman switch. If the same key is released, the brakes will
engage suddenly.
NO Display screen of the teaching box Description of the operation
1 Press [5] (+C/+R). "5. MAINT" will be selected, and the Mainte
<MENU> screen will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [3] (-Z/-E).

<MAINT> "3. BRAKE" will be selected, and the Brake disengagement screen
1.PARAM 2.INIT will be displayed.
3.BREAK 4.Z
5.ORIGIN 6.POWER

3 Press [HAND → ] and press [1] (-B/-P) .

<BREAK> 12345678 The cursor will move to under "2" (for shoulder axis), and "1" will
BREAK (01000000) be displayed.

0:LOCK 1:FREE

4
If you disengage the brake, use caution,
<BREAK> 12345678
BREAK (01000000)
CAUTION because the robot's arm will drop under
its own weight.

0:LOCK 1:FREE Continue pressing [STEP/MOVE] + [+X/+W] while holding down

the deadman switch. The brakes are disengaged only while the key
is pressed.
5 If the deadman switch or the [+X/+W] key is released, all axis
<BREAK> 12345678 brakes will lock.
BREAK (01000000)

0:LOCK 1:FREE

【Explanation】
･ If the T/B deadman switch is released while the brakes are disengaged, the brakes will engage suddenly.

Programming with the Movemaster command method-84

 1.Operations

4. Resetting the encoder

【Function】
It is necessary to reset the encoder after an encoder alarm has occurred.

【Input format】
When alarms such as the encoder alarm are generated and can't be reset, the alarm screen will be displayed
during the process, but continue to press [ALARM RESET] and continue with the operation.
NO Display screen of the teaching box Description of the operation
1 Turn ON the controller power. If the teaching box's [ENABLE/
<ALARM> No311 DISABLE] switch is set to DISABLE, an alarm status will be
Encoder error (miss displayed, so switch it to ENBL. The Menu selection screen will be
count) displayed.

PLEASE ALM RST

2 Press [5] (+C/+R).

<MENU> "5. MAINT."will be selected and the screen for turning OFF the
1.TEACH 2.RUN power to the servo will be displayed.
3.FILE 4.MONI
5.MAINT 6.SET

3 Next, press [4] (-Y/-S).

<MAINT> "4.Z" will be selected, and the screen for turning the servo power
1.PARAM 2.INIT OFF will be displayed.
3.BREAK 4.Z
5.ORIGIN 6.POWER

4 Press [1] (-B/-P) and press [INP/EXE].

<Z> The servo power will be turned OFF, and the screen for individual
SERVO OFF axis settings will be displayed.
OK?( )
1:EXECUTE

5 First reset the encoder.

<Z> 12345678 Press [RPL ↓ ] and on the move the cursor to the line with
BREAK (00000000) "Z RST."
Z RST (00000000)
Z PHS :ZZZZZZ--

6 Press [DEL ← ] and [HAND → ] to move the cursor to the axis

<Z> 12345678 whose axis you want to reset.
BREAK (00000000) Then press [1] (-B/-P).
"1" will be displayed under the axis whose encoder will be reset.
Z RST (11111100)
Z PHS :ZZZZZZ--

7 Once you have reset all the axes you wanted to, press [INP/EXE].
<Z> 12345678 The encoder resetting operation will begin, and "Resetting" will be
BREAK (00000000) displayed.
Z RST (11111100)
EXECUTING

Programming with the Movemaster command method- 85

1.Operations

NO Display screen of the teaching box Description of the operation

8 After the encoders have been reset and before the resetting
<ALARM> No311 operations actually begin, an alarm will be displayed, so press
Encoder error (miss [ALARM RESET].
count) (If the alarm status wasn't generated before the encoder resetting
operations, then the message will not be displayed on the screen
PLEASE ALM RST and this procedure won't be necessary.)

9 This completes resetting the encoder.

<Z> 12345678
BREAK (00000000)
Z RST (00000000)
Z PHS :ZZZZZZ--

Programming with the Movemaster command method-86

 1.Operations

5. Display of maintenance-related time data

【Function】
Displays the cumulative time the controller power has been ON and the remaining life of the battery. (Unit is in
hours)
The displays and messages on the screen associated with this function are shown below:

<HOURDATA> Hr
POWER ON : 5703 → Cumulative time power has been ON
BATTERY : 750 → Remaining battery life

【Input format】
NO Display screen of the teaching box Description of the operation
1 Press [5] (+C/+R).
<MENU> "5. MAINT."will be selected and the screen for turning OFF the
1.TEACH 2.RUN power to the servo will be displayed.
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [6] (-B/-P).

<MAINT> "6.POWER"will be selected, and the maintenance-related time
1.PARAM 2.INIT data will be displayed.
3.BREAK 4.Z
5.ORIGIN 6.POWER

3 The cumulative time the servo power has been ON and the
<HOURDATA> Hr remaining battery life will be displayed.
POWER ON : 5703
BATTERY : 750

Programming with the Movemaster command method- 87

1.Operations

6. Resetting the battery alarm and battery cumulative time

【Function】
The cumulative time of the battery and battery alarm is reset.
This operation is required when the controller battery is replaced.

【Method】
The method for resetting the battery alarm is shown below:
NO Display screen of the teaching box Description of the operation
1 Press [5] (+C/+R).
<MENU> "5. MAINT."will be selected and the"MAINT." screen will appear.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [2] (-A/-T).

<MAINT> "2. INIT."will be selected, and the"INIT." screen will appear.
1.PARAM 2.INIT
3.BREAK 4.Z
5.ORIGIN 6.POWER

3 Press [2] (-A/-T) and press [INP/EXE],

<INIT> The battery"INITIALIZATION" screen will appear.
INIT. ( )
1.PROGRAM 2.BATT.

4 Press [1] (-B/-P) and press [INP/EXE].

<INIT>
BATT.
OK ? ( )
1.EXECUTE

Programming with the Movemaster command method-88

 1.Operations

1.3.11 Setting screen operation

1. Setting the clock
【Function】
There is a clock function inside the controller, which is used for such things as recording the date a program that
was entered. This function is for changing the previously-entered time and the previously-entered date.
If the displayed contents are different from the real time, set the right time.
The displays and messages on the screen associated with this function are shown below:

<CLOCK>
DATE ( 93-10-10) → Current date
TIME ( 1: 00: 00) → Current time
INPUT DATA

【Input format】
Shown below is how to set the time to 15:00.
NO Display screen of the teaching box Description of the operation
1 Press [6] (+B/+P). "6. SET" will be selected, and the Set screen
<MENU> will be displayed.
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET

2 Press [1] (-B/-P).

<SET> "1.CLOCK""will be selected and the current date and time will be
1.CLOCK displayed.

3 Press [RPL ↓ ] , [1] (-B/-P) and [5] (+C/+R) .

<CLOCK> The cursor will move to TIME and the display will read "15:00:00"
DATE ( 93-10-10)
TIME ( 1: 00: 00)
INPUT DATA

4 Press [INP/EXE].
<CLOCK>
DATE ( 93-10-10)
TIME ( 15: 00: 00)
INPUT DATA

5 The clock will start operating from the time you set.
<CLOCK>
DATE ( 93-10-10)
TIME ( 15: 00: 00)
INPUT DATA

【Explanation】
･ After you set the clock, see that you don't turn OFF the controller power for 2 to 3 minutes. If you cut the
power immediately, some meaningless alarms may be generated as a result of the time, but these will be no
hindrance to the execution of the program.

Programming with the Movemaster command method- 89

1.Operations

1.3.12 Resetting the alarm

【Function】
Resetting the alarm refers to resetting an alarm that has occurred at the
teaching box or at the controller. 【Keys used】

[ALARM RESET]

【Input format】
Shown below is how to reset the alarm
NO Display screen of the teaching box Description of the operation
1 Press [ALARM RESET].
<ALARM> (The example on the left is one where an attempt was made to
ALREADY PROGRAM copy to a file that already existed.)
EXIST
PLEASE ALM RST

2 The alarm is reset and the original screen appears (the Copy
<COPY> screen).
FROM ( 1 )
TO (5 )
INPUT SOURCE

【Explanation】
･For details on the various alarms, and how to remedy them, refer to Chapter 3.1 : "Alarm list." in the Reference
Manual.
･If the servo power is turned OFF, the servo power will not turn ON with this operation. To turn the servo power
ON, perform the program resetting operations explained in the previous section.

Programming with the Movemaster command method-90

 1.Operations

1.3.13 Software version

【Function】
Display system software version and teaching box software version.

【Explanation】
Set the teaching box [Enable/Disable] switch to disable. Turn the power ON.
The display is shown below.

P7TB-T Ver.C2e CR-E356 Ver.D4

Robot System RV-E □ □
above 5sec. later
Teaching Box Copyright(C)1993
JUST A MINUTE. JUST A MINUTE.
(1) teaching box software version (2) System software version displays
displays (C2) (D4)

1.3.4.2

- 91
1.Operations

-92
 2.Maintenance and Inspection

2 Maintenance and Inspection

2.1 Maintenance and inspection procedures
2.1.1 Replacing the backup battery
1. Replacing the controller battery
(1)Turn the controller power ON once. (Approx. 1 minutes)
(2)Turn the controller power and main power OFF, and wait three minutes or more. Loosen the upper cover
fixing screws and remove the upper cover.
(3)Remove the old battery into the battery holder.
(4)Securely fix the new battery into the battery holder.
(5)Hold both ends of the new battery's cable socket, and insert it into the connector or the card. Complete the
work within 15 minutes after removing the old battery.
(6)When completed with the above work, replace the cover and fix it with the fixing screws.

If the battery cumulative time over alarm occurs and use is continued, the
CAUTION backup defect alarm will occur. If the back up defect alarm occurs, the contents
of the memory will not be guaranteed. Thus, any inportant programs and position
data should be saved on floppy disks using the personal computer support
software, etc..

2. Resetting the alarm

When completed with replacing the robot alarm and controller battery, always reset the "battery cumulative time
over alarm". The method is shown below.

【Method】
The reset operation is possible with battery alarm reset operation from the teaching box (refer to section 1.3.10
"Maintenance screen : 6.Resetting the battery alarm and battery cumulative time" in this manual) or by directly
executing the RS command (RS2) from the personal computer.

Fig.2-1 ： Controller battery replacement method

Maintenance and inspection procedures- 93

2.Maintenance and Inspection

2.2 Maintenance parts

The consumable parts used in this machine that must be periodically replaced are shown in Table 2-1. The spare
parts that may be required during repairs are shown in Table 2-2. Contact the designated maker or the Mitsubishi
Service Department to purchase these parts. The parts designated by Mitsubishi will differ from the maker's
standard parts, so confirm the part name, robot artm and controller serial Nos. and purchase them from the
Mitsubishi Service Department.

1. Controller consumable parts

Table 2-1 ： Controller consumable part list
No. Part name Type Supplier (Maker) Usage place Qty.
1 Lithium battery A6BAT Mitsubishi Electric Controller CPU card 1

2. Controller spare parts

Table 2-2 ： Controller spare parts list
No. Part name Type Supplier (Maker) Usage place Qty.
1 Fuse LM16 Daito Communication Apparatos Controller CPU card 1
2 Fuse HM32 Daito Communication Apparatos Controller power supply card 1
3 Fuse LM32 Daito Communication Apparatos Controller I/O card 4

Maintenance parts-94
 3.Appendix

3 Appendix
3.1 Alarm list.
When an alarm occurs, the alarm No. will display on the controller's 8-segment LED If the teaching box is disabled,
the alarm No. will also display on the teaching box if the alarm occurs frequently even after the measures shown
below are taken, contact the Mitsubishi Service Center.
Note) The axis Nos. correspond as shown below.
・ For 6-axis robot
1: Waist, 2: Shoulder, 3; Elbow, 4: Twist, 5: Pitch, 6: Roll
・ For 5-axis robot
1: Waist, 2: Shoulder, 3; Elbow, 5: Pitch, 6: Roll

1. ALARM NO.: 0100 ～ 0720

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
0100 ～ 0120 Cause) Error occurs in the power supply
Remedy) After turning off power, turn on the power again.
0130 Cause) The power voltage is lower than the specified value.
Remedy) Confirm that the main supply power voltage is within the specifications' range.
Check whether the power voltage drops during robot motion.
0140 Cause) The power voltage is higher than the specified value.
Remedy) Confirm that the main supply power voltage is within the specifications' range.
Check whether the power voltage rises during robot motion.
0201 ～ 0266 Cause) Encoder detection is faulty.
Remedy) After turning off power, turn on the power again.
If the error still persists, reset the encoder and set origin point.
0201 ～ 0206 Encorder data range over
0221 ～ 0226 Encorder data initialization error
0231 ～ 0236 Encorder data comunication error
0251 ～ 0256 Encorder data thermal error
Note) The lowest digit means joint number.
0271 ～ 0276 Cause) The encoder detected an abnormal speed
Remedy) Turn the power OFF and ON once, and if the position is deviated, set the
origin again.
0300 Cause) Battery backup error occurs in the controller.
Remedy) Check the connection of battery cable to the controller.
If the error still persists, change the battery in accordance with the changing
procedure.
0311 ～ 0316 Cause) Battery backup error occurs in the robot. The connection of battery cable is
faulty.
Check the connection of battery cable to the PCB.
Remedy) Check the connection of battery cable to the PCB.
Note) The lowest digit means joint number.
0400 ～ 0450 Cause) Saved data is invalid.
Remedy) Clear the data.
0490 Cause) The file data is not saved correctly.
Remedy) After resetting the alarm, reload all programs, and check the tool parameters
and the parameters being rewritten.

Alarm list.- 95
3.Appendix

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY

0500 ～ 0566 Cause) Fault is detected in the servo system.
Remedy) After turning off power, turn on the power again.
0500 2-port memory fails.
0510 Servo memory fails.
0520 Watch dog time out
0531 ～ 0536 Amplifier/encorder not connected
0540 Gate array error
0551 ～ 0556 A/D converter unusual
0561 ～ 0566 Over current.
Note) The lowest digit means joint number.
0600 Cause) Use of communication protocol is improper.
Remedy) Check the protocol and data of the connected equipment.
0610 Cause) The communication line is not confirmed.
Remedy) Check the connection of cables and the power on of the connected
equipment.
0620 Cause) Data receive error
Remedy) Check the connection of cables.
0630 Cause) Date send error
Remedy) Check the connection of cables.
0640 Cause) The connection of teaching box is not confirmed.
Remedy) After turning off power, turn on the power again.
0650 Cause) The communication channel is not opened yet.
Remedy) Open communication line with "OPN" command.
0710 Cause) Pneumatic hand interface fuse is brocun.
Remedy) Check the hand cables and replace the fuse.
0711 Cause) Pneumatic hand fuse on CPU card is blown.
Remedy) Check the cables for and replace the fuse.
0720 Cause) Parallel I/O interface fuse is brocun.
Remedy) Check the I/O cables and replace the fuse.

2. ALARM NO.:1200 ～ 1800

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
1200 Cause) Emergency stop signal is input. (external switch)
Remedy) Inactivate the emergency stop and reset the error.
1210 Cause) Emergency stop signal is input. （operating panel）
Remedy) Inactivate the emergency stop and reset the error.
1220 Cause) Emergency stop signal is input. （teaching box）
Remedy) Inactivate the emergency stop and reset the error.
1230 Cause) The teaching box is connected with the EMG. cancel switch of the controller
pushed.
Remedy) Remove the teaching box when not used. Release the EMG. cancel switch of
the controller when using the teaching box.
1240 ～ 1 Cause) An abnormality occurred in the external emergency stop line.
Remedy) Turn the power OFF and ON once, and check whether the emergency stop
operates correctly. If the same alarm occurs again, the external emergency
stop may not be operating simultaneously in System 1 and System 2.

Alarm list.-96
 3.Appendix

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY

1250 ～ 1 Cause) An abnormality occurred in the emergency stop line at the front of the
controller.
Remedy) Turn the power OFF and ON oncr, and check whether the emergency stop at
the front of the controller operates correctly.
If the same alarm occurs again, contact the Service Center or Mitsubishi.
1260 ～ 1 Cause) An abnormality occurred in the emergency stop line of the teaching box.
Remedy) Turn the power OFF and ON once, and check whether the emergency stop of
the teaching box operates correctly.
If the sane alarm occurs again, contact the Service Center or Mitsubishi.
1270 ～ 1 Cause) An abnormality occurred in the deadman switch.
Remedy) Turn the power OFF and ON once, and check whether the deadman switch
operates correctly.
If the same alarm occurs again, contact the Service Center Mitsubishi.
1280 ～ 1 Cause) An abnormality occurred in the emergency stop cancel switch.
Remedy) Turn the power OFF and ON once, and check whether the deadman switch
operates corredtly.
If the same alarm occurs again, contact the Service Center or Mitsubishi.
1401 ～ 1456 Cause) An error occuvred in the motor contrd.
Remedy) Check whether the load capacity exceeds the rating or the robot motion is
disturbed by obstacle.
Check the robot program for impossible motions.
1411 ～ 1416 Mechanically locked
1421 ～ 1426 Over speed (speed feedback value)
1431 ～ 1436 Over load
1441 ～ 1446 Excessive positioning error
Note) The lowest digit means joint number.
1460 Cause) The servo amplifier has over-regenerated.
Remedy) Leave the servo OFF for a while.
Confirm that the load is not exceeding the rating.
Lower the motion speed (override).
1600 Cause) Can't move in XYZ mode for no origin point is set.
Remedy) Set the origin point with the teaching box.
(Refer to User's Manual 3.8 Setting the Origin.)
1700 ～ 1799 Cause) Servo parameter error.
Remedy) Correct the parameter.
1800 Cause) Stop signal or stop switch is active.
Remedy) Reset stop state.

3. ALARM NO.:2110 ～ 2900

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
2110 Cause) The argument value is not within the range.
Remedy) Check the following items.
･ Is the ON GOTO, ON GOSUB expression value within the range (within 0 to
127)?
･ Is the DLY, TIMER, FINE, OVERD, SPD, JOVRD, ACL or DACL value
negative?
･ Is the PLT value within the range?
･ Is the OPEN, CLOSE, COM line No. or ACT interrupt No. within the range?

Alarm list.- 97
3.Appendix

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY

2120 Cause) The argument number is incorrect.
Remedy) Check the following items.
･ Do the input data and INPUT argument match?
･ Does the FPRM argument exceed CALLP?
･ Are there too many CALLP, FPRM, CLOSE, PRINT or INPUT arguments?
･ Are there too many user function arguments declared with DEF FN?
2130 Cause) The designated file is already open.
Remedy) Check whether the opened line has been reopened.
2140 Cause) The designated file was not opened.
Remedy) Check wether a line not opened by INPUT or PRINT is being used.
2150 Cause) A write-protected file was opened.
Remedy) Use a file that not write-protected.
2160 Cause) Writing failed.
Remedy) Check the file capacity, and delete any unnecessary files.
2170 Cause) A read-prohibited file was designated.
Remedy) Read the file opened with the INPUT mode.
2180 Cause) The array element is not within the range.
Remedy) Correct the array element.
2190 Cause) The character string is exceeding the designated range.
Remedy) Up to 127 characters can be used for the character string.
2200 Cause) An variable that cannot be read is used.
Remedy) Use a readable variable.
2210 Cause) A variable that cannot be written is used.
Remedy) Use a writable variable.
2220 Cause) The CALLP, GOSUB nesting is exceeded.
Remedy) For CALLP
Keep the programs to be called to within 7 programs.
For GOSUB
Check that the GOSUB-RETURN statement structure is correct.
2230 Cause) FOR ～ NEXT do not match.
Remedy) Correct the FOR ～ NEXT structure.
2240 Cause) The FOR ～ WHILE nesting is exceeded.
Remedy) Keep the For, WHILE control structure to within 16 nest levels.
2250 Cause) WHILE ～ WHEN do not match.
Remedy) Correct the WHILE ～ WHEN structure.
2300 Cause) Warning of battery overtime.
Remedy) Replace the old battery with new one quickly.
2400 Cause) Impossible operation while the program is running.
Remedy) After stopping the program, try it again.
2410 Cause) Impossible operation while the servo is on.
Remedy) After turnning off the servo, try it again.
2420 Cause) Impossible operation while the servo is off.
Remedy) After turnning on the servo, try it again.
2600 Cause) The line number assigned for execution does not exist.
Remedy) Check the line number in the program, and assign again.

Alarm list.-98
 3.Appendix

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY

2700 Cause) The position data assigned for execution dose not exist.
Remedy) Check the position data in the program, and assign it again.
2800 Cause) Syntax error occurs in the command statement.
Remedy) Correct the command statement, and input it again.
2810 Cause) Parameter value of the command is out of range.
Remedy) Correct the value.
2830 Cause) This language used for this program file differs.
Remedy) Confirm the usage language and select the correct language.
2900 Cause) Incorrect number used in the command
Remedy) Correct the command statement, and input it again.
4. ALARM NO.:3400 ～ 3910
ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
3400 Cause) The depth of looping in RC and NX command exceeds 9 levels.
Remedy) Set the looping depth within 9 levels.
3500 Cause) The number of interrupt commands exceeds the limit.
Remedy) Check the program and delete the interrupt command.
3600 Cause) Can't calculate correctly.
Remedy) Check the program and correct it.
3700 Cause) Incorrect matching between GS and RT command
Remedy) Correct the program.
3710 Cause) The depth of GS command exceeds 9 levels.
Remedy) Set the depth within 9 levels.
3800 Cause) Assigned pallet is not defined.
Remedy) Define the pallet before execution.
3900 Cause) Device is not valid yet.
Remedy) Make the device valid.
3910 Cause) Upper-ranked device of priority is already valid .
Remedy) Make the upper-ranked device invalid.

5. ALARM NO.:4501 ～ 4910

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
4501 ～ 4506 Cause) Joint angle exceeds the limit.
Remedy) Move the joint into the movable range with joint jog mode. If the error occurs
during program operation, modify the position data.
Note) The lowest digit means joint number.
4511 ～ 4516 Cause) Orthogonal position exceeds the limit.
Remedy) Move the joint into the movable range with joint jog mode. If the error occurs
during program operation, modify the position data.
Note) The lowest digit means joint number.
4521 ～ 4526 Cause) User defined area exceeds the limit.
Remedy) Move the joint into the movable range with joint jog mode. If the error occurs
during program operation, modify the position data.
Note) The lowest digit means joint number.

Alarm list.- 99
3.Appendix

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY

4550 Cause) Tried moving to a position not possible with cartehan motion.
Remedy) Move the joint into the movable range with joint jog mode.
4560 Cause) The position where the robot can't reach is taught.
Remedy) Teach the position after moving the robot to the movable range.
4600 Cause) The position is out of range, or the starting position and the destination
position has a different structure flag in linear and circular interpolation.
Remedy) Correct the position data or the structure flag.
4700 Cause) Can't calculate the posture of intermediate position between the start position
and the destination position.
Remedy) Add the position with posture between the start position and the destination
position.
4801 ～ 4816 Cause) Speed is excessive.
Remedy) Reduce the assigned speed.
4900 Cause) Number of program registration exceeds the limit.
Remedy) Check the program and delete unnecessary one.
4910 Cause) Memory area is full. Commands cannot be entered.
Remedy) Check the program and delete unnecessary one.
6. ALARM NO.:5600 ～ 5810
ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
5600 Cause) Non-existing program is specified.
Remedy) Check the file name.
5610 Cause) Double definition of file name
Remedy) Check the file name and delete the excessive one.
5620 Cause) Write protected
Remedy) Specify another file.
5630 Cause) Read protected
Remedy) Specify another file.
5640 Cause) The file name is not proper.
Remedy) Check if the characters and the expression in the program name are proper.
5700 Cause) Program not seleted
Remedy) Specify the correct program.
5800 Cause) The step number specified for renumbering is faulty so compensation is not
possible.
Remedy) Check the step number.
5810 Cause) Date assigned for edition does not exist.
Remedy) Check the program and operate again.

7. ALARM NO.:6700 ～ 6903

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
6700 Cause) Uses special-purpose output signal for general-purpose output.
Remedy) Change the signal assignment of special-purpose output. Or change the
program.

Alarm list.-100
 3.Appendix

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY

6701 Cause) A change prohibited dedicated input command was changed.
Remedy) Of the dedicated input commands, the start (STA), stop (STP) and program
reset (RST) commands are fixed to bits 17, 18 and 19 of the standard I/O card
input.
6800 Cause) Signal parameter assignment of PI0 ～ PI2 is incorrect.
Remedy) Table 4.5 in the reference manual / 4.1.4 gives correct commands and
parameters.
6900 Cause) Signal parameter assignment of PO0 ～ PO2 is incorrect.
Remedy) Table 4.6 in the reference manual / 4.1.4 gives correct commands and
parameters.
8. ALARM NO.:7001 ～ 7900
ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
7001 ～ 7006 Cause) The battery for the encoder backup has died.
Remedy) Replace the battery. If the alarm recurs after replacing the battery, check the
cable for breakage or a contact defect.
7011 ～ 7016 Cause) The encoder multi-rotation data is an abnormal value.
Remedy) Turn the power OFF and ON once, and if the position is deviated, set the
origin again.
If there are any noise sources nearby, remove them.
7021 ～ 7026 Cause) The motor position when the power is turned OFF differs from the position
when the power was turned OFF the last time.
Remedy) Check whether the brakes were released manually and the robot arm moved
while the power was turned OFF.
Find the reason while the motor position differs. If there is no problem, reset
the alarm, and confirm that the robot arm's actual position and the position
data match. If they match, normal operations can be carried out.
If they do not match and the cause of while the motor position differs is
unclear, contact Mitsubishi.
7900 Cause) Power voltage in the main circuit drops.
Remedy) Check that power voltage is as specified.

9. ALARM NO.:8900 ～ 8999

ALARM NO. ERROR GENRATING CAUSE AND ITS REMEDY
8900 ～ 8999 Cause) Fault occurs in the self-diagnosis of the system software.
Remedy) After resetting the alarm, retry the operation.

Alarm list.- 101

3.Appendix

3.2 Troubleshooting

If the following type of trouble occurs while the robot is being started up or during operation, refer to the following
table, find the cause and carry out the inspection and investigations.

A trouble A confirmation matter Trouble shooting

Power source is not 1. Check power plug. 1. Connect it surely.
ready. 2. Has the leakage breaker tripped? 2. Check the power cable connection.
3. Check voltage of power source. 3. Supply power source with correct
voltage (3-phase 200VAC-230VAC).
The servo power 1. Is an alarm displayed. 1. Set the T/B [Enable/Disable] switch set
does not turn ON. to "Disable", press the [RESET] switch
on the front of the controller, and
cancel the alarm.
2. Is the T/B in the following state when 2. Turn the servo ON while holding down
the controller power is turned ON? the deadman switch on the T/B.
･ Is the T/B [Enable/Disable] switch set ･ Set the T/B to "Disable", and turn ON
to "Enable" and the deadman switch the controller power again.
pressed?
3. Was the deadman switch pressed while 3. When carrying out jog operation with the
the T/B was enabled? T/B, hold down the deadman switch.
4. CHas the external signal's servo ON/ 4. Cancel the external signal servo ON/
OFF activated? OFF.
Robot does not work. 1. Check command. 1. Check command name and format.
2. Check cable. 2. Connect cable surely.
3. Check emergency stop switch. 3. Reset emergency stop switch.
4. Check movable range. 4. Move the robot into the movable range.
5. Check collision between the robot arm 5. Move the robot to avoid collision.
and mechanical stopper or external
machines.
6. Check motor power cable. 6. Connect cable surely.
7. Check an external stop/emergency 7. Reset stop/emergency switch.
stop.
A computer can not 1. Check if the Enable/Disable switch into 1. Set Enable/Disable switch to Disable.
input a program. Enable.
2. Check command 2. Check command name and format.
3. Check computer connection cable. 3. Connect cable surely.
4. Is program stopping? 4. Push the reset button to reset program.
Hand does not work. 1. Check air supply. 1. Supply air.
2. Is solenoid valve compatible? 2. Use a compatible solenoid valve.

Troubleshooting-102
 3.Appendix

A trouble A confirmation matter Trouble shooting

It stopped during 1. Check cables. 1. Replace cables.
operation. 2. Check excessive load. 2. Reduce load.
Specification/5.1.2 Rated load explains it.
3. Check voltage of power source. 3. Use it in voltage limit.
4. Check power failure or instantaneous 4. Operate it once again.
power drop.
5. Check emergency stop switch. 5. Reset the emergency stop switch and
operate it again.
6. Check smell from Motors. 6. There is possibility of motor burned out.
Change motor.
7. Check abnormal sound and excessive 7. "Abnormal sound occurs", "Vibration is
vibration. large." explains it.
Positioning of 1. Check electric noise. 1. Reduce noise source.
accuracy slips off 2. Check installation of the robot. 2. Fasten installing bolts of the robot arm.
repeatedly.
3. Check tension of timing belt. 3. Adjust tension of timing belt. Reference
manual/5.3.3 Timing belt.
4. Check installation screws of hand. 4. Fasten screws securely.
5. Check combination of the controller and 5. Set origin.
the robot.
6. Check collision between robot and 6. Avoid collision.
peripheral during operation.
Abnormal sound 1. Check installation bolts of robot arm. 1. Fasten screws securely.
develops. 2. Check sound from reduction gears. 2. Breakage of reduction gears is
Vibration is large. (Harmoic Drives) Check vibration from expected.
reduction gears. Contact our service division.
Output of I/O does 1. Check voltage and polarity of external 1. Connect the robot with correct voltage
not work. power source. source and polarity.
2. Check OD and OB command. 2. Use commands correctly.
3. Has the fuse on the I/O controller blown 3. Replace the fuse.
due to a load short circuit?
Robot worked 1. Check alarm. 1. Contact our service division.
abnormally. 2. Check if the robot arm hangs down just
after power is ON.
3. Check which joint works abnormally.

Troubleshooting- 103
 HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE MELCO TOKYO
NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN

AUG.1999 MEE BFP-A5824 Printed in Japan on recycled paper. Specifications are subject to change without notice.