M]TSUBISHI

/litsubishi IndustrialRobot
RV-E2I RV.E2M
RV-E3J/ RV-E3JM
II/IOVEMASTERSI,JPER
Reference
Manual
l,Handlingthe robot
l.Handlingtherobot
2.Setlingthe origin

2.Operations
'l.Preliminary
preparations
beloreoperating
2.Basicooerationsol lhe
s),s{€mcomponenls
3.Programming
4.Debuggingprograms
5.Exeqrtion
6.OtherFunclions

3.Commanddescription
l.Ove|'.iewol commands
2.Exolanation of command

4.Designand Engineering
1.Extemalconn€c{ionslo conkoll€r
2.Tooling
to a personal-
3.Connec'tions
compuler(RS-232C)

S.MainEnanceand inspection
l.Maintenance period
2.lnsp€clion
items
3.Maintenanc€ andinsoection
Drocedures
4.Maintenance parts

6.Appendix.

INDEX

MELI=A
 A:\gN_CUD.BAS4/L3/95
'**t****ti*****t***!t*t******t*t******tl!l*****!t*******!t*****!rrr**********t*****

"QN" Co!|[land Example

for
llitsubishi "8" Robot Controllers
The 'N" conmand will allow you to select the program name that you ;
have in your controller. The ',QN" comand wilh the progam nErme *
after it will inquire the controller for the Total Number of Used *
Steps, Used Nuuber of Positions and Used Number of Counters. *

N9 = selects plogrErm nunber 9, QN9 = inquires for information ;

N " PUT_PAI{" = selects proglam PUT_PAM
QN"PUT_PAM' = inquires for information

Date : 4l 13 /95
t***********if*il***tlrl***il*****************rt******lt*****i!**tt******rt***it*!t*****

CLOSE
O P E N " C O M 2 : 9 6 0 0 , N , 8 , 1 , C S 6 0 0 0 0 , D S 6 0 0 0 0 , C D o "F O R R A N D O M
AS #2
. ** * * * !t * * * * * !t * * * * * * * * * * * * * * * * * ** * * * * * * * * * * i * * * * * * ** * * * * ** t * * * * * * * * * * * * * * * * * *

cLs
PRINT *2, "N9"
PRINT *2, " QrnS" 'llust have a space before the
QN Comnand to work
LINE INPIIT #2, AS
LOCATE 15, 10: PRINT "1ST Selection using ( 0-9 ) lilrrrnhE3s\ras -- " t AS
RrNT #2, 'll" + cERs(34) + 'Pul_PAun + CERS(34) 'cER$(34)= the
"
PRrNT *2, ,' ON" + C8RS(3Al + " P u r _ P A M " + C E R S ( 3 4 )
LINE INPIN #2, AS
LOCATE 17, 10: PRINT "2ND Selection using (Alpha Characters ) was -- "t AS

END
t******************i********t***********i**i***********t***i****************

Page I
 CAUTIO}i!
(TEACHTNG
BOX CONNECTION/DTSCONNECTTON)
fhe following shows the corrigendaabout ttre procedureof how to connectand disconnectthe
teachingbox (T.B.) during power on. We kindly ask the user to refer to this infornation when
readingthe correspondingparts of the user's manualand tie referencemanual.

WHEN DISCONMCTING: Incorrect opration will causean emergencysf@ s tate.

(1) Setthe 'ENBL/DISABLE'switchof the T.B.to the 'DISABLE'side.
(2) Loosenthe fixing screwsof the T.B.connectorwith holdingit firmly by hand.
(3) Pushand lock downthe EMG.CANCELswitchon the front panel.(Concave state) Confirm
that the LED of the switchstartsblinking
(4) Disconnect the connector quicklywithin five secondsfrom the start of blinking. The LED
turns off whencornpleted correctly.

WHEN CONNECTING: Incorrectoperationwill causean emergencystop state

(1) Setthe 'ENBL/DISABLE'switchof rhe T.B.to the 'DISABLE'side.
(2) Connectthe T.B.connector.Confirmth at theLED of tJreswitchstarts blinking.
(3) Pushand releaseup the EMG.CANCELswitch.(Convexstate)This mustbe donewithin five
secondsfrom ttteconnectionof the T.B.. The LED turns onwhenconnected correctly.
14)Fix theconnectorof the T3. with a set of screwsfirrnly-

IO RESETTHE EMERGENCY STOPSTATE

(1) Release up the EMG.CANCELswitch.(Convexstate)
'ENBL,/DISABLE
(2) Serthe switchof the TB. to the 'ENBL'side.
(3) Pushthe ALARM RESETkey of theT.B_

CAUTIONI:
THE EMERGENCY SW]TCHOF TI{E T.B. REMAiNSDISABLEDWHEN THE'EMG. CANCEL'
SWITCHIS PUSHEDDOWN. THE INITIATIONOF THE PROGRAMFROMOTHEREQUIPMENT
THAN T.B. IS EFFECTIVEWHENTHE'ENBL/DISABLE'SWITCHIS SET TO THE DISABLE
SIDE ,_/-

'ENBL/DISABLE'
switch
EMG.CANCELswitch.

I E:jig
TJE! t/ E@U]
 NOTETO THE USER

TO ASSURE SAFETY IN DESIGN AND

CONSTRUCTION
OF ROBOT SYSTEM, READ
'SAFEWMANUAL'FIRST.

. N O P A R TO F T H I S P R I N TM A YB E R E P R O D U C E IDN A N Y F O R M
WITHOUTPERMISSION.
. T H I SP R I N TI S S U B J E C TT O C H A N G EW I T H O U TN O T I C E ,
. A L T H O U G HW E H A V ED O N EO U R U T M O S TT O E N S U R ET H E
A C C U R A C YO F T H I S M A N U A L ,I F Y O U N O T I C EA N Y E R R O R S .
PLEASECONTACTUS.
copyRtcHT (c) 1994M|TSUBtSHt ELECTRTC CORPORATTON
Introduction
Thankyouverymuchlor purchasing a Mitsubishi
"superE series"industrial
robot.This
instructionmanualexplains itemsthatarenotcoveredin theUser,smanual.suchas how
to installandhandleoptionalequipment, howto usethe MoVEMASTER commands, and
whatthecommands areabout.Beforeyoubeginoperatingtherobot,makesureyouread
this manualthoroughly, anddo notattemptto operateit untilyou havecompletely
understood all of the contentsin this manual.Thewrittenmaterialin this manualis
compatible withthesoftware versions shownbelow:
'Controller:Ver.83
TeachingBox:Ver.82
<Howto usethe variousmanualsandwhateachof themcontains>

Thisproductcomeswith4 difterentmanuals.Youcanfindbelowthecontentsandpurpose
ol eachof thesemanuals.Usethemaccording to theirapplications.
Sincethe manuals
weredesignedto applyto all models,anyditferencesin the specifications
from modelto
modelwill be noted.

F.t The SaletyManualexplainscommonsafetyprecautions andcautionitemsrelated

to the usageof the robots,the systemdesigns,andthe fabricationof the robots,so
that the safetyof all the workersconnectedto the robot can be protected.

1""'-
_l
m
f'* _l
The Specifications Manualis validtor the entireE series.lt explainsstandardspec-
tactory
ifications,special shipmentspecifications, optionconfiguratiors,and main-
tenan@components.lt alsoexplainssafetyand technicalprecautionswhenset-
ting up the robot.

|;I The User'sManualexplainseverythingfrom unpacking,installation,and salety

precautions
for usingthe robot,to cabling,originsetting,and basicoperations.lt
alsoexplainsthe basicwaysto use the "teachingplaybackmethod,"one of the

t""*-j operatingmethods.

H; The Referencemanualexplainsoptionsinstallationsand handlingmetfrodsnot

@veredin the User'sManual,specifications
playbackandthe Movemaster
of structuralequipment,the teaching
commandoperatingmethods,commands,@nnec-

E] tionsto l/O equipment,

toolingspecifications,
and maintenance and inspection.ln
the appendix,youcanfindlistsof commands,parameteF,andalarms,and some
sampleprograms.

(Outlineof the contentsof eachof the manuals)

Contents Specincdion Useis Relerence
Manual Manual Manual
*Standardspecilications, specialfactoryshipmentspecifica-
tions.and maintenance
*Specifications
Darts o
andtypesof options
'Safetyandtechnicalprecautions for settingup the robot
o
'Safety precautions
o
duringusage r-)
'Unpackingthe product,installation,settingthe origin,
and ^
'\-.'
othersetupoperations
'Basic operationsusingthe teachingplaybackmethod
C
-lnstallationandhandlingof optional
equipment a
'Detailedspecificationsfor configurationmachinery
'Applicatiorsol theteachingplaybackmethod -
andthe Move-
master@mmandmethod O
'Explanationof commands
*Connections O
to l/Odevices,toolingspecifications,
and main- r-\
tenanceandinsoection
' Sampleprogramsand lislsof commands,parameters,
and
 Contents
Chapter 1 : Handlingthe robot...... . . . . . . . . . . . . .1. - 1
1.1Handlingthe robot ....................... 1-1
1.1.1Installingthe 4E-HM01motor-operated hand......-...-..... .......1-1
1.1.2lnstafling the 4E-HP01/4E-HP01E pneumatic handset ................................ 1-1
1. 1 . 2 . 1l n s t a l l i ntgh e 1E - H P 0 1 / 1 E - H P 0p1nEe u m a t i h
c a n d . . . . . . . . . . . . . . . . . . . . . . . 1. .-.2. . . . . . . . . .
1.1.2.2Installingthe 1E-VD0'l /1E-VD01Esolenoidvalveset................................ .t-2
1.1.2.3lnstallingthe 2E-31HND/2E-31 HNE pneumatichandinterface............... 1-2
1.1.2.4Settingthe parameters....................... ......... t-z
1.1.2.5Open,zclose settingot the handand settingsfor inputsignals.................. 1-2
1.1.2.6Confirmingoperability ........ 1-3
1 . 1 . 3I n s t a l l i ntgh e 1 E - V D O ' s o l e n o vi da l v es e t . . . . . . . . . . . . . . . . . . . . . . .1. .- .4. . .
1.1.3.1Installingthe 1E-VD01/1E-VD02 solenoidvalve set for the RV-E2, RV-E3J ........ 1-4
1.1.3.2Installingthe 1E-V001/1E-VD02 solenoidvalveforthe RV-E2M, RV-E3JM ......... 1-6
1.1.4Installingthe 2E-31HND/2E-31 HNEpneumatichandinlerface.................. 1-B
.1.1.5
Installingthe P6TB-TEteachingbox .................. .................... 1-B
1.1.6lnstallingthe 2E-31l,O/2E-31 IOEparallell/O interface................................ 1-8
1.1.7Installingthe rack adapter (Modeltype : 2E-RACK) .......... 1-9
1.1.8Installingthe RS-"-CBL personalcomputercable .............-....................... 1-10
1 . 2S e t t i n gt h e o r i g i n. . . . . . . . . . . . . . . . . . .1. .-.1.1.
1.2.1Deletingthe Z-phaseoffset............... .......... 1-12
1.2.2Mechanicalstoppermethod ........................ 1-12
1.2.3Calibration jig method (Optional) ........ ........ 1-12
1.2.4User-definedoriginsetting............. ............. 1-1S
C h a p t e r2 : O p e r a t i o n s . . . . . . . . . . . . . . . . . . ... ..........2-1
2.1Preliminary preparations beforeoperatinS............... ....... ............2-1
2.1.1Outlineof a programfromthe writtenstageto the executionstage ...........2-1
2.1.2 Characteristics and functionsof systemcomponents... ................................2-2
2.2 Basicoperationsof the systemcomponents.... ........................... 2-3
2.2.1How to operatethe controller ........................ 2-3
2.2.2How 7ooperatethe teachingbox ................... ..........._............ 2-9
2 . 3P r o g r a m m i n. g. . . . . . . . . . . . . . . . . . . . ...........-zo
2.3.1Programming with the teachingplaybackmethod ..............2-27
2.3.2Programming with the Movemaster commandmethod .....2-40
2 . 4D e b u g g i n gp r o g r a m s .................2-S1
2 . 5E x e c u t i o n . . .........2-63
2.5.1Executionfrom the controller .......................2-63
2 . 5 . 2E x e c u t i ofnr o ml h e t e a c h i n gb o x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . z. .-.o. . .). .
2.5.3Executionlrom lhe personalcomputer ......2-63
 SP (Speed)... ...........3-99
STR X (StepRead).............. ........
3-101
TB fl-est8i0................... .......-........3-102
TBD fl'est Bit Direct)....... .............
3-103
Tl (Timer)...... ........3-104
TL frool) ...............3-'105
VR (VersionRead).............. ....-..... 3-106
WH (Where). ........3-1 07
WT (WhatTool)................ .............. 3-108
XO (Exclusive
Or) ...............-... ......3-109
' (Gomment).. . . . . . .3. .- 1 1 0
Chapter 4 : Design and Engineering.............. . . . . . . . . . . . . . . . .4. - 1
4.1 Externalconnections to controller .........-............. 4-1
4.1.1Specifications for externalconnections to controller.... ........ 4-1
4.1.2Interfacingwith externall/O equipment.....................-.. ......... 4-3
4.1.3Assignmentof specializedl/O signalsfor parallell/O interfaces.............. 4-3
4.1.4Commandsand functionsthatcan be writtento parameters......-...-...-.....-.- 4-4
4.1.5Connectiontable for parallell/O interface .-.......-................. 4-8
4.'l.6 Precautions for connections with externaldevices...................................... 4-13
4.1.7Timingchartfor externaloperations....... .....4-17
4.2Tooling ................4-20
4.2.1Specifications tor toolingconnections ................ ..................4-20
4.2.2Exampleot toolingplan.................. ............... 4-22
4.3 Connections to a personalcompuler (RS-232C) -.......-........... 4-24
4.3.1Gonnectorpin arrayfor the RS-232C........-............. ..............4-24
4.3.2Functionof eachsignalcable.... ..................4-24
4.3.3Settingthe RS-232C ............4-25
4.3.4Time chartsfor the varioussignallines...... ...................-...... 4-25
4.3.5The RS-232Cconnectorcab1e................ ....4-26
4.3.6Exampleof a connectionto a personalcomputerwiththe RS-232C.......- 4-27
C h a p t e r 5 : M a i n t e n a n c ea n d i n s p e c l i o n .... 5-1
5 . 1M a i n t e n a n coee r i o d . . . . . . . . ..............5-1
5 . 2l n s o e c t i o int e m s . . . . - . . . . . . . . . . . . . . .... . . . . 5 - 2
5 . 2 . 1D a i l yi n s p e c t i oint e m s. . . . . . . . . . . . . . . .......................5-2
5.2.2Periodicinspection .........-.......5-3
5.3 Maintenanceand inspectionprocedures ...........5-4
5.3.1Structureol the mainrobotunitIn...................... .......-..-...,...... 5-4
5.3.2Installation/removal of cover ......................... 5-7
5 . 3 . 3I n s p e c t i n ga,d j u s t i n ga,n d r e p l a c i n tgh e t i m i n gb e | t s . . . . . . . . . . . . . . . . . . . . . .5. .-.1. .0. . . . . . .
5 . 3 . 4G r e a s ec h a r 9 e . . . . . . . . . . . . . . . . . . . .5. .- 1 3
 5.3,5Replacingthe backupbattery............. .........5-14
5.3.6Replacingthe luse ............... S-18
5.4 Maintenanceparts...........-. ........ S-1g
Chapier 6 : Appendix. . -j
. . . . . . . . . . . .6
6 . ' l C o m m a n d1 i s t . . . . . . . . . . . . . . . . - . . . ............G-1
6.2 Parameterlist.................... ............6-7
6.3Sampleprogram [1] Teachingplaybacksystem............ .......... 6-9
6.3.1Pick & placeoperation .......6-10
6.3.2Handlingoperation 0herobol sorts
outdefeclive resistors
lromnon-defective ones.|......6-1 2
6.3.3Assemblyoperation ............. 6-16
6.3.4Sealingoperation ................. 6-18
6.4 Sampleprogram (2) Movemastercommandmethod ... .........6-22
6.4.1Pick and placeoperation ....6-22
6.4.2App|icationofinterrupimotion.............
6.4.3Application of palletizing .....6-26
6.4.4Exampleof connection with externall/O equipment ........ 6-3.1
6 . 5A l a r m1 i s 1 . . . . . . . . . . . . . . . . . . . . . .................6-34
6.6Troubleshooting........... ............. 6-39
6 . 7S t r u c t u r fel a g .. . . . . . . . . . . . . . . . . ............6-41
6 . 7 . 1W h a ti s a s t r u c t u rtel a g ? . . . . . . . . . . . . . . . . ..............6-41
6.7.2Deiinitionof eachstructureflag................... ........................ 6-41
Index .......... lndex_1
Chapter1 : Handlingthe robot
This chapterexplainshandlingproceduresand usage pointsfor optionalequipment
not covered in the User's Manual.
1.1Handlingthe robot
This chapterexplainshow to installthe optionalequipment
1.1.1lnstallingthe 4E-HM01motor-operated hand
For detailson how to installthe motor-operatedhand,refer to section3.8 " Installing
the motor-operatedhand" in the User's Manual.
1.1.2Installingthe 4E-HP01/4E-HP01E pneumatichandset
The configuration for lhe pneumatichandset is shownin Fig. 1.1and in Table 1.1

RV-E3J/RV-E3JM
RV-E2/RV-E2M
Fig. 1.1Schematicdiagramfor the pneumatichandset

Table 1.'1Configurationfor the handset

Number Partname Model Quantity Description
1 Pneumatichand 1E-HP01/ 1 Hand input cable with pneumatic
1E-HP01E couDlino
2 Pneumatichand 2E-31HND/ 1 Interfaceboard
interlace 2E-3|HNE
3 Solenoidvalveset 1E-VD01/ 1 Comeswith(2)M3x2Ssocket
1E-VD01E headbotts
4 Handcurltube 1E-ST0402C 1
(2 tubesper set)
5 Socketheadbolts M5x16 4
6 Socketheadbolts M3x12 4 Comeswithspringwashers
7 Adapter BU144D697 1 This item is neededfor instaltino
H01 (1)above.

l-I
1.1.2.1Installingthe 1E-HP01/1E-HP01 E pneumatichand
Fig. 1.2 shows the methodlor installingthe pneumatichand.The installationsteps
are as follows :
(1) Use lour M5x16 hexagonsocket head bolts to installthe hand adapter (7) to the
main robot unit'smechanicalinterface.
(2) Uselour M3x12hexagonsockethead bolts (6) to installthe pneumatichandtothe
hand adapter. Use Fig. 1.3to find the where the ends of the cables should be
connected to the adapter.
(3) As shown in Fig. 1.2,connectthe hand curl tubes to coupling1 and coupling2,
which protrudesfrom the cover of the Jorearm.The opposite end of the tube
connectedto coupling 1 shouldbe attachedto the hand'sOPEN coupling,and the
opposite end of the tube connectedto coupling2 shouldbe attachedto the hand's
CLOSEDcoupling.
(4) As shown in Fig. 1.2, connectthe hand check cable, which is attachedto the main
unit of lhe hand,to the connectorGON1,which proirudesfrom the cover of the
lorearm.This comoletesthe installationof the hand.
1.1.2.2Installingthe 1E-VD01 /1 E-VD01E solenoidvalveset
To installthe solenoidvalveset, referto section1.1.3"lnstalling the solenoidvalve
set" in this manual.
1.1.2.3Installingthe 2E-31HND/2E-31HNE pneumatichandinterface
To installthe pneumatic handinterface,referto section1.1.4 "lnstallingthe pneumaiic
hand interface"in this manual.
1.1.2.4Setting the parameters
For the pneumatichand (1E-HP01/1 E-HP01E) , the tool data is 107mm. Referlo
section2.6 "Otherfunctions,(11) Parametersettings"in this manualand set the
value ol the XTL parameterto 107mm.
1.1.2.5Open/close setting of lhe handand settingsfor input signals
The connectionsfor the optional pneumatic hand sensor, and the bit settings tor
input signalsand for the handsopen/closesetting,are shownin Table 1.2.The hand
connectornumbers have been assigned numbersfrom the connectorpins located
at the end of the forearm.To make the bit settingslor the open/close setting of the
hand and for the input signalsfor handyou are preparinglor use, refer to chapter 4,
Fig. 4.3 "Hand circuit specilications"in the SpecificationsManual.

Table 1.2 The hand'sopen/closesetting and input signalsettings

Handcheck Settingpinstor the open/close
connector Signal settingot the hand Comments
numbers Open Halfopen Closed
Generalpurpose 0(oN)
input900 Corresponds
to
General purpose hand1
input901 0(oN)

1_'
1.1.2.6Confirmingoperability
(1) Operatethe teachingbox to confirmthat the hand opens and closes.
(2) To operate the teaching box, refer to section 2.2.2"How to operate the teaching
box" in this manual.
(3) lf the open/closesettingsare reversed,confirmthe connectionsettingswith Table
1.3 and reset the settings.

A Caution
While operatingthe hand,dependingon the pitch axis and the roll axis,the hand
curl- tube and the hand check cable can get entangled with the hand adapter and
forearm. In this case,lemporarilyremovethe hand,and repositionit lo its correctly
installedposition,as shownin Fig. 1.3.

Forearm

C 5 hole
Mechanicalinlertace

M3x12bolts

(4) Hand curl tub€

Fig-1.2 Howto installthe pneumatichand

View from A

Fig. 1.3 Positionof correctlyinstalledhand

1-3
 There is no mechanicalstopperlor the roll axis.When installingthe pneumatichand,
il the servo is OFF, do not rotale the roll axis more by more than its operationrange
(+/- 200 degrees) . lf you rotate it more than its operation range and turn ON the
servo,there may be an encoder alarm.
1.1.3Installingthe 1E-VDO-solenoidvalveset
1.1.3.1 l n s t a l l i n g t h e l E - V D 0/ 11E - V D 0 2 s o l e n o i d v a l v e s e t f o r t h e R V - E 2 , R V - E 3 J
Fig. 'l.4 shows how to installthe solenoidvalve.
The installationmethod is as lollows:
(1) Removethe two (M3x6) screws in (2) and the two (M3x8) bolts in (3) , and
removethe shouldercover (B) in (1) .
(2) Installthe solenoidvalve by fasleningit with the two attached (M3x25) screws in
(5) to the screw holesin (4) onthetopof the plate otthe mainrobol unil.
(3) Connectone of the two (C 6) pneumatichosesin sectionA --the one marked"AlR
lN"--tothe quick coupling (portP) in (9) of the solenoidvalvein (6) .Theprimary
air flow can now be suppliedtrom the pneumalic port at the base.
(4) Connect the hose marked "1" to port A (7) on the primarysolenoid valve (6) .
Connect the hose marked "2" to port B (8) on the primary solenoid valve (6) .
lf you are using the double type valves (1E-VD02), you need to do the tollowing:
Connectthe hose marked"3" to port A (11) on the secondarysolenoidvalv (10) .
Connectthe hose marked"4" to port B (12) on the secondarysolenoidvalv (10) .
(5) Removethe plugs extendingfrom the forearmwhich are connectedto connectors
GRl to GR4.
Connectthe GR1 plug protrudingfromthe primarysolenoidvalve (6) to the conne-
ctor GR1.
Connectthe GR2 plug protrudingfrom the primarysolenoidvalve (6) to the con-
nector G R2.
lf you are using double type valves (1E-VD02),
Connectthe GR3 plug protrudinglrom the secondarysolenoidvalve ('10) to the
connectorGR3.
Connectthe GR4 plug protrudingfrom the secondarysolenoidvalve (10) to the
connectorGR4.
(6) Whenyouhavecompletedtheinstallation, reinstallthe shouldercover (B) in (1) to
its originalposition,and be careful nol to entanglethe cables when you do so.

The connectionsafter the installationappear as in Table 1.3.For single type valves,

hand 2 is not applicable.

Table 1.3ASolenoidvalveportsand hoses: Connectiontable for couplingsand hand

ports lor the RV-E2,RV-E3J
Forearm
Hand Handport coupling Hosenumber Solenoid
numDer valve port
OPEN
Hand 1 Firstset
CLOSE
OPEN
H a n d2 Secondset
CLOSE B

.A
 Shouldercover

Trussscrew

(5) Flat head screnG

P
Y
i'/

soleno?d
vatve

Detaileddrawinqof
section A

Fig. 1.4AHow to installthe solenoidvalvefor the RV-E2,RV-E3J

1-5
1.1.3.2lnstallingthe 1E-VD01/1E-VD02solenoidvalve tor the RV-E2M,RV-E3JM
Fig. 1.4Bshowshowio installthe solenoidvalve.The installationmethodis as follows:
(1) Removethe two (M3x6) screwsin (2) andthe two (M3x8) boltsin (3) , and femove
the shouldercover (B) in (1) .
(2) Unfastenthe two (M3x6) bolts in (1| ) holdinglhe batterycoverin (10) , and remove
the cover.
(3) Disconnectthe hand'soutputconnectorwhich is stored in the batterycover.
(4) Installthe solenoidvalve by fasteningit with the two attached (M3x25) screws in
(5) tothe screw holesin (4) onthetopof the plate of the mainrobot unit.
(5) Connectone of the two (/ 6) pneumatichosesin seotionA -the one marked "AlR
lN"-tothe quick coupling (portP) in (9) of the solenoidvalve in (6) .The primary
air flow can now be supplied from the pneumaticport at the base.
(6) Gonnect the hose marked "1"to port A (7) on the primarysolenoid valve (6) .
Connect the hose marked "2" to port B (8) on the primary solenoid valve (6) .
lf you are using the doubletype valves (1E-VD02) , you need to do the following:
Connectthe hose marked"3" to portA (11) on the secondarysolenoidvalve (10) .
Connectthe hose marked"4" to port B (12) on the secondarysolenoidvalve (10)

(7) Removethe plugs extendingfrom the forearmwhich are connectedio connectors

GR'l to GR4.
Connectthe GR1 plug protrudingfrom the primarysolenoidvalve (6) to the
connector GR1.
Connectthe GR2 plug protrudingfrom the primarysolenoidvalve (6) to the
connectorG R2.
ll you are using doubletype valves (1E-VD02):
Connectthe GR3 plug protrudingfromthe secondarysolenoidvalve (10) to the
connectorGR3.
Connectthe GR4 plug protrudingfrom the secondarysolenoidvalve (10) to the
conneciorGR4.
(8) Storethe newly attachedconnectorsin the batterycover in (13) , and reinstallthe
battery cover.
(9) Whenyou havecompletedthe installation, reinstallthe shouldercover (B) in (1) to
ils originalposition,and be carelul not to entanglethe cables when you do so.

The connectionsafterthe installationappear as in Table 1.38. For singletype valves,

hand2 is not applicable.

Table 1.38 Solenoidvalveportsand hoses: Connectiontable for couplingsand hand

ports for the RV-E2M,RV-E3JM
FOrearm
Hand Handport Hosenumber S,olenoid
"oupritig
number ,alveport
OPEN 1
Hand 1 Firstset
cLosE 2 B
OPEN 3
Hand 2 Secondset
CLOSE 4 6

Spare
 .._.--..1,
3l Socket head bolt

Flat h€ad screws

PortA
..4
Port R
(9) PortP
P
T
i-

t#ffi (4) Plate

solenoid

Detailed drawino ot
section A

-LJ-l-
To the hand's
oulpul connec-
tors .4-ffr- Nole : Make sure to
disconnect all 4
connectorsleadino to
For when the hand's outiut
tne connectors when
double- using the pneumatic
tyPe hand.
solenoid
valve is
:::-1i::ffi
useo
C o n n ec l i o n s l o r s e c t i o n A Connections for section A
when using lhe motor- when usin9 the pneumatic
d hand nand
Fig. 1.5 How to installthe solenoidvalve connectors

1-7
1.1.4Installingthe 2E-31HND/2E-31HNE pneumatichand interface
Fig. 1.6 shows how to installthe pneumatichand interlace
('l) Turn OFF the controllerpower.Also,turn OFF the power source.
(2) Afterturningthe powerOFF,waitabout3 minutesfor the chargedpartsto discharge.
(3) Removethe top cover ol the controller.
(4) Removethe two fixing screws {1) on the right-mostslot on the back of the controller.
Removethe dust cover lor the expansionslot. (Storeit away.)
(5) Insertthe pneumatichand interfaceintothe connectorof the above-mentionedslot.
(5) Fastenand securethe two fixingscrews (1) .
(71Reinstallthe top cover.
(8) Turn ON the controllerpower.
(s) lf the handis attached,with the teachingbox,use iog operationsto confirmwhether
the pneumatichand can open and close.

ACaution
Wait at least 3 minutesaftef
turningthe powerotl betore
rernovingthetoppanel.Don't
tum lhe poweron untilthe top
panel has been installed.
Othermethodsol handling
may lead to elecfic shocks.

1.1.5Installingthe P6TB-TEteachingbox
For the installationmethod,reler to chapter3 "Preliminarypreparations"in the User's
Manual.
1.1.6 lnstallingthe 2E-311O/2E-31 IOE parallel l/O interface
Fig. 1.7 showshow to installthe parallel l/O interface board.
{1) Turn OFF the conlrollerpower.Also,turn OFF the power source.
(2) AfterturningOFF the controllerpower,wait about3 minutesfor the chargedpartsto
discharge.
(3) Removethe top coverof the controller.
(4) Removethe two lixingscrews (1) onlhe slotforthe parallell/O interfaceboardand
remove the blind caps (2) for the expansionslot. (Storeit away.)
Removethe dust cover on the expansionslot's connector. {Storeit away.)
(5) lnsert the parallel l/O interfaceboard into the connectorof the above-mentioned
slot. ODtionboardsother than hand interfaceboards should be installedin the
order of OPT2and OPT3.
(6) Securelytighten the two fixing screws shown in {1) .
(7) lnstallthe top cover of the controller.

A Caution
Whenyouinsertthe l/O interfaceboard,openup the hardwarein the directionofthe
anows,as shownin Fig.1.7sothatyoudont catchontothe hardwareof the connector
Darl.

A Caution
Wait at least3 minutesatter
turning the power off before
r e m o v i n gt h e t o p p a n e l .
Dont turnthe power on until
the top panel has been
installed.Other meihodsof
handling may lead to
electric shocks.
Connector

Fig. 1.7 Installationof parallel l/O interface (board)

1.1.7lnstallingthe rack adapler (Modeltype : 2E-RACK)

Fig. 1.8 showsthe procedurefor installingthe rack adapter.
(1) Removethe three fixing screws (M4*8) on the left side of the front panel of lhe
controller.
(2) With the screws that are removed,attachthe rack adapterlo the side of the controller.
(3) Do the right side in the same fashion.The rack adapterssre identicaland can be
used for either the left or rioht sides.

Fig. 1.8Procedurefor installingthe rack adapter

1-9
ACaution
not the rack adapter as the sole
Do use meansto support the controller (approx.
28kgf) . Use a side rail or use other such meansto provide overall supportlor the
controller.

1.1.8Installingthe RS-**-CBLpersonalcomputercable
Fig. 1.9 shows how to installthe personalcomputer
(1) Conlirmthat the personalcomputercable is made for your personalcomputer.
(2) Attachthe personalcomputerconnectorto the controller'sRS-232Cconnector.
(3) Securely lasten the screws above and below the connectorso that they will not
come off.
(4) Be careful about exposing the cables. Pullingstronglyon the cables or bending
them excessivelycan damagethe connectorsor rupturethe cables.

Fig.1.9 Howto installthe personalcomputer

GS (Go Sub)

I FunctionI
Caniesout subroutinebeginningwiththe specifiedline number.

I InputFormatI
GS Flinenumberrl [, [<program
name>!

[Term)
<Linenumber> Specity line numberof subroutinein integer value.
1 S line number< 9999
<Programname> Specifyprogramnameol subroutinein integervalueor characters.
(Lessthan 8 characlers)
1< programnameS I (characters)
Possibleletter used: Digit (0-9)
Character (A - Z)
Symbol ( ! @#,etc.)
lmpossibleletterused: * +. . ,/ i i [+J' "
Special specification:Whenyou specifiedonlynumericvalue,the
programname is handledas number.
Need to enclose program name with ', ,' in
the case ol characterused.

I ExplanationI
(1) Allowsthe programto jumpto the specifiedline of the specifiedprogramand execute
subroutine.The programreturnslo the mainprogramafter executingthe subroutine.
When you specifiedprogramnumber,returnsto the main programby ED command
and when you specified only line number,returns by RT command.
(2) Use the RT commandto terminatethe subroutineexisting in the same program. -
Use the ED commandto terminateihe subroutineexisling in other program.
(3) lf the specified line or the specilied programdoes not exist, alarm oicurs at the
time of GS execution.
(!) Wnen you omittedline number,executesthe specified programlrom the top line.
(5) When you omittedline numberand programname,nothingoccurs.
(6) To call subroutinesin other subroutinesis called "nesting".Up to 9 nestinglevels
are possible.
<Thesame programcall> <Programto programcall)
Prpgram 10 Prpgram 20 Prpgram 30
1 0s P 1 5 10MO 5 1 OS P 1 5
:
3bcs 2oo'l-
:
: 40 MO 1 0
40r 1 50 GS 40,30
l-- 60MO 6 :
100 ED;END 100 ED
1 0 0 0E D :[

MO3

F{l
- showsthe programexecutionorder.
3-31
 X In the aboveexampleof <Thesameprogramcall>,executesthe programfromline
10to 30,thencallsthe subroutine
of line200.Whenlhe RTcommandis executedin
the programreturnsto the mainprogramand continuesfrom line 40.
the subroutine,
The programendswhenthe ED commandis executed.

X Programcan call otherprogramfrominsidethe programusingGS command.In

the aboveexampleot (Programto programcall),executesthe programlrom line 20
to 50,thencallsthe program30.Executes the programfromline40lo 'l00andreturns
to the mainprogram,i.e.,line 60 ol program20.The programendswhenthe ED
commandis executed.

I SampleprogramI (Movemaster command)

10 GS100 ;Carryoutsubroutine
beginning
withlinenumber100.
90 ED ; Endsprogram.
1 0 0M o 1 1 ; Movesto position11.
1 1 0M O 1 2 ; Movesto position12. Subroutine
1 2 0M O 1 3 ; Movesto position13.
1 3 0R T ; Endssubroutine

3-32
GT (GoTo)
I Function
J
Jumps to the specified line number unconditionally.

I InputFormat
I
GT <linenumber:

lterml
<Linenumber> Specify the line numberto which the programjumps.
1 S line number< 9999

I Explanation I
(1) Causesthe programio jump to the specified line number.
(2) lt the specifiedline numberdoes not exist,alarmoccursat the time of GT execution.

I Sample program) (Movemastercommand)

10 MO 1 ; Movesto position1.
20 GT 'l 00 ; Jumpslo line 100 unconditionally.
100MO 12 ; Movesto position12.
110 MO 15 ; Movesto position1S.

3-33
HE (Here)
I FunctionI
asthespeciliedposition.
Delinesthecurrentcoordinates
( InputFormat)

HE <position
numben

(terml
<Positionnumben Specify the positionnumber to be registered.
6 S positionnumber S 999
Registersthe currentpositionto the user-definedoriginin case
of zero.

I Explanation)
(1) The coordinatesof the currentpositionare calculatedon the basis of the currently
set tool length (see the TL command). In the initialcondition,ihe tool length is 123
mm, a point away from the hand mouniingsurfacetoward the end ol the hand.
(2) lf a single numberis assignedto two difterentpositions,the one defined last takes
precedence with the former cleared.
(3) The open/close positionofthe handand the structureflag data are also stored as
the positiondata.
(4) Alarmoccursii the HE commandis executed before the origin setting.
(5) When you specilied zero positionnumber,currentpositiondata in loint coordinates
are delined to user-definedorigin parameter UOG. In this case, you must change
the permissionparameterHOE to permit the origin setting at first. After that, return
the permissionparameterto the lormer value. (Does nol permit the setting.) The
above operationis effective only by direct commandexeculion.

( Sample proetramI (Movemastercommand

10 MO 10 ; Moves to position10.
20 DW 10,0,0 ; Moves to +X direction by 10 mm
30 HE 1'l ; Definesabovelocationas position11.
HLT (Halt)

I Function
I
Interrupts
themotionoftherobotandtheoperation
ol theprogram.
( InputFormat
I
HLT

( ExplanationI
(1) Interruptsthe operationof the program and decelerales the robot to a stop. (lt
becomesthe same conditionthatlhe externalstop signalis inputor the STOPswitch
of the controllerfront panel is pushed.)
(2) To restartthe program,pushthe STARTswitch,inputthe startingsignaling,or execute
the RN command.Programrestartsfrom the next line of HLT command.
(3) ll the HLT commandis directlyexecutedfromthe personalcomputerduringprogram
running,the programis interruptedand the robot stops with deceleration.
(4) The robot does not stop by the HLT command,however,during the execution of the
direct motioncommand.

I Sample program) (Movemastercommand)

10 MO 1 ; Movesto position1.
20 HLT ;Stops
30 MO 2 ; Movesto position2.
40 ED ; Ends program.
The programrestartswith STARTswitch lrom line 30.

3-35
HO (Home)
( FunctionI
Delinesthe currentlocationandthe attitudeas originpoint.

I InputFormatI
HO [<originsetting approachr]

[terml
<Originsetting approach) Specify the methodto set origin in integer value.
0 : Mechanicalstopperorigin
'l : Jig
origin
2 : User-definedorigin

I ExplanationI
(1) Establishesthe reference positionlor originsetting.
(2) lt you have replaced the robot or changedthe combinationof robot and controller,
you must carry out origin setting again using this command.There is another
approachusing teaching box to execute originsetting.See "1.2: origin setting"lor
detail.
(3) Change the parameter HOE to permit origin setting at first, then execute the HO
commanddirectly.When the originsettingis compleled,returnthe parameterto
the tormer value, otherwise the program can not be started.To find the change
operation,refer to section2.6"Other Functions (11) Settingthe parameters"in this
Manual.

I RelatingParametersI
Permits the origin setting irom the command (HO) .
Parametername HOE : Origin setting permissionparameter
0 : Does not permitthe use ol HO command. (Detault)
1 : Permitsthe use of HO command.

I Sampteprogram
I (eestc)
10 oPEN" CoMl:E83" As #1 ;opensthe RS-232Ccommunication file fromthe
personalcomputer in BASIC.
20 PRINT # 1," HO" ; Executesthe "HO" commandfrom the personal
computer.
30 END :Ends

RUN ;Run the BASICprogram.

lC (lncrementCounter)
I Function
I
Adds1 to thevalueof thespecified
counter.
( InputFormatI

lC (counternumber>

lterm)
(Counternumberr Specifycounternumberin numericvalue.
1 S .counternumberS 99

I Explanation I
(1) Alarmoccursil the countervalueexceeds32767.
(2) Usedto countthe numberof workpieces andjob sequenceandlo setihe numberoJ
grid pointin the pallet.
(3) The contentsol the countercanbe changed,compared,or read by the relevant
c o m m a n d(. S e eS C . D C . C P . C R . C L . A N . O R . X O c o m m a n d s . )

I SampteprogramI (Movemaster command)

10 SC 21,15 ; Setsvalue15to counter21.
20 lC 21 ;Add 1 to ihe contenisof counter21.

3-37
lD (lnputDirect)
( Function)
Fetchesdataunconditionally
fromthe externalinputand handcheckinput.

I InputFormatI
lD [<inputbit number)]

(terml
(lnput bit numberr Specifythe bit number of input port in integer value.
Feiches data of 16 bits width includingthe specified bit.
0 < input bit number < 32767 (0 for defautt)

I ExplanationI
(1) Fetches signalsfrom the externalequipment,e.9., programmablecontroller,
unconditionally. The data trom the hand check input can be fetched by specifying
the 900th numberto the input bit number.
(2) The fetched data is loaded into the internalregister and is subsequenflyused for
c o m p a r i s o nb,i t t e s l ,e t c . ( S e e E O . N E . L G . S M . T B c o m m a n d s . )
( Sample programI (Movemastercommand)
100 lD ; Fetchesthe input data into the internalresisterfor
omparison.
110 EQ 100,130 ; lf the inputdata equals 100,then iumps to line number 130.
120 ED ; Elseends program.
130 MO 1 ; Movesto position1.
140 lD 100 ; Fetchesthe input data into the internalresisterfor
comparison.(lnputsignals100 to 11S.)
150 TB +0,180 ; ll the inputbit 100 is ON, then jumpsto line 180.
'160
TB +5,200 ;lftheinputbitl05isON,thenjumpstotine200.
170 ED ; Else ends program.
180 MO 2 ; Movesto position2.
190 ED ;Ends program.
200 MO 3 ; Movesto position3.
210 ED ;Ends program.
INP (lnput)
I Function
I
Thespecified
counter valueof thepositionnumberorthedata
value,thecoordinate
of the specifiedcharacterstringis receivedaccording
to the PRNcommand.(Using
RS-232-C)
( InputFormaiI

INP <channel
numben,<counter
number/position
number/characterstringnumberr
[, Fcontentsselection)n

[terml
<Channel
number> Specifythe channelnumber opened by the OPN
command.
0 5 channelnumberS 2
(Counternumberr Specitycounternumber.
1 5 counternumberS 99
<Positionnumber) Specityposilionnumber.
1 S positionnumber< 999
<Characterstring number) Specifycharacterstring number in numericalvalue
which$" is added to the head.
$1 5 characterstring number < $99
(Contentsselection) Select either counteror position or characterstring
numbercorrespondingto <Counternumber/ position
number/characterstring number).
0 : Counternumber (Default)
1 : Positionnumber
2 : characterstring number

I ExplanationI
(1) This commandreceivesthe specifiedcountervalue,the coordinatevalueof the
positionnumberor the data of the specified characterstring is received according
to the PRN commandihroughthe RS-232-Cport.
(2) The OPN commandmust be executedfirst to open the RS-232-Cchannel.
(3) It the counternumberis omitted,the data will be read intothe internalregister.lf the
characterstring number is omitted,the data will be read into the characterstring
register. lf the positionnumber is omitted,an alarm will occur during execution.
(4) The data is sent from an externaldevice such as a personal computer using the
PRM command.The robot programwill stop while the data is being red-
(5) The PRM commandcan be executedbeforethe INP commandwhile the program
is running.In that case, the sent PRM commanddata will be registered once, and
then will be led intothe specifiedcounter,positionor characterstringwhen the tNP
command is executed.A max.ol 255 characterscan be registered in the robot. lf
the PRM command is executed in successionand the number ol registered
charactersexceeds 256 characters,the robot will be set to the "L" level based on
the RS-232-CER {DRT) and RS (RTS) signallines (DR (DSR) and CS (CTS)
signallineson the personalcomputerside) . Temporarilystop the data transmission
lrom the personalcomputer duringthis time.
(6) lf there is an error in the data sentby the PRNcommand,an alarm will occur when
the INP commandis executed.
I SampleprogramI (Movemaster command)
10 OPN 2,1 ;Opensthe RS-232C port.
20 INP 2,1,O ; Readsthe dataof counter 1 fromthe RS-232Cport.
30 INP 2,5,1 ; Readsthe dataof position5 fromthe RS-232Cport.
40 lC 1 ;Adds 1 to ihe contentsof counter.1.
50 MO 5 ;Movesto position5.
60 OPN 1,1 ; Opensthe RS-232C port.
70 INP 1,$10,2 ;Readsthe dataof characterstring10 fromthe RS-232Cport.

3-an
lP (lncrementPosition)

I Function)
Movesthe robotlo a predefinedpositionwith a positionnumbergrealerthanthe
currentone. (Jointinterpolation)
I lnputFormatI
IP

I ExplanationI
(1) Movesthe robot to a predelined positionwith a positionnumber greaterthan,and
closestto, the current one. (Seethe DP command.)
(2) Alarm occursif there is no predefinedpositionwhich is greater in positionnumber
than the currentposition.
(3) Even if an alarmoccurs,the currentpositionnumberstill remainsunchanged.

I Sample programI (Movemastercommand)

10 MO 5 ; Movesto position5.
20 MO 4 ; Moves to position4.
30 MO 3 ; Moves to position3.
40 lP ; Moves to position4.
50 lP ; Moves to position5.

3-41
JRC (Jointroll change)

I FunctionI
Overwritesthe currentpositionby adding+/-360 degreesto the joint positionof the
R-axis.Thisis donewhenyouwantto useshortcutcontrolof the R-axis,or whenyou
wantto useendlesscontrol.
I lnputlormat)
JRC( [+] 1/-1)

I Terms I
(+1) Adds 360 degrees to the currentjoint positionon the R-axis.
(-1) Subtracts360 degrees to the currentjoint positionon the R-axis.

I ExplanationI
(1)Whenyou u'sethis command,yau need to change the operation range of the R-
axisby +/-72Odegreesbeforehand.Setthe -J6 settingto -720 on the jointoperation
range paramelerJAR, and +J6 to 720.For informationon how to change parameters,
refer to section2.6 Other functions"under ('l1) " Parametersettings."lf you set a
value that is mor than +/- 72Odegrees,it could result in position slips.
(2)Eventhoughthe current coordinatevalue changes,the robot won't move.
(3)fl the joint coordinatevalue on the R-axisexceeds +/- 720 degrees, the current
coordinatevalue won't change,and the out-of-boundsalarm will be generated.
(4)ll you are usingthe RV-E2/E2M,and you want to movethe R-axisby more than +/
- 180 degrees with this command,the move up to +/- 180 degrees should be by
ioint interpolationcommands.ll you use linear interpolationcommandsor circular
interpolationcommands,when you executethe program,alarmswill be generated.
lf you are using RV-E3J/RV-E3JM,you don't have such a restriction.
(5)ll you use this commandwhile doing continuousmovementswithout acceleration/
deceleration (passing), it will not be able to do continuousmovementswith
acceleration/deceleration.(Referto CNT of the SP command)
(6)Whenthe controllerpower is a disconnectedstate,if you move the R axis by more
than +/- 7 turns,the nexttime the powersourceis supplied,the positionof R's axis
will slip. In this case, it is necessaryto reset the origin for only the R-axis.
Reler to 3.9 "Settingthe origin"in the Use/s Manualand 1.2 "Settingthe origin" in
this manual,and reset the oriqin.

I Sample program) (with Movemastercommands)

10MO 1 ; Moveto position1 (R-axisis -150 degrees)
20MO 2 ; Moveto position2 (R-axisis +170 degrees)
30 JRC -1 ; Subtract360 degreesfrom the current positionon the
R-axis (R-axisis -190 degrees)
40MO 1 ; Moveto position1

a-42
LG (lf Larger)
( FunctionI
Thiscomparesthe valueof the internalregislerwitha specifiedvalue.ll larger,the
programwill jump.The characterstringregisterand the numbersof charactersin a
specifiedcharacterstringarecompared. lf the characterstringregisteris larger,the
programwilljump.
( InputFormatI

LG <comparedvalue/characterstring number>,<branchingline numberr

(Terml
<Comparedvalue> Specily the value comparedwith the internalregister.
-32768= Compared value (decimall < 32767
&8000 < Comparedvalue (hexadecimal) S &7FFF
<Characterstring number) Specifycharacterstring number in numericalvalue
which "$" is added to the head.
$1 S characterstring number < $99
<Branching
line numberr Specitythe line numberto which the programjumps
when the value of the internal register is larger than
comparedvalue.
1 5 branchingline number < 9999

I Explanation)
<Whencomparedvalue is specified>
(1) Causesa iump to occur conditionallyin accordancewith the externalinput data or
the internalcountervalue.
(2) lf the internalregistervalue is largerthan the comparedvalue (i.e.,when the
conditionis met) , the programiumps to the specified line. Otherwise (i.e.,when
the conditionis not met) , the programcontinuesin sequence.
(3) A value can be loaded inlo the internalregister by executing the input command
(See lD) for the externalinputdata or by executingthe comparecountercommand
(See CP) tor the counterdata.Accordinglywhen you carryout conditionalbranching,
need lo execute either ofthe above commandsbeforehand.
( a ) T h e c o m p a r e dv a l u e m a y b e d e l i n e d e i t h e r i n d e c i m a l o r h e x a d e c i m a l A
.
hexadecimalvalue must be headed by "&".

<Whencharacterstring number is specified>

(1) The conditionswill jump dependingon the data inputfrom an externalsourceor the
number of charactersin a specifiedcharacterstring.
(2) lf the numberof charactersin the characterstringregisteris largerthan lhe number
of charactersin a specitied characterstring (whenthe conditionsare established)
, the programwill lump to lhe specifiedline number.lf the numberis smaller (when
conditionsare not established), the next line will be executed. lf the specilied line
numberis not registered,an alarmwill occurwhen jumping.
(3) By executingan INPcommand,the datainputlrom an externaldevicewillbesetin
the characterstring register.The detailsof the characterstring number will be set
by executinga CP command.Thus,when executingconditionjumping,one of these
commandsmust be executedfirst.

?-A?
I Sampleprogram) (Movemaster command)
100 lD ;Fetchesthe datatromthe externalinputport.
110 LG 100,130 ; lf the inputdatais largerthan100,jumpsto line 130.
120 ED ;Elseprogramends.
130 MO 1 ; Movesto position1.
140 OPN1,1 ;Opensthe RS-232C port.
150 INP 1, ,2 ;Readsthe dataof characterstringregisterfromthe RS-
232C port.
160 LG $5,200 ;Jumpsto line200il the datalengthlargethancharacter
stringnumber5.
'.
200 ED ;Endsprogram.

e _ AA
LR X (Line Read)

I FunctionI
Readsthe programol the specifiedline number. (UsingRS-232C)

I InputFormatI
LR [<linenumberr]

[terml
(Line number) Specifythe line number to be read.
0 S line numberS gggg (lf omitted,readsthe currentline number
stopping)

I ExplanationI
(1) Outputsthe programof the specifiedline number (or the currentstoppingline
number) fromthe RS-232Cport.
(2) The outputformatis ASCIIcoded as follows;
. It you specify the line number, Programcontent is read.
. lf you omit the line nurnber (orspecify zero) -- Current stopping line number is
read.
(3) Because the terminatorof the outputdata is carriagereturn (Hex.OD), it is necessary
to handleserial data stringsup to hexadecimal0D in receivinga messageby a
personalcomputer. "LINE INPUT#" stalement is equivalentto this in BASIC.
(4) The hexadecimal0D is read out when the specilied line has not been defined.
(5) lf an alarmtakes place,you can confirmlhe line number in which the alarmoccurs
by executingthe LR commandwithoutline number.

program
I Sampte I (enstc)
10 OPEN" COMI : E83" AS# 'l ; Opens the RS-232Ccommunication file lrom
the personalcomputer in BASIC.
20 INPUT "Startline "; ;Enterthetoplinenumberthatyouwantto read.
30 INPUT "End line"; ;Enterthe lastline numberthatyou wantto read.
40 FOR l=S TO E ;Repeatedly
50 PRINT # 1," LR" +STR$ (l) ;Transmit"LR" + "line number,,to the conlroller
side.
60 LINE INPUT# 1,A$ : Savesthe receiveddata to A $.
70 rFA$="" THENgo ; lt there is no data,jumps to line 90.
80 PRINT| ; : PRINTA$ ; Displaysthe data on the personalcomputer
screen.
90 NEXT ; Repeatsandiumpsto line40.
1 O OE N D

RUN ; Runihe BASICprogram.

3-45
MA (MoveApproach)
( FunctionI
Movesthe handtip to the added position. (Linearinterpolation)

I lnputFormatI
MA (positionnumber (a) >,<positionnumber (b) , [, [<O/C>I

[terml
<Positionnumber (a) > Specify the positionnumber to be added. [The reference
position)
<Positionnumber (b) , Specify the positionnumberto add. ffhe increments
Position)
I S positionnumber (a) (b) = 999
(O/C) Specify open or close state of the hand.
O : H a n do p e n
C : Handclose
( ExplanationI
(1) Movestothe added position,i.e.,the coordinatesof positions(a) and (b) are added
to make the destination,althoughpositions (a) and (b) remain unchangedafter
executingthe MA command. (See the SF command.)
(2) lf the open/close state of the hand has been specified, the robot moves after
executinglhe hand controlcommand.ll it has not been specified,the handstate in
position (a) remainsvalid.
(3) ll the calculatingresultsexceed the robot'soperationalspace,alarm occursbefore
the robot moves.
(4) Alarmalsotakes place if positions (a) and (b) havenot been defined.
(5) The positionof the hand tip is decided bythe tool lengthcurrentlyestablished.

I Sample program I (Movemastercommand)

(1) RV-E2/RV-E2M
10 HE 1 ; Sets the currentcoordinatesto position1.
20 PD 5,0,0,30,0,0,0 ; Definesthe Z coordinateof position5 as 30 mm.
30 MA 1,5,O ; M o v e s t o t h e p o s i t i o nt h a t o n l y Z d i r e c t i o n a d d e d t o
coordinatevalueol position1 by 30 mm with the hand opened.

X Coordinatesvalues of position1 and position5 do not change.

(2) RV-E3J/RV-E3JM
10 HE 1 ; Sets the currentcoordinatesto position1.
20 PD 5,0,0,30,0,0 ; Defines the Z coordinateof position5 as 30 mm.
30 MA 1,5,O ; M o v e s t o t h e p o s i t i o nt h a t o n l y Z d i r e c t i o n a d d e d t o
coordinatevalueof position1 by 30 mm with the handopened.

X Coordinatesvalues of position1 and posilion5 do not change.

3-4A
MC (MoveContinuous))
I Function)
throughthe predefinedintermediatepointsbetween
Movesthe robotcontinuously
two specifiedposition
numbers.(Linearinterpolation)
I InputFormatI
MC <position
number(a) >,<position
number(b) , [, [(o/Crn

[rerm)
(Position
number(a) > Specifythe top positionnumber movingcontinuous.
<Positionnumber (b) > Specitythe lasl positionnumber moving continuous.
''l 3 position
number (a) (b) < 999
I Positionnumber (a) - posilionnumber {b) | < 99
<o/c, Specifyopen or close state of the hand.
(lf omitted,the hand data of each positionis valid.)
O: Handopen
C: Handclose
I ExplanationI
(1) Movesthe robotalong the seriesof positionsvia (a) to (b) withoutaccelerationand
deceleration. (Linearinterpolation)
(2) Dependingon whether positionnumber of (a) is greaterthan that of (b) , or vice
versa,the robot movesthroughthe intermediatepointsin descendingor ascending
order. The robol deceleratesto a stop as it reachesthe end position.
(3) When the handopen/closesettinghas been done,hand controlis executedbefore
the movement.
(4) Since the robot does not accelerateor decelerateduring motion,alarmmay occur
when the path involvesa greatchangein directionof any of the jointsat high speed.
(5) The speed of travel during linearinterpolationis determined by the SP or SD
command. (Handtip at constantspeed)
{6) Alarm occurs if specified positions (a) and (b) have not been delined br if the
differencebetweenthe positionnumbers (a) and (b) exceeds99.
(7) Alarm also takes place during movementif the movement path goes beyond the
robot'soperationalspace.
I Sample program) (Movemastercommand)
10SP 10 ; S e t ss p e e dt o 1 0 .
20 MO 1 ; Movesto position1 in joint interpolation.
30 MC 5,9 ; Movescontinuouslyfrom position5 to 9 in linear interpolation.

(3)Position6
4) PositionT

Currentposition
X

5) Position8
(2)Position5
(1)Positionl (5)Positiong
?-a7
 MJ (MoveJoint)
( FunctionI
Turns each joint the specified angle from the current position. (Jointinterpolation)

I Input FormatI
(1 RV-E2/RV.E2M

[<waistjoint angle>], [<shoulderjoint angle>], [<elbowjoint angle>],

[<twistjoint angler] , [<pitchjoint angle)] , [<rolljoint angte>]

RV.E3J/RV-E3JM

MJ [<waistjoint angle)] , [<shoulderjoint angle>], [<elbowjoint angle)] ,

[<pitchjoint angler] , [<rolljoint angle>]

(Terml
<Eachjoint angle> Specify relaiive amountol each joint turningfrom the current
posiiion.

I ExplanationI
(1) The leastincrementof the turningangleis 0.01degree,e.9.,specify15.02for 1S.02
degree.
(2) The open/close state ol the hand does not change before and after the movement.
Alarm occurs before the ioint motionil any turning angle entry exceeds the robot's
operationalspace.
(3) The defaultturningangle is 0.
( ) The positiveand negativedirectionsof each joint ot motionare as follows;

RV-E2/RV-E2M RV-E3J/RV.E3JM
Wrist roll +
\ (Rolt) -
J Pitch
l+
WristDitch /
(Pir;h) +\

Shoulder

From the top view From the side view

( Sample program) (Movemastercommand)

(1) RV-E2/RV-E2M
10 MJ 90,0,0,0,0,0 ;Turnsthe waisl.ioint+ 90 degrees.
20 MJ 0,-30,0,0,0,0 ;Turnsthe shoulderloint- 30 degrees.
(2) RV-E3J/RV-E3JM
10 MJ 90,0,0,0,0 ;Turnsthe waistioint+ 90 degrees.
20 MJ 0,-30,0,0,0 ; Turnslhe shoulderjoint- 30 degrees.

a_A9
MO (Move)

I Function)
Movesthe handtip to the specifiedposition.(Jointinterpotation)
( InputFormatI

MO <position
number>[, kO/C,n

(Term)
<Positionnumben Specifythe destinationpositionnumber in integer value.
1 = positionnumber5 999
<O/C> Specify open or close state of the hand. (lf omitted,the hand
state of the positionis valid)
O: Handopen
C: Handclose
( ExptanationI
(1) Moves the tip of hand to the coordinatesof the specified position by loint
interpolation.Thehand tip is decided by the tool length currentlyestablished.
(2) lf open/closestateof the handhas been specified,the robot movesafter execuling
the hand controlcommand.
(3) lf it has not been specified,the delinitionof the specified positionis executed.
(4) Alarmtakes place if the speciliedpositionhasnot been predelinedorthe movement
exceeds the robot'soperationalspace-

I Sample programI (Movemastercommand)

10SP 10 ; S e t ss p e e dt o 1 0 .
20 MO 20,C ; Movesto position20 with hand closed.
30 MO 30,O ; Movesto position30 with hand opened.

3-49
MP (MovePosition)
I Function
I
Movesthe tip of handto a positionwhosecoordinates(positionand angle) have
been specified. (Jointinterpolalion)
I InputFormatI
( 1 RV-E2/RV.E2M
MP [< X coordinatevaluer] , [< Y coordinatevalue>],
[< Z coordinatevaluer] , [<Aturn angler] , [<Bturn angler] ,
t, [(R/Lr] t, t,A/B'l [, kN/Fm
[<Cturnangle>]
RV-E3J/RV.E3JM
MP [( X coordinatevalue)] , [< Y coordinatevaluer] ,
[< Z coordinatevaluerl , [<Aturn angle>], [<Bturn angle)] ,
t, t(R/L,l t, t<A/B,n
(terml
<X,Y,Z coordinater Specifythe positionin XYZ coordinales (mm) of the robot.
(Zero lor default)
(A, B,C turning angle, Speciiy the turning angle ol roll and pitch joints in XYZ
coordinates (degree) of the robot. (Zero for default)
(RV-E2/RV-E2Monly.)
<A,B turningangle> Specify the turning angle of roll and pitch joints in XYZ
coordinates (degree) ol the robot. (Zero for default)
(RV-E3J/RV-E3JMonly.)
(R/L) Specify the structureflag ot the robot. (Rightor Left)
R: Right (Default)
L: Left
<A/B> Specify the structure flag of the robot. (Above or BelowD
A : Above (Default)
/
B: Below
<N/F) Specifythe structureflag of the robot. (Nonflipor Flip)
(RV-E2/RV-E2Monly.)
N : Nonf lip (Default)
F: Flio
I ExplanationI
(1) The least incrementof the coordinatevalue is 0.01mm or 0.0'l degree.
(2) lt the structureflag has not been specified,Rightand Above flag is selected.
(3) lf the specified value exceeds the robot's operationalspace, alarm occurs at the
executionof the MO command.
(4) The open or close state of the handremainsthe same before and afterthe movement.
(5) The positionof handtip is decided by the tool lengthcurrentlyestablished.

I Sample program) (Movemastercommand)

{1) RV-E2/RV-E2M
10 MP 400,0,300,0,0,0 ; Movesto the specifiedcoordinates.
20 MP 200,200,500,0,0,0,R,A,N
; Movesto the specitied coordinates. (Structure
flagsare also specified.)
(2) RV-E3J/RV-E3JM
10 MP 400,0,300,0,0 : Movesto the sDecifiedcoordinates.
20 MP 200,200,500,0,0,R ; Movesto the specified coordinates. (Structure
flags are alsospecified.)
1-5n
MPB (Move Playback)

I Function
I
Movesto the specifiedpositionwith specifiedinterpolation,
speciliedspeed,
- specified
tim_er,
and specifiedinputandoutputsignal.
I InputFormatI
RV-Ez/RV-EzM

MPB [<speed>], [<timer>j, [(outputONr] , [(outputOFFI] , [<inputON>],

[<inputOFFr] [, [<interpolationr], [,X coordinater] , [<y coordinater]
[<Zcoordinate>], [<Aturningangle)] , [(B turning angle'] ,
[<Cturningangle,][, FR/L>] t, [( A/Br] [, t( N/Frm I, l(O/Cril

RV-E3J/RV-E3JM

[<speed>], [<timen], [(outputON>] , [<outputOFF>], [<inputON>],

ftinput OFF>I [, [(interpolation'l , [il coordinate>], [<Ycoordinater]
[<Zcoordinale>l, [(A turningangle>], [<Bturning angler] ,
[, I(R/L,] I, [( A/B,n I, ko/c,il

Iterml
<Speed> Specify the interpolationspeed to the destinationposition.
0 S speed s 32767 (Jointinterpolalion: %, Linear interpolation:
mm/s)
<Timer> Set timer at the destinationpositionafter the movement.
05 timer3 255
(OutputON) Set the outputsignalthat turns ON.
0 = outputON (Hexadecimal)< & FFFF
1: Setting,0: Notsetting
<OutputOFF> Set the outputsignalthat turns OFF.
0S outputOFF (Hexadecimal)< &FFFF
1 : Setting,0 : Not setting
<lnputON> Se1the inputwailing signalthat turns ON.
0 3 inputON (Hexadecimal)5 & FFFF
1 : Setting,0: Not setting
<lnputOFF> Set the inputwaiting signalthat turns OFF.
0 S inputOFF (Hexadecimal)S & FFFF
1 : Setting,O: Not setting
<lnterpolation>Specify the inlerpolationmode to the destinationposition.
Joint interpolation: 0 (Default)
Linear interDolation : 1
Circularinterpolation: 2
<X,Y, Z coordinate> Specifythe location (mm) in XYZ coordinatesof the robot.
(Zerotor default)
<A,B,C iurningangle r Specifythe turningangtearoundX (A) ,y (B) ,Z (C) axes
in XYZ coordinates (degree) oflhe robot. (0 for delault)
(RV-E2/RV-E2Monly.)
<A,B turningangle> Specifythe turningangle aroundroll (A) , pitch (B) axes in
XYZ coordinates (degree) ofthe robot. (0 lor default)
(RV-E3J/RV-E3JM only.)

3-51
 (R/L) Specify the structure ftag of the robot. (Right or Left)
R: Right (Defautt)
L: Left
<A/B> Specily the structure flag of the robot. (Above or Below)
A : Above {Default)
B: Below
<N/Fr Specify the structureflag of the robot. (Nonflipor Flip)
(RV-E2/RV-E2Monly.)
N : Nonflip (Default)
F: Flip
.O/Ct Specify open or close state of hand 1.
O : Hand 1 open (Default)
C: Handl close

I ExplanationI
(1) The leasl incrementof the coordinalevalueis 0.01mm or 0.01degree (e.g.,specify
20.01for 20.01mm) .
(2) Alarmoccurs if the specitied coordinatesexceed the robot,soperationalspace.
(3) The defaultstructureflags are R (Right), A (Above), N (NonFlip) .
(4) The defaultcoordinatevalue is zero.
(5) lf you set any conditionof speed, limer, or input/outputin the teaching playback
method,the MPB commandis generatedat each step .
(6) The inputand outputsettingmustbe hexadecimalcode headed with "&".
(7) lf the input/outputsignal is not set, the bit correspondingon the teaching box's
screendisplaywill be "-".
(8) The order that the conditiondata specified with this command is executed rs as
follows.
1) Interpolationmethod 2) Speed 3) Movementto target position 4) Timer 5)
Signaloutput (includinghandcontrol) 6) Signalinputwait

3-52
 MPC (MovePlaybackContinuous)

I Function
I
Movesto the specified positionwith specified interpolation.
I InputFormat
I
(1)RV-E2/RV-E2M
MPC [<interpolation>], t. X coordinate>l, [<Y coordinater],
[<Z coordinater] , kA turningangle>l, [<Bturning angle>],
[<Cturning angle>] [, FR/L,] [, [( A/B r] [, [<N/F r]ln t, t(O/C)n

(2) RV-E3J/RV-E3JM
MPC [<interpolation>1
, t, X coordinater], [<Y coordinate>],
[<Z coordinate,j , t,A turningangle>], [<Biurning angle>]
t, t(R/L'l t, t( A/B,lll [, [<O/Cr]l
[rerml
<lnterpolation> Specifythe interpolationmode lo the destinationposition.
0: Jointinterpolation(Delault)
1 : Linearinterpolation
2 : Circularinterpolation
<X,Y,Z coordinate> Specilythe location (mm) in XYZ coordinatesof the robot.
(0 for delault)
(A, B,C turningangle > Specifythe turningangle aroundX (A) , Y (B) , Z (G) axes in
XYZ coordinates (degree) ofthe robot. (0 for delault)
(RV-E2/RV-E2Monly.)
<A,B turningangle > Specilythe turninganglearoundroll (A) , pitch (B) axes in XYZ
coordinaies (degree) ofthe robot. (0lor default)
(RV-E3J/RV-E3JMonty.)
<R/Lr Specifythe structuretlag of the robot. (Rightor Left)
R: Right (Default)
L: Left
<A/B> Specifythe structureflag of the robot. (Aboveor Below)
A : Above (Default)
B: Below
<N/F) Specifythe structureflag of the roboi. (Nontlipor Flip)
(RV-E2/RV-E2Monly.)
N : Nonllip (Default)
F: Flip
<O/C> Specifyopen or close state of the hand 1.
O : Handopen (Defaull)
C : Handclose
( ExplanationI
(1) The leastincrementoi the coordinatevalueis 0.01mm or 0.01degree (e.9.specify
20.01for 20.01mm) .
(2) Alarmoccurs if the specilied coordinatesexceed the robot'soperationalspace.
(3) The defaultcoordinatevalue is zero.
(4) Use the MPB commandlf the settingof speed, timer,or inpuvoutputare needed.
(5) lf you do not set any conditionof speed,timer,or inpul/outputin the teaching playback
method,the MPC commandis generatedat each step.
(8) The order thatthe conditiondataspecified with this commandis executed is as lollows.
1) Interpolationmethod 2) Speed 3) Movementto larget position 4) Timer 5) Signal
output (includinghand control) 6) Signalinputwait
3-53
MR (MoveR)
I FunctionI
Movesthe tip of handthroughthe predefinedintermediate
positionsin circular
interpolation.
(t

MR <positionnumber (a) >, <positionnumber (b) r, <positionnumber (c) r

[, [< O/C rn

lterml
<Positionnumber> Specify the positionson the circle.
1 < positionnumbers 999
<o/c, Specify open or close state of the hand. (lf omitted,the hand
state of the positionis valid.)
O: Handopen
C : Handclose

( ExplanationI
(1) Movesthe tip of handthroughspecified positionsfrom (a) via (b) to (c) drawing an
arc.
(2) The movingspeed of circularinterpolationis decided by the SP or SD command.
ffhe tip ot handat constantspeed.) Sincethe locusaccuracydependson the speed
of circulari nterpolation,set the movingspeed lower if you need high accuracy.
(3) The open or close state of the hand does not change belore and after the movement.
(4) lf the starting position (a) is different lrom the current position,the robot moves to
the startingpositionby linear inlerpolation.
(5) lf the circular interpolationis interrupted by the stop signal and restarted by the start
signal,the robot moves the remainingarc. lf the tip of hand is kept away from the
stopping positionby JOG operationin the above case, lhe robot moves to the
stopping positionby joint interpolationthen moveslhe remainingarc.
(6) Alarmtakes place if the specified positionhas not been predefinedor exceeds the
robot'soperationalspace. The robot movesby linear interpolationif three positions
(a) , (b) and (c) are located on a straightline or if two of three positionsare the
same.
(7) lf the moving direction of each joint changes greatly at the beginning of circular
interpolation, alarm may occur.Set speed lower or set timer at the beginningin this
case.
(8) The drawingdirectionand the locusof the arc depend on the order of the specified
positions.
<lnthe caseof MR 1, 3, 5)

Position3 Position

Position5 Position3

( E x a m p l e1 ) (Example2)
3-54
I Sampleprogram) (Movemastercommand)
lOSP 8 ; Set speed to 8.
20MO 1 ; Movesto position1.
30 MR 10,20,30 ; Movesto position10 by linearinlerpolation.
Moves the arc determined by position10, 20, 30 by circular
interpolation.
4OMS 3 ; Movesto position3 by linear interpolation.
50 ED ; Ends program.

Position 'l
Position20

"'( Position10 Position3

Currentposition
Position30

3-55
MRA (MoveR A)
I Function
I
Movesto thespecifiedposition
in circularinterpolation.
I InputFormat)
MRA <position
number, [, [(O/Crn

[terml
<Positionnumber> Specifythe destinationposition.
1 S oositionnumberS 999
<o/c, Specify open or close state ot the hand. (lf omitted,the hand
state of the positionis valid.)
O : H a n do p e n
C : Handclose

I ExplanationI
(1) Moves the tip ol handon the arc which is defined by the former and the latter
positionsof the MRA commands.The tip ol hand is decided by the tool length
currentlyestablished.
(2) lf the open or close staie ol the hand has been specilied, the robot moves atter
executinglhe hand control.
(3) Alarmtakes place il the specified positionhas not been predefined.
(4) lf the MRA commanddoes not conlinuemore than three,it becomes similarto the
MC command.The following command,however, can be executed between the
MRA command.
SD, SP,TI, OVR,OB, OC, OD, GC, GO
(5) ll the executionof the MRA commandis interruptedand the tip of handis kept away
from the stopping positionby JOG operation,the robot moves,when restarted,to
the stopping positionby linear interpolationthen movesthe remainingarc.

I Sample programI (Movemastercommand)

10 MRA 1,O ;Definesthe arc with positions1, 2, 3.
Moves to position1 by linear interpolation.
20 MRA 2,O ; Movesto position2 by circular interpolation.
30 MRA 3,C ; Movesto position3 by circular interpolation.
40Tt 3 ;Timer 0.3second.
50 MRA 4 ;Moves to position4 by circularinterpolation.
60 MRA 5 ;Moves to position5 by circularinlerpolation.
70 ED ; Ends program.

Position2

M R A4 _ 1 . .
Currentposition Position1 POSt On 5
Position3

3-56
MS (MoveStraight)

I runctionI
Moves the tip of handto the specified position. (Linearinterpolation)

( lnput FormatI

MS <positionnumber> [, [<o/Crn

[Terml
<Positionnumber> Specily the destinationpositionnumber in integer value.
1 ( positionnumber ( 999
<o/c> Specityopen or close state of hand. (lf omitted,the handstate of
the positionis valid.)
O: Handopen
C : Handclose

I ExplanationI
('l) Movesthe tip ot handto the specifiedpositionby linearinterpolation.Thetip ot the
hand is decided by the tool lengthcurrentlyestablished. (See the TL command.)
(2) Alarmoccursbeforeor duringmovementif the destinationor movementpath goes
beyond the robot's operational space.
(3) ll the open or close state of the hand has been specified, the robot moves after
executinglhe hand control.
(4) The moving speed is decided by the SP or SD commands. (The tip of hand at
constantspeed.)
(5) Use the MC commandto move continuouslythrough several positionsby linear
interpolalion.

I Sample programI (Movemastercommand)

10 SP 15 ; Sets speed to 15.
'l
20 MO 1 ; Movesto position by joint interpolation.
30 MS 5 ; Movesto position5 by linear interpolation.
40 MS 6 ; Movesto position6 by linear interpolation.
50 MS 7 ; Movesto position7 by linear interpolation.
60 MS I ; Movesto position8 by linear interpolation.
70 MS 5 ; Movesto position5 by linear interpolation.

Position6

Currenlposition
X

Position5
PositiohI

.t-c /
MT (MoveTool)
I Function
I
Moveslhe tip of handto a positionawaytromthe speciliedpositionby lhe distance
as specifiedin the tool direction.(Jointinterpolation)
I lnputFormatI

MT <position distance>]t, ko/Crn

number),[<travel

lterm)
<Position
number> Specifythe destinationpositionnumberin integervalue.
1 S positionnumbers 999
<Traveldistance> Specifythe distancein tooldirectionfromthe specified
positionto the destination
point. (Zerotor default)
-3276.80 < traveldistance< 3276.70
(O/C) Specityopenor closestateof the hand. {ll omitted,the hand
stateof the positionis valid.)
O: Handopen
C : Hand close
I Explanation)
(1) The least incrementot the distanceis 0-01mm.
(2) When the distanceis positive,the tip of hand advancesin the tool direction.When
the distanceis negaiive,the tip of hand retracls in the tool direction.
(3) lf the open or close state of the hand has been specified, the robot moves alter
executingthe hand control.
(4) Alarm occurswhen the MT commandis executed if the specified positionhas not
been predefinedor il the destinationexceeds the robot'soperationalspace.
( Sample program) (Movemastercommand)
'l
10 MT 1,-100 ; Movesto the point away from the position by 100 mm.
20 MS 1 ; Movesto position1.
30 MT 1,-100 ; Movesto the point away from the position1 by 100 mm.

Currentoosition

MT 1,-100
MT 1,-'100
,,,"'{

Position1

3-5n
MTS (MoveToolStraight)
I Function
I
Moveslhe tip of handto a positionaway from the specified positionby the distance
as specilied in lhe tool direction. (Linearinterpolation)
( Input FormatI

MTS <positionnumber), [dravel distance>] [, t(O/CrX

[terml
<Positionnumben Specifyihe destinationpositionnumber in integer value.
1 S positionnumber S 999
(Traveldistance) Specifythe distance in tool directionfrom the speciiied
t"r"il.-"&,*!n?i,?i'$3,'"?[3?'i;l&.'r'r"'dera
<O/Cr Specifyopen or closestateof ihe hand. (ll omitted,the hand
state of the positionis valid.)
O: Handopen
C : Handclose

I ExplanationI
(1) The leastincrementof the distanceis 0.01mm.
(2) When the distanceis positive,the tip of handadvancesin the tool direction.When
the distanceis negative,the tip ot hand retractsin the tool direction.
(3) lf the open or close state of the hand has been specified, lhe robot moves after
executingthe hand control.
(4) Alarmoccurswhen the MT commandis executed if the specified positionhas not
been predefinedor if the destinationexceeds the robot'soperationalspace.
( Sample programI (Movemastercommand)
10 MTS 1,-100,0 ; Movesto lhe poini away from lhe position1 by 100 mm with
hand opened. Moves straight.
20 MS 1 ; Moves to position1.
30 MTS 1,-100,C ;Moves to the pointaway from the position1 by 100 mm with
hand closed. Moves straioht.

ta
--- --- - -- -- -- -Utr--X currentposition
MTS 1,-100,0

'.*{ M T S1 , - 1 0 0 , C

Position1

3-59
N X (Number)
( FunctionI
Selectthe specifiedprogram.

I InputFormatI
N <programname>

[rerm)
<Programname> Specitythe robot programname. (Less than 8 characters)
Possibleletter used : Digit (0-9)
Character (A - Z)
Symbol (! @#,etc)
l m p o s s i b l lee t t e ru s e d : * + , . , / : ; : ? [ Y ] ' "
Specialspecilication: When you specified only numericvalue,is
handledfor number.
Need to enclose program name with " "
in the case of characterused.
I Explanation)
(1) Select the specilied program.The programselected here becomes an obiect of
the implementation, modificationand operation.The programselectedonce remains
till other program number is selected afresh. (Even if the power turns OFF, the
program number remainsunchanged.)
(2) You can confirm the current program number using the QN command lrom the
personalcomputer. (See the QN command.)
(3) Program1 is selected at productline shipping.
(4) The followingname is identifiedas the same.
An example : Handledas the same. 1,01,001,00000001 (Only numericvalue)
Handledas notthe same.1,1A, A0 _ 001 (lncludescharacters)
(5) The letters that controllercan indicateto the LED are 0-9, A - Z (simplified).

I sampteprogram
) (eestc)
10 OPEN" COM1 : E83" AS # 1 ; Opens the RS-232Ccommunicationfile in
BASIC.
2 0 P R I N T# 1 , " N10" ; Selectsthe program 10.
3 0 P R T N #T1 , " 1 oM O 1 " ; lmplementationof program. (Line10)
4 0 P R r N T# 1 , " 2 0 M S2 " ; lmplementationof program. (Line 20)
5 0 P R T N #T1 , " 3 0E D " ; lmplementationof program. (Line 30)
60END ;Ends
NE (lf Not Equal)

I FunctionI
Thiscomparesthe valueof the internalregisterwitha specifiedvalue.lf not equal,
the programwill jump.The characterstringregisterand detailsof a specified
- characterstringare compared.lf notequal,the programwill jump.
I InputFormatI
NE <comparedvalue/characterstring number>,<branchingline numberr

Iterml
<Comparedvalue> Specifythe value that the internalregister compares
contentswith.
-32768< comparedvalue (decimall < 32767
& 8000= comparedvalue (hexadecimal)S &7FFF
<Characterstring numben Specifycharacterstring number in numericalvalue
which "$" is added to the head.
$1 S characterstring number < $99
<Branching
line number> Specifythe line numberlo which the programjumps
when the comparisonresult is not equal.
1 S branchingline pair = 9999

I ExplanationI
(Whencomparedvalueis specifiedr
(1) Causesa jump to occur conditionallyin accordancewith the externalinput data or
the internalcountervalue.
(2) lf the internalregistervalue does not equal to the compared value (i.e.when the
conditionis met) , the programjumpsto the specifiedline. Otherwise (i.e.when
the conditionis not .met), the programcontinuesin sequence.
(3) A value can be loaded into the internalregister by executingthe input command
(See lD) lor the externalinputdata or by executingthe comparecounter6ommand
{SeeCP) for the counterdata.Accordinglywhen you carryoul conditionalbranching,
need to execute either ofthe above commandsbeforehand.
( 4 ) T h e c o m p a r e dv a l u e m a y b e d e f i n e d e i t h e r i n d e c i m a l o r h e x a d e c i m a l A
.
hexadecimalvaluemustbe headedby "&".

(When characlerstring number is specified>

(1) The conditionswill jump dependingon the data inputfrom an externalsourceor the
numberof charactersin a specified characterstring.
(2) lf the numberot charactersin the characterstringregisteris not equal10the details
of a specifiedcharacterstring (whenthe conditionsare established), the program
will jump to the specified line number.lf not (whenconditionsare not established)
. the next line will be executed.
(3) By executingan INP command,the data inputfrom an externaldevice will be set in
the characterstring register.The detailsof the characterstring number will be set
by executinga CP command.Thus,when execulingconditionjumping,one of these
commandsmusl be executed{irst.
(4) lf the speciliedline numberis notregistered,an alarmwill occurwhen jumping.

3-61
( sampleprogramI (Movemaster
command)
10 tD Fetchesdata from externalinput port.
20 NE 80,100 Jumps to line 100 if the data does not equal 80.
30 ED Ends the programil above conditionis not met.
1 0 0M o 7 Movesto position7.
1 1 0o P N 1 , 1 Opens the RS-232Cport.
1 2 0t N P 1 , , 2 Readsthe data of characterstring register from the RS-
232Cport.
130NE $2,200 ;Jumpsto line200if the datanotequalscharacterstring
number2.

2OOED ; Endsprogram.

a-At
NT (Nest)
I Function
I
Carryoutoriginsetting.fl-herobotmovesto theuser-defined
origin.)
( InputFormat
I
NT

I Explanation)
(1) The movingsequenceof eachjointis fixed belorehand.Originsettingof the shoulder,
the elbow and the twist joint is lirst executed,which is tollovyedby that of the waist,
the pitch,and the roll joint.
Note.) RV-E3J/RV-E3JMdont havethe twist joint.
(2) lf the arm can inlerferewith the object surroundingthe robot,use the teaching box
to move it to a sate locationbefore origin setting.
(3) You can changethe movingsequenceof the originsetting by the parameterUNG,
and also can changethe attitudebythe parameterUOG.The parameterUOG can
be set with the teaching box operation,too. (See section1.2"Originsetting", and
the "HE" command.)
{4) The NT commandis nol requiredin the usualoperation.

I RetatingParametersI
The sequentialorder of useroriginsettingcan be changedby the followingparameter.
Parametername UNG : Sequentialorder
2,1,1,1,2,2{Default)
The attitudeol user origin settingcan be changed by the lollowing parameter.
Parametername UOG : User origin attitude (degree)
-160.00,-45.00,50.00,-160.00,-120.00,-200.00
(DelaultRV-E2/RV-E2M)
-160.00,-45.00,0.00,0.00,-120.00,-200.00
(DeiaultRV-E3J/RV-E3JM)
To find the changeoperalion,refer to section2.6 "Other Functions (11) Setting the
parameters"in this Manual.

I Sample program) (Movemastercommand)

10 NT ; Executesorigin setiing.
20 MO 1 ; Movesto position1.
30 ED ;Ends program.

3-63
NW X (New)
I Function)
Deletesthe speciliedprogramand positiondata.

I InputFormatI
NW

I Explanation)
(1) Deletes all positionsand countersof the specified program. Common positions
(901-999) and commoncounters (91-99), however,are not deleted.
(2) Origin setting,internalregisier,tool length,speed setting,pallet setting,and hand
setting remain unchangedeven if the NW command is execuled.
(3) The NW commandcan not be executed in the programwith line number. (Only
direct executionis possible.)

I Sampteprogram
I 1anstc)
10 OPEN" COM1 : E83" AS #1 ;Opensthe RS-232Ccommunication
file from the
personalcomputer in BASIC.
30 PRINT#1," Nw" ;Transmitcommand"NW"
60 END ;Ends program.

i-41
NX (Next)
( FunctionI
Specifiesthe rangeo.fa loopin a programexecutedby the RC command.

I InputFormatI
NX

I Explanation
I
(1) Usedincombination withtheRCcommand to specifytherangeof a loopina program
execuledby the RC command.
(2) Alarmoccursii thereis nocorresponding
"RC"commandspecified.

I SampleprogramI
Seethe RCcommand.

3-65
OB (OutputBit)
I Function
I
anexternaloutputport.
Setsthe outputstateof thespecifiedbitthrough
( InputFormatI

OB [<+7-r1<bitnumberr

[rerml
<+/-> Set ON or OFF state of the soecilied bit.
+: BitON
-: BitOFF
<Bitnumben Specify the bit numberot externaloutput.
0 < bit number < 32767

I ExplanationI
(1) Set "+" to switch on the specified bit and "-" to switch off the specitied bit.
(2) All bits other than the specilied one are not aftecled by this command.The output
state of the specilied bit is retained until a new setting is made by the OB or OD
command.
(3) lt you specifythe special bit in the parameterOT1-OT3 ol the externaloutput,alarm
occurs because of the conJlictol signals.
(4) Forthe pneumatichand,you can specifyopen or close state ol hand 'l and 2 by the
OB command.Reler to the table below. (Ordinary,use the GC or GO command.)
For the motor-operatedhand,these settingsare not possible.
Nolice : GR1-GR4shows connectornumberol hand outputcable in the robot arm.

GR1 GRz GR3 GR4

Hand Open/Close
OuFutbit 900 Outputbit 901 Outputbit 902 Ouput bit 903
Open(GO0) oN OFF
Hand1
Close(GC 0) OFF ON
Open(GO1) - ON OFF
Hand2 -
Close(GC1) OFF ON

( Sample program) (Movemastercommand)

10 OD &FFFF ; Turnsthe bits (0-15) of externaloutputinto ON entirely.
20 OB -10 ;Turnsonlybit 10 to OFF.
30 ED ;Ends program.
OC (OutputCounter)
I Function
I
Outputsthespecifiedcounter
valueunconditionally theoutputport.
through
I InputFormatI
OC <counternumber) [, koutputbitr] [, kbit widthr]ll

Irerm)
<Counternumber> Specifythe counternumberlo be oulput.
1 S counternumberS 99
(Outputbit number) Specily the referencebit numberof output data
0 < bit number= 92762 (0 for default)
<Bitwidthr Specity bit width of outputdata.
1 < bit width s 16 (16for defautt)

I ExplanationI
{1) Outputs the specified countervalue unconditionallythroughthe output port. The
output dala retainsafter that.
(2) Even if the OC commandis executed,the value of the specified counterand the
internalregister remainintact.
(3) You can specify the rangeof outputsignalby settingthe bit width ol the OC command.

I sampteprogram
I (Bnstc)
10 OPEN" COMI:E83" AS#1 ;Opensthe RS-232Ccommunication file from the
personalcomputerin BASIC.
20 PRINT# 1," SC 5,&0008" ;Set valueI to counters
30 PRINT # 1," OC 5 " ;Outputsthe valueof the counter5 unconditionallv
to output port.
40 END ; Endsprogram.

3-67
OD (OutputDirect)
I FunctionI
Outputsthe specifieddataunconditionally
throughthe outputport.
( InputFormatI

OD <outpuldata> [, l(outputbit number;] [, kbit widthr]n

(Terml
<Output
data> Specified outputdata.
-32768= outputdata (decimal) = 32767
& 8000< orrtputdata (hexadecimal)S & TFFF
<Output
bit numberr Specifythe referencebit numberof outputdata.
0 < bit number= 32767 (0for default)
<Bitwidthr Specifythe bit widthof outputdata.
1 < bit width< 16 (16lordefault)
( ExplanaiionI
('l) Outputsa signal (paralleldata) unconditionally throughthe output port to external
equipmentsuch as a programmablecontroller.The output data retains after that.
(2) output data is defined eilher in decimal or hexadecimal.The data defined in
hexadecimalmust be headed by "&".
(3) For informationon connections,see 4.1.2"lnterfacingwith externall/O equipment".
(4) You can specifythe rangeol outputsignalby settingthe bitvvidthof the OD command..
(5) lf you specitythe specialbit in the parameterOT1-OT3of the externaloutput,alarm
occurs because of the conflict of signals- (lf you want to reset output signal with
faclory default setting,execute "OD 0,0,13" causingthe output bit from 0 to 12 to
oFF.)

I SampleprogramI (Movemaster command) /

10 OD &FFFF ; Setsthe outputportol 16 bitswidthlrom bit 0 to ON.
20 OD &FFFF,10 ; Setsthe outputporto{ 16 bitswidthfrom bit 10 to ON.
30 OD &FFFF,10,15 ;Setsthe outputportof 15bitswidthfrombit 10to ON.
40 ED ;Endsprogram.
OG (Origin)
I Function
I
Movesto lhe user-definedorigin. (Jointinterpolation)

I InputFormat
I
OG

I ExplanationI
(1) Moves to lhe user-definedorigin specified by the parameter UOG by joint
interpolalion.
(2) The attitude ol the robot, afler executing the OG command, is the same as the
attitudeafter executingthe NT command.The parameter UOG, which defines the
movingsequence of origin setting,does not effect the OG command.
(3) The parameterUOG can be set with the teachingbox operation,too.
(Seesection1.2"Originsetting",and the "HE" command.)

I RelatingParametersI
The attitudeof user origin settingcan be changed by the fotlowingparameter.
Parameter
name uoG'-i;.:[3l:i3.et',t!3loo,
-.,uo.oo, -2oo.o0
-120.00,
(DeiaultRV-E2/RV-E2M)
-45.00,
160.00, 0.00,0.00,-120.00,
-200.00
(DetaultRV-E3J/RV-E3JM)

I SampleprogramI (Movemaster command)

10 NT ;Executes theoriginsetting.
20 MO 2 ; Movesto position2.
30 OG ; Movesto origin.
40 ED ; Endsprogram.

3-69
OPN (open)
( FunctionI
Openscommunication
channelandspecifyinput/outputdevice.

I InputFormatI
OPN <channelnumberr,<devicenumben

[rerml
<Channelnumber, Specify inpuVoutputchannel number.
0 S channelnumberS 2
<Devicenumber> Specify inpuVoutputdevice number.
1 : Standard RS-232C
2: StandardRS-422

I ExplanationI
(1) The correspondingrelationof the channel numberand input/outputdevices is
specified, and the channelis opened.
(2) Up to three channelscan be opened simultaneously.However,multiple <channet
numbers)cannotbe set in the same (input/outputdevice numben.
(3) The counter,positionand characterstring data can be read in with the lNp command.

I Sample program) (Movemastercommand)

10oPN 1,1 ;The standardRS-232-Cis opened.
(Channelnumber1 is assigned.)
20 INP 1,1,1 ;The positiondata is read trom RS-232-C.
30 tNP 1,1,0 ; The counterdata is read from RS-232-C.
40 tNP 1,$1,2 ; The characterstring data is read from RS-232-C.

3-70
oR (or)
I FunctionI
ORsthe specified dataandlhe internalregisterdata.

I InputFormat)
OR <operationdala>

[rerml
<Operationdata > Specifythe datato be operaled.
-32768 < operation data (decimall = 32767
& 8000 < operationdata (hexadecimal)< &7FFF

( ExplanationI
(1) Specifythe datato be operatedin decimalor hexadecimal.Any hexadecimalvalue
mustbe headedby "&".
(2) The operationresull is storedintothe internalregisterand can be changed,compared
or read by relevantcommands.
(Seethe EQ, NE,LG, SM, CL, DR,AN, XO commands)
(3) Executionof the OR commandafter the input commands (lD) allowsto be set lo
the required bits of the parallelinput data ietched lrom the externaldevice.

I Sample programI (Movemastercommand)

10 lD ; Fetchesdata from externalinput port.
20 OR &FFF0 ;Sets 1 to all bits except lower order 4 bits.
30 EQ &FFFF,100 ; ll the abovedataare all bit 1, jumps to line 100.
40 ED ;Endsprogram.

100 MO 10 ; Movesto position10.

3-71
OVR (Override)

I Function
I
Specifyprogram
override.
I tnputFormaiI
OVR <soeciJiedoverrider

[Terml
<Specifiedoverride> Specify overridevalue. ( % )
1 S specified ovenide S 200
( ExptanationI
(1) Specifiesthe ratioof working speed of the robot.
(2) The OVR commandis effectivelor every interpolationmode, i.e. joint interpolation,
linear interpolationand circularinterpolation.
(3) The aclualspeed in the programeventuallybecomesthe following.
Joint interpolationspeed =
playbackoverride X OVR commandsettingvalue X SP commandsetting
vatue.
Linear interpolationspeed =
playbackoverride X OVR commandsetting value X SP or SD command
setting value.
Here, the playback override can be specified by means of the starting display of
teaching box or the external input signal.The override specilied by the OVR
commandis called programoverride.
(4) The inilialvalue of programoverrideis 100 %.
(5) The overridevalueonce specifiedin the programis elfectivetill new value is ser or
the programends.
(6) Alarm occurs at the execuiion of the OVR command if the value 0 is set to the
specilied override.
(7) As the accelerationand decelerationdistancerequired for movementare preser,
when the specilied speed and acceleration/deceleration are set, if the movement
distance is small,the set speed may not be reached.

I Sampte programI (Movemastercommand)

10 SP 30 ;Sets workingspeed 30 (100%) .
20 OVR 80 ; Sets override 80 %.
30 MO 2 ; Moves to position2.
40 ED ;Ends program.
X ll the playbackoverrideis specifiedto 50 7oin the above example,the actualoverride
is as lollows :
speed = 50 X 80 X 100 (yol - 40 l%l
Jointinterpolation
The robot movesto position2 with the speed of 4QYoot maximumvalue.

!4._7t
PA (PalletAssign)

I FunctionI
Definesthe numberof grid pointsin the columnandrow directionsfor the sDecified
pallet.
( InputFormatI

PA <palletnumber>,<numberof columngrid points>,<numberof row grid points)

[rerml
<Palletnumberr Specifynumber of pallel using.
1 = palletnumberS 9
(Numberof column grid pointsr Set grid points of column of pallet.
1 S number of column grid points< 32767
<Numberof row grid points) Set grid points of row ol pallet.
1 s number of row grid points S 32767
( Explanation)
(1) The PA commandmust be executedbefore the pallet calculationcommand (see
lhe PT command) is executed.
(2) The numberof grid pointsis equivalentto that of the actualworkpiecesarrangedon
the pallet.For example,with a pallet hotding15 workpieces (3 X S) , the nuirbers
of columnand row grid pointsare 3 and 5, respeclively
{3) The column and row directionsare decided by the directions of lhe terminating
positions,respectively. (Seethe PT command)

I Sample program| (Movemastercommand)

10 PA 5,20,30 ; Definesthe pailet S as the pailet hotding20 X gOgrid points.
20 SC 51,15 ; Sets value 15 1ocounter5'l . (columnpoints)'
30 SC 52,25 ;Sets vatue25 io counter52. (row points) !
40 PT 5 ;Sets the carcuratedcoordinaiesvalue of grid pointto position5.
50 MO 5 ; Movesto position5. ffhe grid position)
60 ED ;Ends program.
PC X (Position
Clear)
I Function
I
Clearsthe dataof the specifiedposition(s) .

I InputFormat)
PC <positionnumber (a) r [, [<positionnumber (b) >[

lterml
<Positionnumber > Specify positionnumber deleting.
1 S position number (a) , (b) < 999
Positionnumber (a) < positionnumber (b)

I ExplanationI
(1) Deletesall positiondata betweenpositions (a) and (b) . (Position (b) included)
(2) llthe positionnumber (a) is greaterthanthe positionnumber (b) , alarm occur.

( sampteprogram
I Festc)
1 0 O P E N " 1 : E 8 3 " A S # 1 ; O p e n s t h e R S - 2 3 2 Cc o m m u n i c a t i o nl i l e t r o m t h e
personalcomputer in BASIC.
20 PRINT # 1," MO 10" ; Movesto position10.
30PRINT#1," Mo 1'l" ;Movestoposition11.
40 PRINT# 1," Mo 12" ; Movesto position12.
S0PR|NT#1," PC11" ;Deletethepositionll.
60 PRINT31," DP" ; Movesto position10.
70 END ;Ends program.

?-7 A
PD (Position
Define)
I Function)
Definesthe coordinates(location
andangle) of thespecifiedposition.
( lnputFormai)
( 1 RV-E2/RV.E2M
PD <positionnumber), [( X coordlnater], t, Y coordinate>l,
[< Z coordinater], [<Aturninganglerl , [<Bturningangler] ,
[<Cturningangler] [, [<R/Lr] [, ld/Brn [, [(N/Fr]n t, ko/Crn
RV.E3J/RV.E3JM
PD <positionnumberr, [< X coordinater], t, Y coordinalerl
[< Z coordinaler], [<Aturningangle>], [<Bturningangle)] ,
[, LR/1,] [, [<A/B,ln [, [<o/c,!

lterml
<Positionnumber> Specifypositionnumberdefining.
1 = positionnumber 3 999
<X,Y,Zcoordinatet Specifythe location (mm) in XYZ coordinatesof the robot.
(0 for default)
<A,B,C turningangle> Specifythe turningangle (degree) of roil (A) and pitch (B)
and twist (C) joints in XYZ coordinatesof the robot. (Ofor
default)
(RV-E2/RV-E2Monly.)
<A,B turningangle> Specifythe turningangle aroundroll (A) , pitch (B) axes in
XYZ coordinates (degree) ofthe robot. (0 for default)
(RV-E3J/RV-E3JMonly.)
(R/L) Specitythe structurellag of the robot. (Rightor Left)
R: Right (default)
L: Left
<A/B> Specifythe structureflag of the robot. (Aboveor Below)
A : Above (Default)
B: Below
(N/F> Specifythe structureflag of the robot. (Nonflipor Flip)
(RV-E2/RV-E2Monly.)
N: Nonllip (Default)
F: FIIO
(O/C) Specify open or close state o{ hand 1.
O : H a n d1 o p e n
C: Hand1 close
I Explanation)
incrementof the coordinatevalue is 0.01mm or 0.01degree (e.g.specify
{1) ^Th^e_least
20.01for 20.01mm) .
(2) Alarmdoesnotoccureven if the specifiedcoordinatesexceedthe robot'soDerational
space.The PD command,combinedwith the SF and the MA command.can define
the amountfor moving.

3-75
I SampteprogramI (Movemastercommand)
(1) RV-E2/RV-E2M
10 PD 10,50,320,70,50,40,30,R,A,N,O
: Definesthe locationandangleol position
40 MO 10 ; Movesto position10.
50 ED ;Endsprogram.
(1) RV-E3J/RV-E3JM
10 PD 10,50,320,70,40,30,R,A,O ;D'efines
the locationand angleof position
40 MO 10 ; loves to position10.
50 ED ; Endsprogjram.

3-7F
PL (PositionLoad)
( Function)
Replacesposition(a) by position(b) .

I tnputFormatI
PL <positionnumber (a) ), <positionnumber (b) >

(rerm)
<Position
number (a) > Specifythe positionnumber. (Destination)
1 S positionnumber (a) < 999
<Positionnumber (b) > Specifythe positionnumber. (Source)
1 S positionnumber (b) < 999

I ExplanationI
(1) Atter executed,the PL command causes the coordinatesot position (a) to be
equivalentto those ol position (b) and the old coordinatesof position (a) to be
cleared.
(2) After executed,the PL commandalso assignsthe handstateat position (b) to that
at position (a) .
(3) Alarmoccursif position (b) is notdefined.
(4) A new positionis created if the position (a) is not defined.

I Sample program) (Movemastercommand)

'l0 HE
2 ; Sets the curent coordinatesand hand slate to position2.
20 PL 3,2 ; Replacesthe coordinatesof position3 by position2.
30 ED ;Ends program.

3-77
PMR (Parameter
Read)
( FunctionI
Readscontentsof parameterspecified.

I lnputFormatI
PMR f'<parametername>"]

(terml
(Parametername ) Specify parametername.
Only parametername defined is valid. (Defined order for
default)

( ExplanationI
{1) Outputsthe specified parameterfrom RS-232Cport.
The outputformat: Parametername,contents
(2) When you omitted parameiername,a parameterdefined next is output. (Parameters
are defined in alphabeticalorder.) lf the last parameter is read out, only caniage
return (Hex.0D) is output.
(3) When you specified the parameterthat does not exist, contentsot next parameter
specityingin alphabeticalorder is output.

I sampteprogram
) Festc)
10 OPEN" COMI: E83" AS #1 ; Opensthe RS-232Ccommunicationlile from
the personalcomputer in BASIC.
20 INPUT "Parametername is" ;J$ ; Inputsthe parametername.
30 pRrNT #1," pMR" +CHR$ (&H22)+J$+CHR$(&H22)
;Transmitsthe PMR commandlollowed by
the parametername.
40 LINE INPUT# 1,A$ ; Savesthe receiveddatato A $.
50 PRINTA$ ; Displaysthe contentsof A $.
60 END ;Ends program.

RUN ;Run the program.

Parametername is ? ADL ; Enterthe parametername.
ADL,0.20,0.20 ; Outputsthe contentsof ADL

1_7R
PMW (Parameter
Writing)
I FunctionI
Renewsthe contentsol the specifiedparameter.

I InputFormatI
PMW "<parametername)","<parametercontentsr"

[terml
<Parameter
namer Specifythe parameternamechangingcontents.
<Parameter
contents) Specifythe contentsthatyouwantto changeto.

I ExplanationI
(1) Outputsthe contentsof the specifiedparameterthroughthe RS-232Cport.
(2) Whenyouspeciliedthe parameter thatdoesnotexist,nooperationis executed.
(3) Forinformationon paramelers, see "6.2ParameterList".
(4) The specifiedparameterbecomesetlectiveatlerhavingturnedoff andonthe power
supply.Giveattention thatevenil youhavechangedthe contentsof lhe parameter,
the old contentsis stilleffectiveuntilthe powersupplyis turnedon again.

I SampleprogramI lMovemaster
command)
PMW" ADL" ," O.40,O.40" ;Setsthe contentsof parameterADL O.4O,O.4O

3-79
PR (PositionRead)
( FunctionI
Readsthe coordinatesof the speciliedpositionandthe open/closestateof the hand.
(UsingRS-232C)
( InputFormat)

PR [<positionnumber>j

lrenv)
<Position
number) Specifythe positionnumberthatyouwantto read.
0 S positionnumber S 999 (lf omitted,the current position
numberis valid.)
I Explanation
I
(1) Outputs lhe coordinatesol the specified positionand the open/close state ot the
hand throghthe RS-232Cport. lf the positionnumberis omittedor equals0, onlythe
currenl positionnumber is output.
(2) The data is ASCIIcoded as follows; The leasl incrementis 0.01mm or 0.01degree.
Output format
RV-E2/RV-E2M :X,Y,Z coordinatevalue,A, B,C turningangle degree,R/L,
A/B,N/F,O/C
RV-E3J/RV-E3JM: X, Y, Z coordinatevalue, A, B turning angle degree, R/L, A/
B,O/C
(3) Because the terminatorof the outputdata is carriagereturn (Hex.0D) , il is necessary
to handle serial data stringsup to hexadecimal0D in receivinga messageby a
personalcomputer."LINE INPUT#" statementis equivalentto this in BASIC.
(4) lf you read the positionthat is nol usedin the programand not defined yet,',zero,'is
output with each coordinate.
RV-E2lRV-E2M :0,0,0,0,0,0
RV-E3J/RV-E3JM :0,0,0,0,0
lf you read the positionthat is alreadyused in the programbut not definec.yet,
"0.00" is outputwith each coordinate.
RV-E2/RV-E2M :0.00,0.00,0.00,0.00,0.00,0.00
RV-E3J/RV-E3JM : 0.00,0.00,0.00,0.00,0.00
(5) ll you specify "zero" to the positionnumber or omit it, you can identitythe current
position number when an alarm occursin executing moving command.
I sampteprogram
I (enstc)
(1) RV-E2/RV-E2M
10 OPEN" COM1:E83"AS#1 ; Opensthe RS-232Ccommunicationfile from
the personalcomputer in BASIC.
20 INPUT"Position
numberis";P ; lnputsthe positionnumberthatyouwantto
read
30 PRINT #1,'' PR" +STRS(P) ;Transmits the PR commandfollowedby the
positionnumber.
4 0 L I N E I N P U T+ 1 , A $ ;Savesthe receiveddatato A$.
50 PRINTA$ ; Displaysthe contentsto the screen.
60 END ; Endsprogram.
RUN : Runthe program.
Positionnumberis ? 15 ; Enterthe positionnumber.
+10.00,+380.00,300.00,-70.00 ;Outputsthe contentsof the position.
,50.o0,40.00,R,A,N,c

3-RO
I Sampleprogram) Ftslc)
(2) RV-E3J/RV-E3JM
10 OPEN" COM1:E83" AS#1 ;OpenstheRS-232Ccommunicationfiletrom
the personalcompulerin BASIC.
20 INPUT "Positionnumberis" ;P ; Inputsthe positionnumberthatyouwantto
read
30 PRINT#1," PR" +STR$(p) ;TransmitsthepRcommandfollowedbythe
positionnumber.
40 LINEINPUT# 1,A$ ; Savesthe receiveddatato A$.
50 PRINTA$ ; Displaysthe contentsto the screen.
60 END ;Endsprogram.
RUN ;Runthe program.
Positionnumberis ? 15 ;Enterthe positionnumber.
+10.00,+380.00,300.00,50.00 ; Outputsthe contentsof the position.
,40.00,R,A,c

3-81
PRN X (Print)
I Function)
The counternumbersettingvalue,positionnumbercoordinate
valueor the character
stringnumberdata is transmittedfromthe personalcomputerin regardto the INP
command.(UsingRS-232-C)
I InputFormatI

PRN <countervalue>| <positioncoordinates)l"(characterstring data>"

[Terml
<Countervalue> Specify the countervalue setting to a counter.
-32768= Countervalue (decimal) < 32767
& 8000< Counter'value (hexadecimal) = & TFFF
<Positioncoordinates> Speciiy the coordinatesvalue setting to a position.Specify
the followingcoordinatessimilar to the PD command.
(Seethe PD command)
(1) RV-E2/RV-E2M
<X,Y, Z coordinates>,
<A,B, C turning angle>,<R/L>,<A/
B), (N/F),(O/C)
(2) RV-E3J/RV-E3JM
(X, Y, Z coordinates>,
<A,B turning angle>,<R/L>,<A/B>,
<o/c,
<Characterstring dala> Specify the characterstring to be set.
1 S Characterstring data < 120 (numberol characters)
Usablecharacters: numerals (0to 9) , alphabeticcharacters
(A to Z) , symbols (! @ #, etc.)
Unusablecharacters:*+,./ ; :I y'
I Explanation )
(1) Transmitsthe settingvalue of counter,the coordinatesvalue of positionor the
characterstringsfrom the personalcompulerthroughthe RS-232Cport responding
to the INP commandin the program.
(2) The robot becomes wait conditionin the INP commandtill the date is transmitted
lrom personalcomputer by executingthe PRN command.
(3) You can executethe PRNcommandpriorto the INP commandduringthe execution
of the program.
(4) When transmittingcharacterstringdata,enclosethe characterstring in double
quotations (") .
I Sampleprogram) (enstc)
<Personalcomputerprogram)
1 0 O P E N" C O M 1 : E 8 3 " A S : 1 ; O p e n st h e R S - 2 3 2 Cc o m m u n i c a t i of inl el r o mt h e
personalcomputerin BASIC.
20 INPUT "Counterdata is" ;J ;Enterthe settingvalueof counterfrom the
personalcomputer.
30 PRINT# 1,"PRN" +STR$ (J) ;Transmitsthe settingvalue of counter.
40 PRINT = 1,"PRN100,0,0,0,0,0" ;Transmitsthe coordinatesvalueof oosition.
50 END ;Ends program.
<Robotprogram>
10 oPN 2,1 ;Opensthe RS-232cport.
20 lN 2,1,0 ; Readsthe data trom RS-232Cportto counter1.
30 INP 2,5,1 ;Readsthe data from RS-232Cportto position5.
40 lc 1 :Add 1 to counter1.
50 MO 5 ; Movesto position5.
3-82
PT (Pallet)

I Function
I
Calculatesthe coordinatesof a grid point on the specified pallet and sets the
valueto the specifiedposition.
coordinates
I InputFormat
I

Irerm)
<Palletnumber> Specifythe numberof pallet using.
1 < palleinumber5 I

I ExplanationI
(1) Calculatesthe coordinatesof a grid point on the specified pallel and sets the
coordinatesto the positionwhich number is correspondingto the specilied pallet
number.Beforethe PT commandis executed,the pallet definitioncommand (PA)
must be executed for the pallet to be used. After the PT command has been
executed,the positiondata previouslydefined for the target positionis cleared.
(2) In order for the PT commandto be executed,the pallet positions (grid pointsat four
cornersof the pallet) mustbe properlydelined which identitya particularpalletand
the pallet counters (columnand row) be properlyset that specify a particulargrid
point on the pallet. lf the pallet positionsand pallet countersare properly defined,
therefore,executionol the PT commandallowsthe coordinatesof a grid poini to be
defined as the positionnumberequivalentto the pallet number.The following is a
listingof a combinationoi palletpositionsand counterscorrespondingto each pallet
number.
Palletnumber

Pallet reference Dosition 10

Pallet columnterminatingposilion 'tl
5t 81
position
Palletrowterminating

Palletcornerpositionoppositeto reterence j3

Palletcolumncounter 31 4'l 51
Palletrowcounter 12
Palletgridposition

(3) Alarm occurs if the pallet positionhave not been defined and the pallel counters
have not been set or have been set to have valuesexceeding those defined by the
PA command.Alarmdoes not occur,however,even when the coordinatesobtained
for the grid point exceed the robot'soperationalspace.
(4) The open or close stateof the handat the target grid point is the same as that in the
pallet reference position.
(5) When executingthe PT command,the tool length of the hand to be used must be
properly defined by the TL command.The robot must be taught throughthe pallet
positions (fourcorners) usingthe predefinedcorrecttool length.
(6) Pay attentionwhen you use palletnine becauselhe counters (91,92) of pallel nine
are commoncounlersamongprogramsand other programmay use these counlers.

3-83
I SampleprogramI (Movemaster command)
Supposethere is a pallet on whicha totalof 24 workpiecesare arranged,4 in the
columndirectionand 6 in the row direction. Then havethe systemcomputethe
coordinatesol the workpieceplacedin the grid position(2,41,i.e. the secondgrid
in lhe columndirectionand the fourthgrid in the row direction,and get the robot
handto reachthat position.Assumethatpallet7 is used.

Workpieces placed in the grid position(2,4)

Position73
Position71

3,r.
5l
E HI
JI

Position70 --------+> Position72

(Referenceposition) Row direction (6 pcs. )

X Youmustteachthe positionsat fourcorners (70,71,72,731

in advance.
10 TL 200 ; Sets the tool length equivalentto the hand using.
20PA 7,4,6 ;Sets the pallet numberand the grid points of columnand row.
30sc 71,2 ; Sets the numberol grid point in columndirection.
40 sc 72,4 ; Sets the numberof grid point in row direction.
SOPT 7 ;Allowsthe coordinatesof the targetgrid pointto be set to position
7.
60MO 7 ; Moves to position7.
70 ED ; Ends program.
PW (PulseWait)
I Function)
Waits lor in-positionof seryomotoraboutall jointstill it becomeswithinthe specilied
value.

I InputFormatI
pulser
PW <positioning

lterm)
(Positioningpulse r Specifythe judgment pulse number of in-position.
1 ( positioningpulse = 10000
( ExplanationI
(1) Waits for in-position of servomotorabout all joints till it becomes within the specified
value.
(2) lf you needthe positioningof highaccuracywhen chuckinga workpieceat a position,
set small value for positioningpulse. lt you need the positioningof low accuracy,
set large value. lf you set small value to the positioning pulse, the robot waits Jor
positioninghavingthe same efiect as the Tl commandis executed.
(3) lf you setsmallvalueio lhe positioning pulsewhenthe handlingworkpieceis relalively
heavyor the robot is movingat highspeed, it may take a longertime to positionthan
usual.
(4) Initialvalue of positioningpulse is '10000pulse.
(5) When the settingvalue exceedsthe above limit,alarmoccurs.

I Sample programI (Movemastercommand)

'l0
MO 1 ; Movesto position1.
20 PW 10 ; Waits for the positioningpulse becomingwithin 10 pulses.
30 GC ; Closeshand.
40 ED ;Ends program.

?-R4
PX (Position
Exchange)
I Function
I
Exchangesthe coordinatesof the speoifiedpositionfor thoseoJanotherspecified
position.

I InputFormatI
PX <positionnumber (a) ,, <positionnumber (a) ,

lterml
<Positionnumberr Specify the positionnumber exchanging.
1 < positionnumber (a) , (b) < 999

I ExplanationI
(1) Atter the PX commandis execuled,the coordinatesof position (a) are exchanged
lor those ol position (b)
(2) The open or close state ol the hand at position (a) is also exchanged for that at
position (b) .
(3) Alarm occurs il positions (a) and (b) have not been predelined.

( Sample programI (Movemastercommand)

10 HE 2 ; Define the currentpositionto position2
; Driveseachjointby the specifiedamount.
20 MJ 20,30,10,0,0,0
30 GO ;Opensthe hand.
40 HE 3 ; Deline the currentpositionlo position 3.
50 PX 2,3 ;Exchangesthe coordinatesvalue of position2lor those of
position3.
60 ED ;Ends program.

q-AA
QN (QuestionNumber)
I Function
I
Readstheprogramnameortheprogram
information.
I InputFormat
I
QN [<programname>]

(term)
<Programname> Specifythe robol programname to be read. (Max.I characters)
Possibleletter used: Digit (0-9)
Character (A - Z)
S y m b o l( l @ ; , e t c . )
l m P o s s i b l e l e t t e r u s e *d*: , . /::: ? [Y]' "
Specialspecitication: When you specifiedonly numericvalue,the
programname is handledior number.
Need to enclose programname with " " in
the case of characterused.

I Explanation)
(1) Outputsthe selected programname or the selected program inlormationthrough
the RS-232Cport. lf you omittedthe programname,the selected programname is
turned over and if you specifiedit, the informationabout the programis turnedover.
(2) The outputiormat is ASCIIccded as follows;
. The programnumberlormat: "N" lollowed by "Programname"
. The programinformation format: Used numberof steps,used numberol positions,
used number of counters
(3) Becausethe terminatorof the outputdatais carriagereturn (Hex.oD), it is necessary
to handleserial data stringsup to hexadecimal0D in receivinga messageby a
personalcomputer."LINE INPUTS" statementis equivalentto this in BASIC.

program
I Sampte I (enstc)
10 OPEN" COMI :E83" AS ;1 ; Opensthe RS-232Ccommunication tile
fromthe personalcomputerin BASIC.
30 PRINT + 1," ON" ; Transmitsthe QN command.
30 LINE INPUT;1,A$ ;Savesthe receiveddata to A$.
40 PRINT "Selectedprogramis " : A $ ;Displaysthe contentsoJA$tothe screen.
60 END :Ends.

RUN ;Run the program.

Selectedprogramis N10 ; Outputsthe programname.

3-87
RC (RepeatCycle)
( FunctionI
Repeatsthe loopspecifiedby the NX commandthe specifiednumberof times.

I lnputFormatI
RC <numberof repeated cyclesr

lterml
<Numberof repeated cycles> Specifythe numberof times repeating.
'f S numberot repealed cycles (decim
all < 32767
<
& 000'l numberofrepeatedcycles (hexadecimal)
< &7FFF

I ExplanationI
(1) Used with the NX commandlo causethe loop specified by the NX commandto be
executed the specified number of times and causesthe line number following NX
to be subsequentlyexecuted.
(2) To incorporateanotherloop (betweenRC and NX) intothe existingloop is called
"nesting".Up to 9 nesting levels are possible.

I Sample programI (Movemastercommand)

10 MO 1 ; Moves to position1.
20 RC 3 ; Repeats loop delimited by NX three times
30 MO 2 ; Moves to position2. )
40 MO 3 ; Moves to position3. I Loop.
50 MO 4 ; Moves to position4. ,/
60 NX ; Delimitsthe loop.
70 MO 5 ; Moves to position5.
80 ED ; Ends program.

a_tn
RN X (Run)
I FunctionI
Execuleslhe specifiedpartot commandsin a program.
( InputFormatI

RN [<startline numberr [, <endline number> [, programname]ll

[terml
(Startline number> Specify the line number beginning.
1 S start line number < 9999 Cfhetop line for default)
(End line number) Specifythe line number ending.
1 S end line number < 9999 [The last line or ED command
line for default)
<Programname> Specifythe programname. (Max.8 characters)
Possibleletter used : Digit (0-9)
Character (A - Z)
Symbol( ! @#,etc)
l m p o s s i b l lee t t e ru s e d : * + , , . / : : : ? [Y]'
Special specitication: When you specilied only numericvalue,
the programname is handledfor number.
Need to enclose program name with " "
in the case of characterused.
( ExplanationI
(1) Runsthe programstartingwith the specified startingline and ending with the line
one aheadthe specifiedendingline.
(2) ll the programis io continue,restartwith the endingline.
(3) lt the teaching box is connected,the line number being executed is shownon its
display.
(4) You can select the programby appointingthe <programname>.In this case,the
specified program becomes the target program and the program starts lrom the
specified line.
(5) lf you describethe RN commandwith line numberin a program,no operationis
executed.
(6) When the RN commandis executed,the contentsof the counterremainintact (not
initialized).
(7) The lollowingname is identifiedas the same.
An example:
. Handledas the same. 1,01,001,00000001 (Onlynumericvalue)
. Handledas notthe same. 1,1A, A0 _ 001 (lncludescharacters)
(8) The lettersthat controllercan indicateto the LED are 0-9, A - Z (simplified).

I sampteprogram
I (snstc)
10 OPEN" COM1 : E83" AS # 1 ; Opensthe RS-232Ccommunication file irom
the personalcomputerin BASIC.
20 PRINTi1," RN 100,,2" ;Executestheprogram2 from line 100.
30 END ;Ends program.

3-89
RS X (Reset)
I Function
I
Resets the programand error condition.

I lnputFormat
I
RS [<resetnumber>]

(terml
<Resetnumben Specify the contentsof reset.
Reset contents
0 : Cancelsalarmand resets program. (Default)
1 : Makes all countersundefinedcondition.
2 : Reselsthe batterytimer.
3 : Deletes all programsand all positions.
Ohe same as the NW oommand.)
4 : Resetsthe originsettingcondilion.

I ExplanationI
(1) Resetsalarmconditionin alarm mode,switchingservolrom OFF to ON and causing
the programto relurn to its beginning.
(2) lf any of the axes has exceeded its softwarelimit,the alarm cannotbe reset.
(3) The outputsremain unchangedby resettingany alarms.

I sampleprogram
I (Bastc)
10 OPEN " COMl ; E83AS # 1 ; Opens the RS-232Ccommunicationf ile lrom
personalcomputer in BASIC.
20 PRINT#1," MO 1000" ;Alarmoccursbecauseof the wrongvalue.
30 PRINT#1," RS" ;Cancelsthealarm.
40 END ;Endsprogram.

3-On
RT (Return)
I FunctionI
Completesa subroutineand returnsto the mainprogram.

I InputFormat)
RT [<linenumbeD]

[rerm)
<Linenumber> Specifythe line numberto jump.
1 S line number < 9999 (lf omitted,returnslo the next line ol
the GS command.)

I ExplanationI
(1) Completesthe subroutinecalledby the "GS" commandand returnsto the main
program.
(2) Alarmoccursif the corresponding"GS" commandis not specified.
(3) lf you specifythe line number,the programjumpsto the specifiedline numberafter
returninglo the main routine.

I Sample programI
See the GS command.

3-91
SC (SetCounter)
I Function)
A specifiedvalueis set in the specifiedcounteror characterstring.

It
SC <counternumber/characterstring number>, [<counterset value
/character string set value)]

[Terml
(Counternumber> Specifythe numberof countersetting.
1 S counternumberS 99
<Characterstring number> Specify characterstring number in numericalvatue
which "$" is added to the head.
$1 S characterstring number< $99
<Counterset value) Specifythe value of countersetting. (0 for default)
-32768< setvalue (decimal) = 32767
& 8000s set value (hexadecimal)< &7FFF
<Characterstring set value> Specifythe characterstring to be set.
Usablecharacters: numerals (0 to 9) , alphabetic
characlers (A to Z) , symbols (! @#, etc.)
Unusablecharacters: "
Numberof characters: Within120 charactersincludino
line numberand SC command.
I Exptanation)
(When counternumber is specilied)
(1) All countersare factory-setto zero.
(2) Used lo countthe numberof workpiecesand job sequencesand to set the number
of grid points in the pallet.
(3) The contentsof the counter can be changed, compared or read by the relevant
c o m m a n d(.R e f e r t o t h Ie C , l N P , D C , C P , C R , C L , A N , O R , X O c o m m a n d s . )
(4) The counterset valueremainsunchangedwhen the RS, NW or ED commandis
executed.
(5) The contents of the counter are battery backed after the power is switched off.
<Whena characterstring number is specifiedr
(1) Enclosethe set characterstring with double quotations ("") .
Example) When settingthe characterstring ABC, set "ABC".
(2) lf the set characterstring is omitted,the details of the characterstring numberwill
be blank. Thus,ihe details of the characierstring number can be deleted.
(3) Operation,comparisonand reading of the characterstring are possiblewith the
relatedcommands. (Referto the CP, CR, CL, EQ, NE, LG, SM, lNp commands.)
(4) The value of the set characterstringwill not change even if the RS, NW or ED
command is executed.The value will be held by the batteryeven when the power
is turnedOFF.
I Sample program| (Movemastercommand)

?-q,
10 SC 21,'l0
; Set value 10 to counter21.
20 lC 21 ; Add 1 to counter21.
30 CP 21 ;Set value of counter21 to the internalregister.
40 DR ; Outputsthe value of lhe internalregister throughRS-232Cport.
50 SC $s,"OK" ;Set characterstring "OK" in characterstring number 5
60 CP $5 ;Set detailsof characterstring number 5 in the characterstring
register
70 EQ $10,200 ; Jumpsto line 200 if the data equals characterstring number 10.

100 ED ; Endsprogram.

3-93
SD (SpeedDefine)

I Function)
Definesthe movingvelocity,lirstordertimeconstant, time,
acceleration/deceleration
pathsetting.
and continuous
I tnputFormatI
SD (movingspeed) [, dirst order time constantt
[, (accelerationtime>,<deceleraliontime) [, <CNTsetting)]n

lterm)
<Movingspeed> Set movingspeed at linear or circular inlerpolation.
0.01 S movingspeed s 650.00 (mm/sec)
<Firstorder time constanl, 1 S firsi order time constanl < 300 (millisecond)
<Acceleration time> Set accelerationtime lo the maximumspeed.
0 S accelerationtime < 2000 (millisecond)
<Decelerationtimer Set decelerationtime from the maximumspeed.
0 3 deceleration time < 2000 (millisecond)
(CNT setting, Specifythe enableor disablestate of continuouspath mode.
0: Disable 1: Enable

( ExplanationI
(1) The least input incrementof the movingspeed is 0.01mm/second or 0.01degree/
second (e.9.,specify 20.05for 20.05mm/second) .
The least input incrementof the first order time constantis 1 millisecond.
(2) Allowsthe movingspeed (orangularspeed) of the tip of handtor linearor circular
interpolationto be delined in smallerincrementsthan the SP command.
(3) Setting a large value to the first order time constantmakes the robot operation
slower and smoother.
(4) The speed set bythe SD commandis etfectiveuntila newvalue is sel bythe SD or
SP command. lf you omit the lirst order lime constantand the acceleration/ I
decelerationtime, the predelined valuescontinueto be effective.
(5) During linearor circular interpolation,a certainmovingspeed of the SD command
may causealarm in excess of the maximumspeed ol the correspondingjoint. In this
case, set ihe speed to a lower value.
(6) At power on, the movingspeed is initializedto SP 12, H (63.3mm/second) .
(7\ By enabling the CNT setting,the robot moves continuouslywithout acceleration
and decelerationuntil the SD or SP commanddisablesthe CNT setting. (Path
motion) However, the robot accelerates and decelerates at a starting and al a
stopping pointas well as when a timer or an input commandis executed duringthe
oath motion.
(8) The accelerationtime is the maximumtime for the robot to reach to the maximum
speed- Accordingly,when the movingspeed does notreachto the maximumspeed,
the actual accelerationtime becomessmallerthan the specified value. Fhe
situationis the same for the decelerationtime.)
(9) As the accelerationand decelerationdistancerequired for movementare preset,
when the specified speed and acceleration/deceleration are set, if the movement
distance is small,the set speed may not be reached.
(10) It the acceleration/decelerationtime is lesslhan 200msec,an overspeedor overload
alarm may occur. Dependingon the loadconditions,the lile of the mechanicalparts
may be shortened,so keep the time at 200msecor more when possible.

3-q4
( Sample programI (Movemastercommand)
10 SP 'l5 ; Set the movingspeed to 15.
'l
20 MS 1 ; Movesto position by linear interpolation. (SP 15)
30 SD 100 ;Set the movingspeed to 10omm/sec.
40 MS 2 ; Moves to position2 by linear interpolation. (100 mm/sec)
50 MO 3 ; Movesto position3 by joint interpolation. (SP 15)
60 MS 4 ; Moves to position4 by linear interpolation. (100 mm/sec)
70 ED ;Ends program.

3-95
sF (shift)
I runction
I
Adds eachcoordinatevalueof position (b) to each coordinatevalueof position (a)
and definesit againas a new position.
I InputFormatI
SF <positionnumber (a) r, <positionnumber (b) >

[terml
rPositionnumber> Specifythe positionnumber.
'l S position
number (a) , (b) < 999

I ExplanationI
(1)The handopen or close state ol position (a) , as well as the structuralflag (R/L, A/
B, N/F) , is not afiected by the SF command.
(2) Alarmoccursif the position (a) and/or (b) have not been predefined.
(3) Does not effect any robot motion.

I Sample programI (Movemastercommand)

; Sel the locationand the attitudeof position20.
10 PD 20,0,0,20,0,0,0
'l
20 HE 10 ; Set the currentpositionto position 0.
30 SF 10,20 ;The position10is shiftedonlyZ-coordinate20 mm of position
20.
40 MO 10 ; Movesto position10.
50 ED ;Ends program.

e_qA
SM (lf Smaller)

I Function
I
Thiscomparesthe valueof the internalregisterwitha speciliedvalue.lf smaller,the
programwill jump.The characterstringregisterandthe numbersof charactersin a
specifiedcharacterstringare compared.lf the characterstringregisteris smaller,
the Droqram will iumo.
I tnpuiro-rmatI
SM <comparedvalue/characterstring numberr,<branchingline number:

Iterml
<Gomparedvaluer Specifythe value comparedwith the internalregister.
-32768= Compared value (decimall < 32767
& 8000< Comparedvalue (hexadecimal) < & TFFF
<Characterstring number> Specity characterstring number in numericalvalue
which "$" is added to the head.
$1 5 characterslring number < $99
(Branchingline numberr Specifythe line numberto which the programjumps.
1 S branchingline number< 9999

( Explanation )
<Whencounter number is specified>
(1) Causesa jump to occur conditionallyin accordancewith the external input data
or the internalcountervalue.
(2) lf the internalregistervalueis smallerthanthe comparedvalue (i.e.,when the
conditionis met) , the programiumpsto the specifiedtine. Otherwise (i.e.,when
the conditionis not met) , lhe programcontinuesin sequence. Alarm occurs at a
jump if the specifiedline numberdoes not exist.
(3) A value can be loaded intothe inlernalregisterby executingthe input command
(SeelD) tor the externalinputdataor by executingthe comparecountercommand
(See CP) for the counterdata. Accordinglywhen you carry out conditional
branching,need to execute either of the above commandsbelorehand.
( 4 ) T h e c o m p a r e dv a l u e m a y b e d e f i n e d e i t h e r i n d e c i m a l o r h e x a d e c i m a l A
.
hexadecimalvalue must be headed by "&".

<Whencharacterstring number is specifiedr

(1) The conditionswill jump dependingon the data inputfrom an externalsourceor
the number of charactersin a specified characterstring.
(2) lt the numberof charactersin the characlerstringregisteris smallerthanthe numDer
of charactersin a specifiedcharacterstring (whenthe conditionsare established)
, ihe programwill iump to the specifiedline number.lf the numberis larger (when
conditionsare not established), the next line will be executed. It the specified
line numberis not registered,an alarmwill occurwhenjumping.
(3) By executingan INP command,the data inputfrom an externaldevice will be set in
the characterstringregister.The detailsof the characterstringnumberwill be
set by executinga CP command.Thus,when executingconditionjumping,one of
these commandsmust be executedfirst.

3-q7
I Sampleprogram) (Movemaster command)
10 lD ; Fetchesthe datalromthe externalinputport.
20 SM 10,100 ;ll the inputdatais smallerthan10,jumpsto line 100.
30 MS 1 ; Movesto position1 by linearinterpolation.
40 ED
'l0 ;Endsprogram.
100 MO ; Movesto position10.
140OPN1,1 ; Opensthe RS-232CPort.
150INP 1, ,2 ; Readsthe dataof characterstringregistertromthe RS-232C
pon.
'l60 SM $5,200 Jumpsto line200if the datasmallerthancharacterstringnumber
;
10.

200MO2 ; Movesto Position2.

SP (Speed)

I Function
I
sets the operatingspeed, accelerationor decelerationtime and lhe continuousoath
settinq.
( InputFormatI

SP <speedlevel> [, <H/Lr [, <CNTsettingrl

(terml
<Speedlevel> Set movingspeed.
0 s speed level S 30
(H/L) Set acceleration/decelerationlevel.
H : High acceleration/deceleration(Max.0.2 second)
L : Low acceleration/deceleration (Max.0.4 second)
<CNTsetting> Specifythe enable/disablestate ol the conlinuouspalh mode.
0: Disable 1: Enable

I Explanation)
(1) sets the operatingspeed in 31 steps and acceleration/deceleration time upon start
and stop in 2 levels.
(2)The speed level is predeterminedas a ratio to the maximumrpm of each joint for
joint interpolationand as a ratioto the maximumspeed of the tip of hand (650mmf
second) for linearinterpolation.
{3) The acceleration/deceleration time may be selected from among H or L. The
acceleraiiontime is the maximumtime Jorthe robotto reachto the maximumspeed.
Therelore,when the movingspeed does not reach to the maximumspeed. the
actualacceleration time becomessmallerthanthe specifiedvalue.
(4)The acceleration/decelerationdistance required for movementis predetermined
accordingto the specified speed and the set speed may not be reached if the
distanceof travel is small.
(5) For linear interpolation,the tip of hand,determinedby the tool command,is moved
al constantspeed. In this case,alarm may resultlrom any of lhe jointsexceeding its
maximumspeed. lf the motionof the positionangle (RV-E2/RV-E2M: A,B,Cangle,
RV-E3J/RV-E3JM: A,B angle) is greaterthanthe motionof the distance (X,y, Z) ,
the robol movesin referenceto the positionangularspeed.
The SD commandallowsthe speedto be definedin smallerincrements.
(6)once set, the speed and acceleration/dece lerationtime remainvalid until new
values are set. The detaultvaluesare SP 12, H. The most recent acceleration/
decelerationtime remainsvalid when it is not soecified.
(7)By enablingthe cNT setting,the robot movescontinuously withoutacceleration
and decelerationuntil the SD or SP commanddisablesthe CNT setting. (path
motion) However,the robot accelerates and decelerates al a starting and at a
stopping point as well as when a timer or a input commandis executed durina the
path motion.

I Sample programI lMovemastercommand)

10 SP 8 ;Sets the movingspeed to 8.
20 MO 5 ; Movesto position5 by joinl interpolation.
30 SP 10 ;Sets the movingspeed to 10.
40 MS 7 ; Movesto position7 by linear interpolation.
50 ED ; Endsprogram.
The relationbetween the soeed level and the movinosoeed.
Notice.) The robot moves in reference to the positionangularspeed in the case of
the amount (RV-E2/RV-E2M: A, B, C turningangle, RV-E3J/RV-E3JM:A,B
turning angle) - the amount (X, Y, Z distance) in linear and circular
interpolation. ( The angularspeed in degree/second is equivalent to the
distancespeed in mm/seconddivided by the value 2.12.)
ffili. the initialvalue when the power is turned on.

Jointinterpolation Linearinlerpolation Joinlinterpolalion Linearinterpolation

(%) (mm/second) (%) (mmlsecond)

0.1
't6 19.0 123.7
o.4 2.7 17
1E 168.1

5.3 19 193.8
1.1 7.3 34.2 222.O
1.5 9.8 40.7 264.8

2.O ae e 47.3 307.6

2.7 17.4 350.4
aa 23.8
4.9 31.7 67.1
10 73.7 47E.8
11 4.2 s3.1 52t.6
564.4
13 't1.6 607.2
14 13.7 100.0 650.0
.lE
16.2 105.2

E
E 400
tt o
o 50 o
o ct
gt
o
(s 200
o ?

20
Speedlevel
STR X (Step Read)
I FunctionI
Readsthe contentsof the specifiedstep number,or the stoppingstep number.
(UsingRS-232C)
I InputFormatI
STR [<stepnumber>]

(Step number) Specifythe step numberreading.

0 S line numbers 9999
I ExplanationI
{1)Outputsthe contentsof the specifiedstep number,or the stoppingstep number
throughthe RS-232Cport.
(2) The outputtormat is ASCIIcoded as lollows;
(ln the case of teaching playbackmethod) : (colon), programcommand
(ln the case ol Movemastercommandmethod> Line number, program command
(3) Becausethe terminatorof the outputdata is carriage return (Hex.0D) , il is necessary
to handleserial data stringsup to hexadecimal0D in receivinga message by a
personalcomputer."LINEINPUT#" statementis equivalentto this in BASIC.
(4) lf you specify the undefinedstep number,the hexadecimal0D is returnedover.
(5) lf the step numberis not specifiedor zero is specified,the currenlstoppingline
number is read.
(6) In the above case, the commandSTR allows you lo confirmthe step number by a
personalcomputerwhen alarmoccurs
I Sampteprogram
) (aestc)
(1) RV-E2/RV-E2M
10 OPEN" COM1 : E83" AS # 1 ; Opens the RS-232Ccommunicaiionfite lrom
the personalcomputer in BASIC.
20 INPUT "Readingstep is " : J $ ;Entersthe step numberthat you want to read.
3 0 P R I N T# 1 , ' ' S T R " + J $ ; Transmits"STR" + "step number"to the
controller.
4 0 L I N EI N P U T# 1 , A $ ; Savesthe received data to A$.
50 PRINTA$ ; Displaysthe data on the screen.
60 END ; Ends program.
RUN ;Run the BASICprogram.
Readingstep is ? 2 ; Entersthe step number.
: MPC O,227.85,371.92,581.58,-60.71,1 02.83,30.85,R,A,N,C
; Outputsthe conlentsol the step.
(2) RV-E3J/RV-E3JM
10 OPEN" COM1: E83" AS #1 ; Opensthe RS-232Ccommunication file from
the personalcomputer in BASIC.
20 INPUT "Readingstep is J $ ; Entersthe step numberthat you want to read.
30 PRINT#1,'' STR'' +J$ ;Transmits"STR" + "step number"to the
conlroller.
4 0 L I N EI N P U T# 1 , A $ ; Savesthe received data to A$.
50 PRINTA$ ; Displaysthe data on lhe screen.
60 END ; Ends program.
RUN ; Runthe BASICprogram.
Reading step is ? 2 ; Entersthe step number.
: MPC O,227.85,371 .68,1
.92,581 02.83,30.85,R,A,C
; Outputsthe contentsof the steo.
3-101
TB (TestBit)
I FunctionI
Causesa jumpto occurin accordance
withthe specifiedbit valuein the internal
register.

I InputFormatI
TB 3+7-11<bitnumber>,(branchingline number>

[Terml
<+/-> Set the conditionthat comparesbit.
+ : The bil is ON.
-: The bit is OFF.
<Bitnumberr Specifythe bit number of the internalregister.
0 = bit numbers 15
<Branchingline numben Specifythe line number to which the programjump-
1 < branchingline number < 9999

I ExplanationI
(1) Causesa iump to occur conditionallyin accordancewith the external input data or
the internalcountervalue.
(2) The programjumps to the specified line number if the specified bit in the internal
register is on or off (i.e.,when the condition is met) . Otherwise (i.e.,when the
conditionis not met) , the programcontinuesin sequence.
(3) A value can be loaded into the internalregister by executingthe input command
(see lD) for the externalinput data or by executingthe compare countercommand
(see CP) tor the counter data. lt is therefore necessaryto execute either ol the
above commandsbeforehandso that a conditionaljump can occur.
(4) Alarm occurs at a jump if the specilied line number is not predefined

I Sample program) {Movemaslercommand)

10 lD ; Fetches data lrom the externalinput port.
20 TB +1,100 ; lf the bit number1 of inputdata is ON,thenjumps to line number
100.
30 MS 1 ;Moves to position1 by linear interpolation.
40 ED ;Ends program-

1OOMO 10 ; Moves to position1O.

2 int
TBD (TestBit Direct)
I FunctionI
causes a jump to occurin accordancewiththe speciliedbit valuein the external
input.
( InputFormatI

TBD [<+7-r1(inputbit numberr,<branching

line numberr

lTerml
<+/-> Set the conditionthat comparesbit.
+ : The bit is ON
-: The bit is OFF
<lnputbit numben Specifythe bit numberof general input.
0 3 input bit number = 32767
<Branchingline numben Specifythe line numberto which the programjumps.
1 3 branchingline number < 9999
( ExplanationI
(1)Causesa jump to occur conditionallyin accordancewith the externalinput data
directly.
(2) The programiumps to the specilied line numberif the specified bit in the exiernal
inputis on or off (i.e.,whenthe conditionis met) . Otherwise (i.e.,when the condition
is not met) , the programcontinuesin sequence
(3) lt is not necessaryio executelhe inputcommand (lD) belorehand,and the internal
register remainsintactafter the executionol TBD command.
(4) Alarm occursif the specilied line number is not predefined.

I Sample programI (Movemastercommand)

10 TBD +19,100 ; lf the bit 19ot the externatinputis ON, thenjumpsto lind numoer
100.
20 MS 1 ; Movesto position1 by linear inlerpolation.
30 ED ;Endsprogram.
:
100 MO 10 ; Movesto position10.

3-103
Tl (Timer)
I Function
I
Halts the motionfor the specified length of time.

I InputFormatI
Tl dimer countert

(rerml
<Timercounler> Set the period ol timer.
0 S timer counter< 32767 (0.1sec)

I ExplanationI
(1) Causesthe robot to halt its motionlor the specified counter value X 0.1 second.
lMax. 3276.7seconds)
(2) Used lo introducea time delay belore and after the hand is opened or closed lor
grippinga workpiece.
(3) The delaultvalue is zero.

I Sampte programI (Movemastercommand)

10 MO 1,O ; Movesto position1.
20 Tl 5 ;Wait for 0.5 second.
30 cC ; Closeshand.
40 Tl 10 ; Wait for 1.0second.
50 MO 2 ; Movesto position2.
60 ED ;Ends program.

a,1n/
TL (Tool)

I FunctionI
Establishes
the distancebetweenthe handmounting
surfaceandthe tip of hand.

I lnputFormatI
TL [<toollength,]

[Terml
<Toollength) Set the distancefrom the handmountingsurlace to the tip of hand.
0 < tool length< 300.00 (mm) {0 for default)

I ExplanationI
(1)The least input incrementof the tool lengthis 0.01mm (e.9.,specily 200.05for
200.05mm) .
(2) Once established,the tool length remainsvalid unlil a new value is set (battery
backed when the power is switchedoff) . Whenthe tool length has been changed,
the currentpositionis also changedaccordingly,which, however,does not involve
any robotic motion. (lnitialtool length is 123 mm.)
(3) Since the point detined by the TL commandis the basisfor calculationol the current
position,XYZ jogging and commandsinvolvingthe XYZ coordinatessystem, the
accuratetool length must be establishedaccordingto the tool being used.
{4) Whenever a program is to be run,the same tool length as that establishedduring
ieaching must be set ai the beginningot the program.

I Sample program) (Movemastercommand)

10 TL 12O ; Sets the tool lengthto 120 mm.
20 HE 1 ; Definethe currentpositionto position1.
30 TL 100 ; Changesthe tool lengthto 100 mm.
40 MO 1 ;Moves to position1 advancing20 mm in the tool direction.
50 ED ;Ends program.

3-105
VR (VersionRead)
I Function
I
versionol thesystemROM. (UsingRS-232C)
Readsthesoftware

I InputFormatI
VR

( Explanation)
(1) Outputsthe softwareversionof the system ROM mountedin the controllerthrough
the RS-232Cport.
(2) The outputformat is ASCIIcoded. (Example: "RV-E2 Ver. 41")
The denotationof the softwareversionis the following

Version oJ software.
Type of robot arm.

(3)Becausetheterminatoroftheoutputdatais caniagereturn(Hex.0D), itis necessary

to handleserialdatastringsup to hexadecimal0D in receivinga messageby a
personalcomputer."LINEINPUT#" statementis equivalentto this in BASIC.

I Sampteprogram) 1Bastc)
1 0 o P E N " C O M 1 : E 8 3 "A S # 1 ; Opens the RS-232Ccommunicationf ile
from the personalcomputer in BASIC.
20 PRINT +;-1,"VR" ;Transmitsthe VR command.
30 LINE INPUT# 1,A$ ;Savesthe receiveddata to A$.
50 PRINT "Softwareversionis " : A $; ; Displaysthe data on the screen.
60 END ;Ends program. /
RUN ; Run the program.
Softwareversionis RV-E2 Ver. A1 ; Outputsthe version name.

a_.t nA
WH (Where)

I Function)
Readslhe coordinalesof the currenipositionand the open or close state of the
hand. (UsingRS-232C)
I tnputFormatI
WH

( ExplanationI
(1) Causesthe coordinatesof the cunent positionof the tip of hand,as determined by
the tool length (see the TL command) , and the hand open or close state to be
outputthroughthe RS-232Cport.
(2) The outputformal is ASCIIcoded as indicatedbelow.The least outputincrementis
0.01mm or 0.01degree. (e.9.,20.01 tor 20.01mm)
Output lormat :
RV-E2/RV-E2M: X,Y,Z coordinatevalue, A, B, C turning angle, R/L, A/8, N/F,
O/C (structuralflag)
RV-E3J/RV-E3JM:X, Y, Z coordinatevalue, A, B turning angle, R/L, A/8, OlC
(structuralflag)
(3) Becausethe terminatorof the outputdatais carriagereturn (Hex.oD), it is necessary
to handleserialdata stringsup to hexadecimal0D in receivinga messageby a
personalcompuler."LINE INPUT#" statementis equivalentto this in BASIC.

I Sampte programI (Bestc)

(1) RV-E2/RV-E2M
10 OPEN " COM1 : E83" AS # 1 ; Opensthe RS-232Ccommunication file from
the personalcomputer in BASIC.
20 PRINT#1," WH" ; Transmitsthe command"WH".
40LINEINPUT#1,A$ ;SavesthereceiveddatatoA$.
are " : A $ ; Displays the contents of A$ on the
50 PRINT "Currentcoordinates
screen.
60 END ;Ends.

RUN ; Runthe program.

Currentcoordinaiesare +10.00, ; Displaysthe value of the current position.
+380.00,300.00,-70.00,50.00,+40.00,
R, A, N, c

(2) RV-E3J/RV-E3JM
10 OPEN " COM1 : E83" AS # 1 ; Opensthe RS-232Ccommunication file from
the personalcomputer in BASIC.
20 PRINT# 1," WH" ;Transmitsthe command"WH".
40 LINEINPUT#1,AS ;SavesthereceiveddatatoA$.
50 PRINT "Currentcoordinates
are " : A $ ; Displays the contents of A$ on the
screen.
60 END : Ends.

RUN ; Runthe program.

Current coordinatesare +10.00, ; Displaysthe value of the currentposition.
+380.00,300.00,+50.00,+40.00,
R,A, c

3-107
WT (WhatTool)
( FunctionI
Readsthe tool lengthcurrentlybeingestablished.(UsingRS-232C)

I InputFormatI
WT

I Explanation )
(1)Causesthe tool lengthcurrentlybeingestablished(bythe TL command)to be
outputthroughthe RS-232Cport.
(2)The datais outpuiin ASCIIcodeddecimal.The leastoutpuiincrementis 0.01mm
(e-9.,105.07is displayedtor 105.07mm).
(3) Becausetheterminatorof the outputdatais carriagereturn (Hex.OD), it is necessary
to handleserialdatastringsup to hexadecimal 0D in receivinga messageby a
personalcomputer."LINEINPUT#" statementis equivalentto this in BASIC.
(4)All roboticmotionsare basedon the established tool length.lf a wrongtool length
hasbeendefined,the robotmayinterferewitha surrounding obiect.Whenthe tool
lengthis unknown, therefore,checkthe tool lengthusingthe WT commandbefore
startingthe robot.

I SampteprogramI (Bnstc)
10 OPEN" COMI : E83" AS # 1 ; Opensthe RS-232Ccommunication
Jilefrom
the personalcomputer in BASIC.
20 PRTNT#1," WT" ; Transmitsthe command"WT".
40 LINE INPUT++*'l,A$ ; Savesthe received data to A $.
50 PRINT" TOOL=" ; A$ ; Displaysthe contentsof A$ on the screen.
60 END ;Ends.

RUN ; Runthe program.

TOOL:105.7 ; Outputsthe tool length.

?-1 ne
XO (Exclusive
Or)
I Function
I
EXCLUSIVEORs the specified data and the internalregister data.

I tnputFormat
)
XO <operationdata>

[Terml
<Operaliondata> Specifythe data lo be operated.
-32768< operation data (decimall = 32767
& 8000< operationdata (hexadecimal)< & TFFF

I ExplanationI
('l) Specifythe data to be operatedin decimal or hexadecimal.Any hexadecimalvalue
must be headed by "&".
(2)The operationresult is stored inlo the internal register and can be changed,
comparedor read by relevantcommands. (Seethe EQ, NE, LG, SM, CL, DR, AN,
OR commands)
(3) Executionof the XO commandafter the input command (lD) allowsthe required
bits ot the parallelinputdata letched from the externaldevice to be flipped to their
oppositesettings.

I Sample program) (Movemastercommand)

10 lD ;Fetches data lrom the externalinput port.
20 AN &000F ; Fetchesonly lower 4 bits.
30 XO &000F ;Flips data ol 4 lower bits to their oppositesettings.
40 CL 21 ;Sets above data lo counler21.
50 EQ 10,200 ;ll the abovedata equals10,then lumpsto line 200.
60 ED ; Endsprogram.
:
200 MO 99 ; Movesto position99.

3-'t09
' (Comment)

I FunctionI
Allowstheprogrammer
to writea comment.

I InputFormatI
'
l€tring consistingof up to 120alphanumeric
characters
includingline numberand ' (apostrophe) ,]

I ExplanationI
(1) You can describeup to 120alphanumericcharactersincludingline numberand '
(apostrophe).
(2) Use it to describe the name and date on the generated program or to mark a
subroutine.Commentsare helpfulto check back lhe programas the LR (Line
Read) commandis used.
(3) The system ignores commentsas it processesits commands.
(4) lf the number of charactersexceedsthe limit, the whole excess is ignored.

I Sample program) (Movemastercommand)

1 0 ' * * * * * { c* * * i ( * * * : r *
20' Sample Program
30' Date:93-10-01 ; Specity the contentsof program,
40' Programmedby Mitsubishi the date of implementation,and
50' ***t ********t(** thename of programmer,etc.
60 NT

q.-1 1 n
Chapter4 : Designand Engineering
This chapter is a collectionof usefultechnicalinlormationon the systemdesign that
will help you when you set up the robot.Also,lor relatedinformationthat is described
separately,reler lo the index (below).

to controller
4.1 Externalconnections
4.1.1Specificationslor externalconnectionsto controller
ln this section we'll provide explanationsand guidance related to the various
equipment connectionsto the controller.For details,about connections,refer to the
Speciticationsmanualor the instructionmanuals (User'sManualand Relerence
Manual) . The topics can be foundas follows:

(1) Machinecable connections .........

Instructionmanual (User'sManual)
Chapter3 section 3.4
(2) Powercable connections .........Instruction
manual (User'sManual)
Chapter3 section 3.5
(3) Ground ...-.....
Instructionmanual (User'sManual)
Chapter3 section 3.6
(4) Installingthe teachingbox .........
Instructionmanual (User'sManual)
Chapter3 section 3.7
(5) Externalemergencystopconnections.....
SpecificationsManual
Chapter6 section 6.1
(6) Personalcomputerconnections .........
Instruciionmanual (ReferenceManual)
Chapter4 section 4.3
(7) Externall/O connections .........
Instructionmanual (ReferenceManual)
Ghapter4 section4.1

.l- |
The numbers 0 ) to (8) in the graphcorrespondto the numbersin the previouspages.

o
Solenoid

5m for standard
Special specificatbns 15m
's
Flexiblecable available

More than 2m2

I
200v
3KvA

exlemall/O
cable

Notel : Two concentic circles (O) mean its opticnal equipment

an asterisk(') meansthatseparatepurchaseis necessary.

Fig.4.1 Exiernalconnectionsto controller

4.1.2Interfacingwith externall/O equipment
(1) Connectionmelhod
The connectionsbetween the controllerand external equipmentare done by
connectingthe connectortor l/O interlace card on the back of the controllerto the
externall/O device with the optionalexternall/O cable. One parallell/O interface
card is standardequipmenttor the controller,but by adding more,you can have up
to 3. You need to supplythe input/outputcables and power source (DC12to 24V)
(2) The numberof inputs/outputsfor the parallell/O interface
Each inlerface card has a total of 20 inputs and 16 outputsas fixed points,and it is
possibleto allotgeneral-purpose pointsas well as specilic purposepointsby setting
the oarameterslor the variousbits.
It is also possibleto select lunctionsfor specialized l/O from the lollowing tables
4.5 and 4.6. so thal you can havethe best l,rOallotmentfor the given use.
Here, shown below, are the factorysettings lor the standard card (lhe tirst one) and
the optionalexpansioncards (2ndand 3rd cards) .

Table 4.1 Specificationsfor the standardparallel l/O interface

Type General-purpose SDecialized Notes

InDut
'
l7.points(ltcontains 3 points(STA'STP'RST)Total20 points
sertng varueoTInpur4+4) (Start,Stop,Reset)
Output13points 3 points(RUN,WAI,ERR)Total16 Doints
(Executing,Waitin
g,Alarm)

l able 4.2 Expansioncard NO. 1 parallell/O interfacespecifications

Type General-purpose Specialized Notes

Input 20 points 0 points Total20 points(All are for

general-purpose input)
Output 16 points 0 points Total16 points(All
are for
general-purpose output)

Table 4.3 Expansioncard NO. 2 parallel l/O interfacespecifications

Type General-purpose SDecialized Notes

Input 20 points 0 points Total20 points(Allare for

general-purpose input)
Output 16 points 0 points Total16 points(All
are for
general-purpose output)

4.1.3Assignmentof specializedl/O signalslor parallell/O interfaces

(1) Factoryset commands
The specializedinputsand the specializedoutputscan be used by writing the
commandsin tables4.5and 4.6in bit formatto the parameters(lnput: lN1 to tN3
and output: OT1 to OT3) . For inlormalionon how to read and write parameters,
referto 2.6 "Otherlunctions"under" (1l) Parametersettings"in this manual,and
then do so.

4-3
 Shownbelow are the settingcommandsat the time of factoryshipmentfor the various
cards.

Table 4.4 Setting commandsfor the parallell/O interface

l/O card Parameter Commandat time ol factoryshipment

4 I 12 16 1 9b i t s
lnput tN1
Standard
Output oTl

Expansion lnput tN2

1st board Output oT2

Expansion Input tN3

2st board Output OT3

(2) Assignmentof the l/O value

The l/O value commands (lnput: PlOto Pl3, outputPOOto PO3) communicates
the program'snumericaldata in binaryformat,and each commanduses4 continuous
bits. (Example: 1 commandcan inpuVoutput0 to 15 numericalvalues,2 commands
0 to 255. )
Accordingly,put 4 commas (,) afterthe numericall/O command.lf you omit the
commas,the object bits pile up and the robot cannoiproperly handle input/output.

4 bits 4 bits I 11 13 15 17 19
Jll I I 1.
A s s i g n m e netx a m p l e' l N 1 = ( P l O , , , , P 1 1 , , , ,cYc, ,,'',,|
A
I rlrt 11 11 I r 1 Itl
| 0123 4s 67 10 12 14 16 18
|
I I
I I
Assignment oi Assignmentol
standard input CYC to bit 8
tor l/O parallel
interface

A CautionA signalthat hasbeen assignedas a specializedinputcan be used

as a ge.3:al-purpose inputwhen the program is in progress,but lor
safety;,:sons, don'tmix non-numericalinputswith generalpurpose
inpuis. lf you try to do so, an alarm will result.

4.1.4Commandsand functionsihat can be written to oarameters

In the table shownbelow,you'llfind an explanationof commands,alongwith their
functions,that can be written to the l/O setting parameters (lN1 to lN3 and OT1 to
OT3) of the parallel l/O. To find the read and change operation,refer to section2.6
"Other Functions (11) Settingthe parameters"in this Manual.
Table 4.5 Input commandnamesand functions

Name Command Function

Start Note 3: STA Executesa programand starlsthe robot.

Stop Note 2: STP Intenuptsa programand stopsthe robot

Programreset Note 3: RST Reselsthe interruptedslatus.The alarmslalus is also PE

resetat lhe sametime. lf lhe sen/opower is OFF.il is
tumedON.
Alarmreset Note 3: ERS Resetsalarms,but doesnot reset the program. PE
It the servopower is OFF,il does not turn it ON.
ServoON/OFF Note 3: SVO Tumssen/oON/OFF.when the signal is ON,lhe servo PE
can be switchedON/OFF.ffhe brake works
synchronously.)
Brake ON/OFF Note 3: BRK Conltolsbrakeswhenservois OFF.
The brakesare disengagedwhenthe signal is ON.{Be
caretulol the fallingarm.)
Continuous/cycle Note 3: CYC Changesthe continuous/cycle operationmode. PE
ll toggleswhenthe signalis ON.
Manualcontrol TMD Controlsthe maximumspeed duringprogramexecution PE
mode to set speed ot the paramelersJGJ, JGP tor lhe
designated jog.
Enable Note 3: ORQ Togglesbetweenenable/disableJorthe controloJ PE
requirement externalsignalcontrol.lt toggleswhen lhe signalis ON.
Whenenabledstart up and resettingoperationswill not
be possible-
Generaloutpul Note3; ORS TumsOFFall general-purpose
outputsignals.
resel
Program number Nole 3: PGN Reads data set al the numerical input signal aslhe PE
designation programnumber.
Programnumber PGR Outpulsa programnumberof a programin progressfrom PE
output the numerical
oulputsignal.
reouirement
Line number Note3: LLN Readsdataset at the numericalinputsignalastheline PE
designalion numberfor startingthe program.(Starting
in the middleol
a progmmis possible.)
Line number LLR Outputsthe line numbercunentlybeing executedlrom PE
output the numericalvalueoutputsignal.
reouiremenl
Override OVR Readsdataset at the numerical valueinputsignalas the PE
designation overridespeed for operatingthe program.
Ovenide output ORR Outputsovenide speed ol programin progressfromthe PE
reqoirement numericalvalueoutputsignal.
Numericalvalue UsedJorinputlingnumerical datalor variouspurposes, HL
inputsignal (0) Plo includingdesignatinga programnumber,designating line HL
(1) Pl l number,and designating an ovenide.(Eachare 4 bits) HL
(21 Pt2 HL
(3) Pr3

Note 1 : The definitionof "level"is as shownbelow: ll a signalhas notbeen connected,

its staluswill be OFF.
HL (Highactivelevel) When an externalsignalis ON, the designated
f unctionwill be enabled.
Whenthe externalsignalis OFF,it will be disabled.
PE (Posiiiveedge) Whenan externalsignalchangesfrom OFF to ON,
the designatedtunctionbecomesenabled.Alter that, even if the
externalsignalis turned OFF,the designatedfunctionwill remainin
its originalenabledstate.A pulse rate of 0.1 secondsor longer is
reouired.
Note2: At time of factoryshipment,whenthe externalsignalis ON, it has an A
connectionJunctionthat maintains the stoppedstatus,but, by changingthe
valueof the parameterINB from 0 to 1, it is possibleto changeit 1oa B
connection function.
Note3: Dependingon the particularstatusof the robot,suchas whetherthe robotis
operating,or whethera stopsignalhasbeenentered,thesesignalsmaynot
functioneven if the signalin questionis input.
Belowyou'llfind robotconditions for whensignalswill notfunctionand their
names-
Signal name loommand) Enable/disa-ble
tor lhe signalmentionedon ihe leit that
dependson lhe robots condition
Programresel (Rsr)
BrakeON/OFF (BRK)
General-purposeoutputreset (ORS) Will notfunctionwhenin operalion(runcondition)
Programnumberdesignalion (PGN)
Line numberdesionation (LLN)
Start (sTA)
Programresel (Rsr)
Alarm reset (ERs)
ServoON/OFF (svo) Functionsonlywhenthe externall,/O device is enabled (in
Brake ON/OFF (BRK) ATV condition)
Continuous,/cycle (cYc) However,it will alwaysbe enabled whenthe se^o is OFF
General-purposeoulput resel (oRs) basedon lhe se^o ON/OFF (SVO)-
Programnumberdesignation (PGN)
Line numberdesignation (LLN)
Overridedesignation (ovR)
Start (STA) Witl notlunctionwhen a stop (STP)inputsignathas been
Servo ON,/OFF (SVO) received.However,itwill alwaysbe enabtedwhenthe
servois OFFbasedon the servo ON/OFF (SVOI.
 Table 4.6 Output commandnamesand lunctions

Name Command
Function
Executing RUN Outpub the fact thatlhe programis executing

Waiting WAI Outputsthe lact thatthe programhas temporarily HL

stopped.
Sounding
alarm ERR Outputsthe lact lhat an alarmhas not been generated_ HL

Deviceenable ATV Outpubthe lact that an externall/O wields operating

control.
Coffespondsto the inputcommandORe.
ServoON SVA Outpub the lact thatlhe Servois ON.
Correspondsto the inputcommandSVO.
Continuouscycle CYS Outputsthe lact lhat the programis in the continuous
stalus mode.
Correspo;ldsto the inputcommandCYC.
Manualmode TMS Outputstact thatthe maximumspeed duringoperation
starus will be restrictedin the manualmode.CorresDondsto the
inoutcommand TMD.
Withinuser- UAR Outputsthe tact thatthe currenlpositionot the robotis HL
delined area withinlhe user-delinedarea basedon the oarameter
UAR.
Ready Outpulsthe tact thatexternalinputsignalscan be
receivedwhenthe controllerpower is ON. (tt is output
untilthe poweris turnedOFF)
Numerical outpul PO0 Usedtor outputtingnumericaldata tor variouspurposes, |.t
signal(0) includingdesignatinga programnumber,designating line
Numerical output POI number,and designatingan ovenide. (Eachare 4 bits)(All HL
slgnal(1) bits havenol been assignedat time ot factoryshipment.)
Numericaloutput P02 HL
signal(2)
Numericaloutput HL
signal(3)

Note | : The definitionof "level" is as lollows:

HL (Highaclive level) When a designatedexternalconditionexists,the

outpulsignalswill be ON
Once the signalshave been output, until the designated condition
changes,their statuswill remain unchanged..

4-7
4.1.5Connectiontable lor parallel l/O interface
(1) Standardparallell/O interface
The table shown below containsassignmentof the connector pin numbers of the
standardcard and their variousfunctions.Here is shownthe distinctionof the signal
lines when you connectthe optionalexternall/O cables.For detailson the connector
pin array and the external l/O cable, refer to section 4.2 "Option (221, 123)" in
the SpecilicationsManual.
'f
able 4.7 Directoryof assignmentsfor pin numbersand signalsfor the standard
parallel l/O interface
Functlon name Functlon narne
Pin Color ol enemal Pih
color oi ertemal
nuln l/O cable Specializ€d/ nurn l/O cable Specialized/
ber G€aeral purpose power souace/ oe, Generalpurpose
cottmon comtnon

1 Jvhtte/black A z e lWhll€/bhck I
OV''-'.: :i{-? t -l cv
pln use ,:!iYellorlr/blackg : 29-32 :
pin use

Blue/black A
l2vi24v '.+7 pin
use *l I
Blus/black B
l2v/24v :.?€42
prn use
Goneral-purpose Geneaal-putpose

_lI
Gree black A Gre€n/blackB
oltput 1oo output104
Gene,al-purpose General-purpose
5 O.ang€/black A
ouFut 101 Oaange/blackA output105

Pink/black A
G6neral-puapose r r l Pink/blackB General-purpose
output102 output106

7 Gray/bLack A
G€n6ral-purpose
outpd 103 *lI Graylblack I
GeneraLpuapose
orJtprjt107

6 Red/black A
OV 'r'':1U13 ', gi /i Red/black B ov :35{8:''
' pn l|se

*lI
prn use
14tl24v i 10-13 12Vl24V: 35-34
Purple/bbck A ptnuse Purple/blackB pin (lse
General-purpose Genelalpl'pose
1 0 Bro$m/black A output108 Brown/black B output112

1 1 White/black C Generalpurpose
ootput109
35
l
White/blackD General-purpose
output113 R,u(R,r)
Yellow/black C
G€neral-purpose
output11O 37 Yellow/blackO General-purpose
output114 irh.-r (['4i)
1 3 Blue/blacl( C General-purpose 3a Blue/blackD General-prrrpose ega.RLeP?>
output111 output115
COMo:15-22 | COM1 :40-47
1 4 Green/black C pnuse I Gaeen/blackD pin use

1 5 Orange,/black C

1 6 Pink/black C
General-putpose
orrtput10O
Geneaal-purpose
r*T1
I nisprint j
40

D
General-putpose
Orange/blackD output108
General-purpose
outpur101
Genetal-purpose
I.tables : lPink/black
output109

1 7 Gray/black C output102
| 4.7 , 4 . 8 , ' , .42 loravrlacr o General-purpose
ootput110
General-purpose
[ e a . s a t !, , I Genetal-prrpose
1 8 Red/black C 'l
output 03 15
[eine lRed/black D
loutput111
1 9 Purple/blackC
c€neralpurpose Ithru 25 i 44
I lGeneral-purpose
ourpd | 04 land pins i lourput
1l2

20 Brown/blackC
General-purpose
1CE
i4o thru i 45 lGeneral-purpose
loutput1l3
lorrtput i5O are i I
21 White/redA lGeneral-purpose :Darked I il6 lGeneral-purpose
loubur 105 lollput 114
:output 1 General-purpose
lGene,.t-pu,pose
loulpul107
:t should I 47 1t5
II :be INPUTSI
4

24

25
l.:"::.^
lO.ange/red
a
I
lGeneral-purpose
I outout116
I
lG€ne.al-purpose
|outputI |7
t""l
I]
tl
Iw*;:,c
49

50
S-.cP

(r.v'r
(siPJ

Cesr)
A-e
 ,i: OY/(Ga<.rcN)
= + 12l.tt ys6- tcra4
The assignmentof the connectionsto the parallel l/O interface board is shown in
Fig.4.2. (2E-311O)

DC12Vt24V DCIA//24V

GerEralprpce oJtput0 ptpose orfpf 4

GerterdpttrpGec trnl prpceo.rpts
GenerdprpcGec.ql2 Brpceoutrn6
Ger€rdp.rpce d.@n3 pupceor$iT
DCII/ /24V DCIA//24V

rufeoutri8 p4oseouFdl2
pupceo..Fn9 prpce odpd 13
pL[pceouFrjt10 pLrFseortrJt 14
trrpceq.ipnll prpce ouFn 15
DCIA//24V DCIA//24V
grpce irpri 0
trrpGeirFrB
trrpeirprl prpce irF.t9
pLrpe irF 2 trrpce irp-t 10
pupe tFrt 3 prpce irp.t 11
ruposeirpn4 prpce inp{.(12
Blpe irpds ptrpce ir|trn13
prp@ipt6 p.rp6e irgn 14
prpeirptT prpce irp:t 15
General
Dc12v/24y
Frpce irpn 16 tr [pGe irp.tt18
pLrpe irpri 17
prpce hFn 19

Note 1 : You need to supplyyour own power source OC12V/24V.

<Standard><Expansion'
The l/O numberlor the first additionis 100 added to the .l .-+ t 01
standardl/O number.
The l/O numberlor lhe secondadditionis 200 added to .l ...+ 201.
the standardl,/O number.

Fig.4.2 Connectionscheme for parallel l/O interfaceboard (U.S.A.,Japan)

4-9
 The assignmenlof the connectionsto the parallel l/O interface board is shown in
Fig.4.2E.(2E-31loE)

DC1?V/24V 1
DC12V/24V
2 27
----r L- z6 -----J.-
r-l I
Generalfup6e oupd l+J ptrpGeor&d4
GeneralprpGeoutpd1 I c 30 Generalp|.rpceqJtsut5
Gen€ralpupceoutsut2 ) 31 Generalp|'rpceoutstn6
F-i...-i
)
GeneralprrpGeo&d 3 7 32 |-i.-| Generalp|.rpceouFn 7
DC12V/24V 8l 33 DC12\
2V/24V
:1 u Jr

--El
Brpce a&d 8 10 35 Generalpupce orFjt 12
p('pce ojtsrn9 I
p[pc6eauFJtr 0
r_,i I Genq-al
GeneralpurpGeouFn 13
Gene'dpup6e ouF|n14
pupcseqrtstn111
J- 12 37 ) Gene'd
Generalpupce oijtsut15
DCIzI/ /24V 14 39 C I /24V
DC12V
D
pupc6einpd0 '(- 15 40 -!J r..F p(rp6e inpdB
prrp6€ input1 16 41 CieneraiptrpGe inpd9
I
purpc€inpd2 17 42 t Gen€.alpupGe tnpd 10
pupce inpd3 18 \ GeneralpurpGe inpd 11
purpceinput4 19 44 Generalpup6e input12
prrpceinpt45
)
20 I GeneralB[p6e input13
purpceirtptn6 2'l 46 Gen€rai$npce inpul14
purpGeirput7 22 47 Generalp(!p6e input15
23 D C 1 /24V
DC12V
p|'pce input16 -o r- 24 --{ o- GeneralpurpGe input18
="_:
purpGeinput17 25 50 GeneralpurPce inpd 19

Note 1 : You need to supply your own power sourceDC12V/24V.

<Standard><Expansion'
The l/O numberfor ihe lirst additionis 100 added to the 1 -..+ 101
standardl/O number.
The l/O number for the second additionis 200 added to 1 -.+ 201.
the standardl/O number.

Fig.4.2EConnectionschemefor parallell/O interfaceboard (EUROPE)

(2) Thefirstadditionalparallell/O intertace
Shownbelow is the pin assignmentfor the connectorpin numbersol the first
additionalcardandtheirtunctions.
Here is shownthe distinctionof the signallineswhen you connectthe optional
externall/O cables.For detailson the connectorpin arrayand the externall/O
oabfe,relerto section4.2"Option 122), (231" in the Specifications
Manual.
lor pin numbersandsignalsforlhe firstadditional
Table4.8Directoryof assignments
parallell/O interlace
Function narne Funclion r|a|tre
Pin Colcr ot ertornal Pin
Color ol extemal
num l/O cabla SpecialEed/ DUM
l/O oable Spscbllze.r/
b€t G€nelal purpose powel soutce/ b9r Genehlpurpose powet soitce/
comnoo co|llnon

1 fvhite/black A 6 White/black B :G

4-7 3V , n-32
Yellorrr/bbckA pln use 27 Yellrw/black B pln ose
1t! t24V +7 pin lzv/24V :23-32
A
Blue/bLack use n Blue./blackB pin use

4 3r€en/black A General-purpose 29 G.een/blackB Geneaal-purpose

ou9ut 100 output104
Gen€ral-purpose G€neral-purpose
3.ange/black A outsut101 30 OEnge/blaokA o||tp|n t05
Phk/bhck A Gen€ral-p!apose Pink/blackB Ggn€ral-purpose
ou9nt 102 odput 106
G€neral-purpose G6n€tal-psrpose
7 Gray/black A o!tsut 103 32 Gray/black B output107

8 Red/blackA OV :1G:3 Redblack B OV :35-38

pin use ptn {rse

Purple/bhckA
1Vtl21V .'lO-13
34 Purple/blackB 12Vt24V. -8
pln use pln use
GeneJal-purpose G€neral-purpose
1 0 Brovm/bbck A output 108 Brown/bbck B output112
1 1 Ymhe/b|ackC General+urpose Wh[e/black D Gen€ral-prnpose
ouQlrt1Og odput 113
G€n€ral-p!rpose Geneaal-purpose
1 2 Yollow/blackC ousrn 110 37 Yellowblack D odput 114

Blu6/bbck C General-purpose 38 Elue/blackD Genelalpurpose

output111 output115
coM0 15-?2 coMl :4047
l4 Groen/blackC 39 Green/blackD pin use
P|n us€
General-purpose General-purpose
O,angelblack C o!&{n 100 40 Orange/blackD ourpu 'l08

1 5 Pink/blackC Gene.al-prrpose 41 Phk/black D GeneEl-purpose

ou$ut 101 odpul109
Geneaal+urpose General-purpose
1 7 Gray/black C ou$ur 't 02 42 Ghy,/blackD output | 10
1 E R€d/blaokC General-p!apose 43 Red/blackD General-purpdse
ouFrt 103 ourpult11
Genoral-purpose Gen€ral-plapose
1 9 Purple/blackC outsut1(X 44 Purple/blackD osrput112
Gen6lal-purpose ,15 Brown/black O Genoral-purpose
20 Bro$m/blackC ooFut lci odput '113

21 White/.ecl A General-purpose s White/redI Genoral-purpose

ou$ut 105 oulput1'l4
Genetal-purpose G€neaal-pulpose
ou$ut 107 47 Yellowred B ourpd 115

23 Blue/red N.C. ,t8 Blue./redB COM2I24,8 A950

use
General-purpose General-purpose
G.e6n/redA ostsut116 49 Green/rcdB odput 118
General-purpose General-putpose
25 Orange/redA oiltput117 OranQe/redB ornpd 119
. The l/O numberfor the first addilion is 100 added to the standard l/O number.
( 1- | 1 0 1 )
(3) The secondadditionalparallell/O interface
Shown below is the pin assignmentfor the connectorpin numbers of the second
additionalcard and their functions.
Here is shownthe distinctionof the signal lines when you connectthe optional
externall/O cables. For details on the connectorpin array and the external l/O
cable, referto section 4.2 "Option (221, (23) " in the SpecificationsManual.

Table 4.9 Directoryof assignmentsfor pin numbersand signals for the second
additionaloarallel l/O intertace
Function name Funclion name
Pin Color ol enenEl Pin
Col' ol extehal
num l/O cable Specialized/ num l/o cabte Specialized/
bet Geneaalpurpose b€r GeneraloulDose powersoutce/
oo|1lmon com|non
1 White/black A 6 White/blackB

ov '.4-7 OV t8-32
Yellow/blacx A pin use 27 Yellow,/blac* B
P|nraie
1Vt/24V : 4-l pin 12V/24vim42
Blue/black A use a Blue/blackB
Pmuse
Green/black A
General-purpose n Green/blackB G6n€ral-purpose
outpd 200 odput 204
General-purpose Genelal-purpose
Orange/bhck A
outsut 2O1 Orange,/black
A
output 2(F
5 Pank/bliackA General-purpose 31 Pink/blackB Genelal-purpose
olrtPut2O2 output 206
General-purpose G€heral-puipose
7 Gray,/black A
ou$ut 203 32 Gray/blackB output 207
a Red/black A
Ov :1G13 R6d/blac* B OV :35-38
ph use pin use
17t/24V :10-13 lzv/24V: 35-3a
Purple/blac! A ph use Purple,/black
B pin llse
General-putpqse G€neral-purpose
1 0 Brown/black A output 204 35 Browri/black B outputA2
1.1 |,vhite/black C Gen€ral-purpose General-purpose
output 209 White/bhck D
outpul213
Genetal-purpose G6n6lal-purpose
1 2 Yellow/black C output210 Yellow/blackD output214
1 3 Blue/black C Genetal-purpose 38 Blue/blact D General-potpose
output21'l orrtput215
coM0 15-22 coM t '.4o{7
1 4 Green/blacl< C pin use 33 Green/blackO pin|rse
Gen€ral-putpose General-purpose
1 5 Orange/black C output200 40 Orange,/bhckD ostpur 208
1 6 Pink/black C General-purpose 41 Pink/blackD Genelel-purpose
output201 outpd 20e
General-putpose General-purpose
1 7 Gray/black C output202 42 G.aylblackO output210
1 8 Red/black C General-purpose 43 General-purpose
ootput203 ReUblack O
outpul 211
General-purpose General-plrpose
1 9 Purple/black C oots|lr 204 44 Purple/blackD
output212
General-purpose lts General-purpose
20 Brown/bliack C
output 205 Brovrn/blackD ol,tput 213
21 White/red A General-purpose /t6 White/.ed g G€helal-purpose
ouFut 205 output214
General-purpose Genetal-purpose
ouFut 207 47 Yellow/redB output215
2? Blue/red A N.C. 48 Blue/redB COM2:24,25,49,50
use
Generalpurpose Gene€l-purpose
24 Green/red A
orrtput215 4,o creen/aedB
output218
G€neaal-putpose General-purpose
Orange/red A
output217 50 Orange/redB output219
. The UO numberlor the secondadditionis 200 addedto the standardl/O number.
(1 ..- 201)
4.1.6 Precautionsfor connectionswith externaldevices

I Caution. Do not exceectthe designatedlimitfor the powersourceot the

external device.
. Be careful noi to make a mistake about the polarity of the power
source.
$ Caution. Usea transistor's
opencollectorsignator a non-voltage
connection
signallor the inputsignal.
.
Caution W-nenusinga coil load,such as a relay or solenoid,connecta surge
1[
absorbingdiode, parallelto the load. (Be carefulot the diode's
^ PolaritY.)
{\ Caution . When the LED is lit, connecta protectiveresistorthat is equivalent
to the rated current,in serial.
. Connect the parallel register to get the drain current to be 20% as
much as the rated current,becausean incandescentlamp gives
^ rush current 10 times as much as the rated current.
{\ Caution. When connectingthe cables to peripheral equipment with the
external l/O connector cables, do the installationas lar away as
^ possiblefrom noisesources.Otherwise,it can cause a malfunction.
.
CautiOn Set the load connectedto the outputsignalso that it does notexceed
l\
^ the maximumcurrentof the output.
.
Caution Be careful so thatyou dont short-circuitthe l,rOcableswith the power
f\
source.
(lt can destroythe outputtransistorsthat are inside.)

l/O connector (Externalperipheraldevice)

coM0
2E-31lO type -_. Inputportpowersource
lDc12V/24v1

! Push buttonswitch
o
= Transistor

--- Limitswitch
12V/24V
Outputportpowersource
(DC12V/24V1

LEDlamp
=
Solenoidor relay

=
o
Photocoupler

Incandescence
lamp

Fig.4.3 Exampleof connectionschemetor l/O circuitry(U.S.A.,Japan)

4_13
 l/O connector Externalperipheraldevice
2E31IOEtype
--. lnputport powersource
x (DC't2V/24V)

-' Pushbuttonswitch

--- Transistor

"' Limitswitch

Outputportpowersource
(DC12v/24V)
L

o LEDlamp
o Solenoidor relay

Photocoupler

Incandescence
lamp

Fig.4.3E Connection
exampleto l/O circuitry (Europe)
(1) Electricalspecilicationslor the inputcircuit
The electricalspecificationslor the input circuit is shown in Table 4.10

Table 4.10 Electricalspecificationslor the input circuit

Iten Sp€cllicalion Intomal cicult
Type DC input

ilo. ot lnput Poi s 20

lnsulationtn€lhod PhotocouDlerinsulafion

Ratod iaput voltage ocl2vtDc?jv

Rat€cllnDutcunent Appror. 3nA/Approl TrnA

Oporaling YoltageEnge DCl0.2 to 26.4V(Ripplelactorless$an 5%J

VoltageON/ Cunenl ON DCSVoamore/ 2nA or more

Voltage OFFI Cunenl

DC4V or less/ lmA o. less
OFF E31IOE rype
hPul ,esislAnce Appror. 3.3k oh.ns
(coM)
OFF.ON 1ftns or l€ss (DC249
Respoosetime
ON-OFF '| ons or les! (DC24V}
INPUT
8 points I common(Pariy 4 pohts 1
Commonmethod
coaanon)

E emalline connection
Conn€cior
method

(2) Electricalspecificationsfor the outputcircuit

The electricalspecificalionsfor the outputcircuit are shown in Table 4.11.

Table 4.11 Electricalspecificationslor the output circuit

llern Specilice$on Intemal circtril
Type Transister output
No.ot orrtput points t6
hslEtion method
2E31lO type
Pholocoupler insulation
Raied bad Yoltage DC12VtOC24V (24/12v)
Usag€ load vollage Enge DCl0.2-30V (PeakvonageDC30V)
Mai bad clrent O.1A / point {10O%)
OUTPUT
Loakage curent duaing
O.lmAor less

Mer.voltagedrcp cluring
ON DC0.9V[rYP.)

Responselilne
OFF.ON ats or less (Flardwareresponselime) ZtrJ I I(JE type
ON.OFF zns or less lResisbr load FU (24/12V)
Fuse3.2A(onep€r cor non)cannotbe
Fuserating
aeDlaced OUTPUT
Coml|ron hethod 4 points 1 cornhoal
Extemal lhe coflnectioh
lnothod Conheclot

Extemal Volta9e oc1u24vtDC10.2-30l'

s1rppry
Power Cura€nl 60 mA (p€r TYP.DC24V1
common)

X The power supply (DC24V) for the input/outputcircuit musi be prepared by the
user.
4-15
(3) Selecting programs from external devices
Below you will lind an explanationfor a program selection method based on
specializedinput attachedto an externalinput.There are two methods,so you can
chooseeitherone. Forthe parameterchangingmethods,reler to section2.6 "Other
functions"under " (11) Settingparameters"in this manual.

(A) Methodusing STA signaland PGN signal

1. Set the value of the programselectionand start parameterpST to "0."
2. In one of the parallell/O inputsettingparameters (lN1 to lN3) , assignthe
numericalvalue inputsignal (suchas PlO) and the specializedinputcommand
"STA"and "PGN".
3. Set the program number to be selected by the externaldevice at the various
bits for the numericalvalueinputsignal.
4. Inputthe signal into PGN'sbit.The programnumberthat was set by the startup
signalwill be read into the robot.
5. Inputthe "STA" signal.The programyou selected will start.
- OOOripOaO
In the abovemethod,when the programends,and you wantto use the same program
again, inputonly the STA signal. ffhe numericalvalue input signal is unnecessary.)
For informationon the timing chart,refer to section4.1.7.

(B) Methodusingthe STA signal

1. Set the value of the programselectionand start parameterpST to "1."
2. ln one ol the parallell/O inputsettingparameters (lN1to lN3) , assignthe
numericalvalue inputsignal (suchas PlO) and the specializedinputcommand
STA.
3. Set the program number to be selected by the externaldevice at the various
bits for the numericalvalue inputsignal.
4. Inputthe STA signal.The program number that was set by the startup signal
will be read into the robot,and the programselected will start simultaneously.

,A caution In the above melhods,it is necessaryto set the program number at

the numericalvalue input signal each time you start.
lf you inputonlythe STA signal,dependingon the numericalvalue
inputsignal,the wrong programcan be selecied.

d_14
4.1.7 Timing chartfor externaloperations

Examplesof timing chartslor externaloperationsare shown in Fig. 4.4 to Fig. 4.6

(1) Timing chartfor externaloperations,Example (1):

(INPUT)
PIFPI3

toN
STA

(oUTPUT)

tt tr t I llt t I I t r f ttt t
Es"
FE
Eg E 5
i
i!:E:!:
i:; F !;i Ig 3 EEEB I
"E 3 _a
"'E
E.-
P !' E:F3.E: t
t<*t<
:9
! 'i;
55

Ptog'|'| nmblr 2 PEgm tuhir.r 2

Note 1 : After the setting of the numericvalue inputsignal, you should input a PG
signalafter 0.1 seconds.
Note 2 : The pulse width of the PE signal (positiveedge) of the PGN signal an
othersshould be 0.l secondsor more.

Fig.4.4Timing chartlor externaloperations,example 1

a-17
(2) Timing chart for externaloperations,example 2

(INPUT)
slA
svo
Nuh.ric }alu. i.prt

ouPurr.qw.h.nr
Lincnuinb.rd.iignrio. LLN

un. nnnb.r oulPrn LLF

ovlrrid. .t.signatjon

(OUTPUT)

'-Hd'
1"*"dr-fi;!-i l"-.m*r:"*"..-
o*i"*i--------l
o""-ag..,l-----1

Fig. 4.5 Time chartfor externaloperations,example 2

419
(3) Time chartfor eriternaloperations,exampleg

(NPUT)

wo
sT

R6cr.l dr g.ncrd ohs

(OUTPUT)
Go.rd F.rrp6. o[prn

Erenin9

| | rt | | i t tt t
Siln o! S.M *tuo SrnE,n.rq.hd S.rc Sl.n a-.
progrri oFF oN 3r; o aE!
eii I
z3 a l-
Starl ot the delaull prpgram.
3t

Fig. 4.5 Time charttor externaloperations,example 3

4-19
4.2Tooling
4.2.1Specificationsfor tooling connections
Detailsfor making connectionscan be found in the SpecificationsManualand in the
inslructionmanuals (User'sManualand ReferenceManual), so pleasemake the
connectionsaccordingto the writteninstructions.
The topics can be lound as lollows:

(1)Standardair wiringand piping ............SpecificationsChapter3 Section3.1.4

(2)Solenoidvalve set specifications...........
SpecificationsChapter 4 Section4.2 l3l
InstructionManual (Referencemanual/
{3)Solenoidvalve set installation ............
This manual) Chapter1 Section1.1.3
(4)Motor-operatedhand interfaceinstallalion......lnstruction
Manual (User'smanual)
Chapter 3 Section3.8.1
{5)Pneumatic hand interface installation...InstructionManual (Referencemanual/
This manual) Chapter1 Section1.1.4
(6)Motor-operatedhand installation...........
lnstructionManual (User'smanual)
Chapter 3 Section 3.8
(7)Pneumatic lnstructionManual (Referencemanual/
handset installation............
This manual) Chapter1 Section1.1.2
The numbers (1) to (7) lound inthe diagramconespondtothe number headings
in the previouspages.

(7) Installationof the pneumatichand set

(6) Installationof the motor-operatedhand

(2)Specificationsof the
solenoidvalve set
(3) Installationof the
solenoidvalve set
=__----r I i

i..€r
i a--P- !
i.--!LLL---;.--
ffii _i
!
('l) Standardwiring and For use with the pneumatic hand
DneumaticoiDino -,

motor-operatedhand i nterface
(5)Installationof
tic hand interface

Note : This was written for the RV-E2robot.The specificationsare the same for the
RV-E2Mand forthe RV-E3J/RV-E3JM

Fig. 4.7 Connectionslor wiring and piping

4-21
4.2.2 Exampleof tooling plan
In regardsto a toolingplan,we'll explaina connectionscheme involving"the method
of installingan externalsolenoidvalve." Here, we'll explain using a single hand,but
even if you have a double hand,the basic procedure is the same. However, il you
have 3 hands,everythingwill come under (2) Parallell/O controlsand external
piping lor the robot.

('l) Methodof installinga solenoidvalve externally (Usinghand l,rOfor control)

We'll showyou an example of installinga solenoidvalvefor pneumatic-handcontrol,
such as one that may be differentfrom the optionalsolenoidvalve,and one that you
may purchaseseparatelyyourself.
Here, we'll showyou the way to connecl a hand l/O to the hand outputsignal line. In
this case,we'll use teachingto make it possibleto open and close the hand.Vacuum
based solenoidvalves (ejectors) and other similarunitswill have the same wiring.

Pneumatichand
Hand curl tube

Differentdiameter straight union

(66-641

I
t

Cul spare wire and

connectwilh the
ut cable.
I Solenoidvalve

Pneumatichand cable

ConnectsDarewires
0.2SQx4tothe
solenoidvalve

Note : This was written for the RV-E2robot.The specificationsare the same for th
RV-E2Mand for the RV-E3J/RV-E3JM

Fig.4.8 Methodof installinga solenoidvalveexternally(Usinghand l/O for control)

A caution lf you want to use 2 or more solenoidvalves,put the air tube outside
the robot cover.
(2) Method ot installinga solenoidvalve externally (using parallel l/O interface for
control)
Here, we'll show you another method of installing a solenoid valve externally, a
melhod of installingthe had outputcontrolsignal wire to the parallel l/O interfaoe.
In this case,you will not be able to open and close the handwith the teaching box.
You shouldusethe same wiring for a vacuum-typesolenoidvalve (ejector) or similar
unit.

Pneumatichand
Hand curl tube

Differentdiameler straightunion
6-64

Solenoidvalve

Externall/O cable

Note :This was writtenfor the RV-E2robot.The speciticationsare the same lor
RV-E2Mand lorthe RV-E3J/RV-E3JM

Fig. 4.9 Methodot installinga solenoidvalve externally (Usingparallell/O to control)

I Caution lf you want to use 2 or more solenoidvalves,put the air tube outside
the roboi cover.

4-23
 to a personalcomputer(RS-232C)
4.3 Connections
4.3.1Connector pin arraylortheRS-232C
The relationship
betweensignalnamesandpin numbersfor the RS232Cconnector
pins is shownbelow.

Fig.4.10Pinarray (RS-232C)

Table 4.12Pin numbersand signalnames (forthe RS-232C)

Pin number Signalname Pinnumber Signalname Pin number Signalname

I 10 N.C 19 N.C
2 sDfrxDI 11 N.C 20 ER(DTR)
3 F',D(EXD] 12 N.C 21 N.C
4 RS (RTS) 13 N.C 22 N.C
s cs (cTS) 14 N.C 23 N.C
6 DR (DSR) 15 N.C 24 N.C

7 SG 16 N.C 25 N.C
8 N.C 17 N.C
9 N.C 18 N.C
: JAEDB-2sP (prongside) N.C.standsfor no connectionpossible.
Adapter-connector

4.3.2Functionof each signalcable

Table 4.13Sionalname and iunction

Signalname lnput/Output Function
r\: _ Thisis a framegland.Connectsto the controller's
G
terminal
sT' tTXDi output datafromthecontroller
to thepersonal
l:il;lllTtt
RE (FXDI Input datatromthe personalcomputerto the
3"".i:;",,':rn
RS (RTS) Output Transmission
requestsignalfer the personalcomputer
CS (CTS) Input permissionsignallor the controller
Transmission
DR (DSR) Input Personalcomputer's
transmission
readysignal.
Groundtor the signalline.
ER (DTR) Output Controller's
transmission
readysignal
A tA
4.3.3Settingthe RS-232C
Whenyou use the RS-232Cinterface,it is necessaryto set the below-mentioned
communications withthe personalcomputer. Thesesettingsarelor makingthe same
settingson the controlleras for the personalcomputer.Unlessthey both havethe
samesettings,communications can'tworkpropedy.Beloware the communications
specifications:
Table4.14Communications soecifications X The settingson the left can also
Item Description be made by changingthe CM0
p a r a m e t e r . ( R e fe r t o 6 . 2
Baudrate 9600 bps
"Parameter directory" in this
Data bit length I bits manual.) For the parameter
Paritycheck Evenparity changing methods, refer to
Stop bit length 2 bits s e c t i o n2 . 6 " O t h e r f u n c t i o n s "
under" (11) Settingparameters"
New line code CR in this manual.
Set the above-mentionedsettingsin your personalcomputer.

4.3.4Time chartsfor the varioussignallines

The standardsfor the RS-232Cinterface are essentiallybased on such items as
electricalspecifications,connectortypes, and pin numbers.
The way of using varioussignal lines and communicationsprotocolsare so varied
depending on the type of equipment.Accordingly,even thoughyou have made the
correct signal lines connectedto the personalcomputer,you still may not be able to
operate with it.
Accordingly, in regards to making this connection,you should develop a f ull
understandingof the functionsof the signal lines that you will use between the
controllerand the personalcomputerbefore you make the connections.Please note
that all datatransmissionbetweenthe controllerand personalcomputerwill be done
in ASCIIcode.

(1) The timing of sending datatransmissions

trom the personalcomputerto the robot.
<Robotside>
ER (DTR) , and RS (RTS) shouldboth be atthe "H" level and be waitingfor data
input-Whenthe end code is input,ER (DTR) andRS (RTS) bothchangetolevel L,
and execule the commandreceived.
Once the commandhas been executed,both ER (DTR) and RS (RTS) returnto
level H.
The end code is hexadecimal"OD" (CR:carriagereturn), and or hexadecimal
"OD" + "OA" (LF: linefeed) .

<Personalcomputerside>
When DR (DSR) is at level H, you can transmitcharacters.When DR (DSR) is at
level L, if you transmitcharacters,an error will result on the robot side.
(Robotsioe) (Personal
computerside)
ER (DTR) "+ DR (DSR)

RS (RTS) .--.|cs (cTs)

Fig. 4.11 Timing of data transmissions(trompersonalcomputerand robot)

4-25
(2) Time of data lransmissionsfrom the robotto the personalcomputer
<Robotsider
After changingER (DTR) to level H, you can begin to send data transmissions,
and
when the end code is transmitted,ER (DTR) 's level is changed back to level L.
You can set the end code at parameterCMO.Refer to section 6.2 "Parameter
directory" in this manual.
rPersonalcomputersider
The requestsignalis sent afterthe ER (DTR) andRS (RTS) are bothat level H, and
the personalcomputerwaits for a transmissionfrom the robot side.

(Robotsioe) (Personal
computersi
ER(DTR)"- DR(DSR)

RS (RTS)"* cs (cTS)
1 Outputof first 1 Outputo{ second
characler character

DR (DSR) <- ER (DTR)

CS (cTS) * RS (RTS)
Fig.4.12 Timing of data transmission(fromrobot to personalcomputer)
-O<}Orip9lr9
1. Whenthe personalcomputertransmitsdatato the robot,dependingon the personal
computer,the personalcomputermay ignore the ON/OFF signal line lor the CS
or DR, and transmitdata continuously, resultingin an error on the robotside. In this
case, make an adjustmenton the personalcomputer,such as by using a timer to
send data. On the other hand,when the robot lransmits data to the personal
computer,the robotwill ignorethe ON/OFFsignalline of CS and ERon the personal
computer,and transmitdata.
2. When the RS-232Cread commandis used repeatedlyat the programon lhe
r o b o t s i d e , i f t h e p r o c e s s i n gs p e e d o l t h e p e r s o n a l c o m p u t e r i s s l o w , a
comrnunications eror can resulton the side of the personalcomputer- (Linebuffer
overflowerror) . In this case, use a timer or some other iechnique so that you can
expand the executionintervalof the RS-232Cread commands.
3. Th robotcannotreceivenew commandswhen it is executingdirect commands,
such as when it moves by the MO command.Transmita new commandonly after
it finishesa commandcompletely.
(By sending an ER command,you can confirmthe existence ol an alarm and the
fact that a transmissionhas been completed.)
4. lf the wrong commandis transmitiedby the RS-232Cwhile the program is in
progress,an alarm will be generated.ln this case, reset the robot.

4.3.5The RS-232C connectorcable

ll you are connectingthe personalcomputer together with the robot with the RS-
232C interface,you shouldadapt the cable you use for the RS-232Cso that it can fit
the connectoron the frontside of the controller.For intormationon wiringspecifications
ol the connectorcables,referto section4.2"Options"under" (25) Personalcompuler
cables" in the SpecificationsManual.lt will be necessaryto satisfythe above-
mentionedconditionsrelatedto timing,for all ot the signals.
4.3.6Exampleof a connectionto a personalcomputerwith the RS-232C
We'll show below an exampleof how lo make a connectionto the PC-9801N (NEC)
(1) Connectingthe RS232Ccable
Usingthe optioncable builtfor ihe RS232C (Model type : RS-PC-CBL), connect
the connectoron the personalcomputerwith the controller.(Do this with the power
source OFF lor both the controllerand personalcomputer.)
{2) Setting for the personal computer
1. Settingthe main unit'sswitches
Set the dip switeheson the personalcomputer accordingto Table 4.15.
Table 4.15 Settingthe dip switches
Switch Condition Notes
Switch2 oFF(up) Changesthe transmission
modeot the RS-232Cto
Switch 3 oFF (Up) asynchronous.

Switch5 Preventsthe memoryswitchesfrom beinginitialized

ON (Down) (changed)
whenthe powersourceis ON.
After settingthe dip switches,lurn ON the power source for the personalcomputer.
Dependingon the personalcomputer,it may be possible to enter these settingsby
key entry on the personalcomputer.

2. Setting the software

Dependingon the BASICversionyou use, you can find the setting methodin
Table 4.16.
Table 4.16 How to set the software
Type ot BASIC Setting method
DISK-BASIC (1)Startup NSSD|SK-BAS|C.
(2)Setthe baudratefor the memoryswitchesaccordingto the
procedures shownbelow:
1. Startup SW|TCH.N88, whichis attachedto DISK-BAS|C.
(lnputRUN"SWITCH.N88" and pressRETURNKey).
2. In the Menuscreen,select"RS-232C(detaultsettings)"and
pressRETURNKey.
3. In the screenfor RS-232C(defaultsettings),set
the baudrate
to 9600.
4. PressESCto returnto the orioinalmenu.
5. Select"END"and pressRETURNKey.
DOS-BASTC (1)Startup MS-DOS.
(2) Usingthe switchcommands,set the baudrateto 9600for the
memoryswitches.
(Foroperatinginstructions,
referto the MS-DOSmanual.)

(3) Confirmingthe connections

UsingN88-BAS|C, try inputtingand executingthe followingprogram:
10 OPEN"COM 1 : E83"AS #'l ............Set lhe communication settings
20 PRINT#1, "ER" ............Execute
the ER command.
3 0 L I N EI N P U T# 1 , A $ ............
Readthe alarmstatus
40 PRINT"ALARM"; A$ ............
Displayany alarmon the screen
50 END the BASICprogram
............End
RUN Executethe program
........-...
ALARMO
OK
lf you lind that "0" followsafter"ALARM" on the personalcomputerscreen,then
communications will be possible.("1" or "2" will appear if an alarmis generated.)
4-27
Chapter5 : Maintenance
and inspection
In this chapterwe'll show you some maintenanceand inspectionduties that will help
lel you use the robot lor a longtime withoutany trouble.We'll also explainthe types
of expendable parts.

period
5.1 Maintenance
Maintenanceand inspectionfall intotwo categories: daily and periodic.you should
conduct maintenanceand inspectionsdiligently to promote safety and to prevent
breakdownsbefore they happenso that you can enjoy a long product life.

(1) Inspectionschedule
In addition to the monthly inspections,there is another additional inspectionthat
must be made every 3 months (assumingoperatinghourstotal about 500 hours),
as shown below.

0Hr
.l-month
lnspeclron
.l-month
Inspec on
500Hr P-month
J-month Inspec
Inspeclron on
J-month
lnspeclron
1-month
Inspeclron
1 0 0 0H r J-month 3-month 5-month
Inspeclroninspectioninspection
o
1-month
inspection
o
1-month
inspection
1 5 0 0H r J-month 3-month
Inspeclron
nspection
.1-month
Inspeclron
J-month
Inspecllon
2000Hr :l-month 3-month 6-month 1-year..
InspectlonInspecuon
inspectionrnspeclton

(Calculations Note:
for inspectionschedule) According to the
In case of a sinoleshift scheduleon the left,
8hr/day x 20 days/monthx 3 months= approx.500hr. r / y h en u s i n g t h e
10hr/dayx 20 days/monthx 3 months= approx.600hr. double shift, you
In case of a double shift
should make the
15tu/day x 20 days/monthx 3 months= approx.1000hr inspectionsat half
the
reo ular intervals.
Fig.5.1 Inspectionschedule
q-l
5.2lnspectionitems
5.2.1Dailyinspectionitems
Conductthe daily inspectionsin the order shown in Table 5.1

Table 5.1 Dailyinspectionitems (Description)

Step Inspectionitem(Description) Remedialaction
Beforethe powersourceis turnedON.(lnspectthe followingitemsbeforethe power
sourceis turnedON.)
1 boltsonthe robotloose?
Are the installation Tightenthe boltsecurely.
(visuallyinspect)

a
Are the set screwson the coverloose?(visually Securelytightenthe
inspect) screws.
boltson the handloose?
Are the installation Tightenthe boltsecurely.
(visuallyinspect)

4 ls the powercable securelyconnected?(visually Securelyconnectit.

inspect)
ls the machine cable betweenthe robot and Securelvconnectit.
controllersecurely connected?(visuallyinspect)

o
Are thereany cracksor residueon the robotor Exchangefor new partsand
controllercover?(visuallyinspect) take emergencymeasures.

7 ls the mainrobotunitleakinggrease?(visually Clean the robot and re-

inspect) supply it with grease.
Are thereany problemswiththe pneumatic Take measuresto repair
system?Checkfor air leaks,drainresidue,torn drainsor leaks.(Replace
8 parts)
hoses,and whetherthe air sourceis normal.
(visuallyinspect)
Afterthe powersourceis turnedON(Watchthe robotwhenyouturn it ON.)
'I Doesthe robotmakestrangemovements or Referto troubleshooting
strangesoundswhenyouturnit ON? measures.
Duringoperation(Useone of yourprogramsto movethe robot)
Confirmthat thereare notgapsat the movement Beler to troubleshooting
ooints. measures.
lf there is a gap, conlirmthelollowingitems:
'|. Are the fixingboltsloose?
2. Are the boltsholdingthe handloose?
1 3. Are there any gapsin thejig type positions
otherthanthe robot's?
4. lf the gap doesnotheal,referto 6.6
"Troubleshooting" in thismanualandthentake
the appropriatemeasures.

2 Doesthe robotmovestrangelyor make strange Referto troubleshooting

sounds?(visuallyinspect) measures.
5.2.2Periodic inspection
Conductthe periodic inspectionslollowingthe proceduresin Table 5.2

Table 5.2 Periodic insDectionitems

Step Inspectionitem(Description) Remedialaction
Monthlyinspection
Are there any loosescre$/sor boltson the main Securelytastenthe screws
1 robot unit? and bolts.
Are the connector'sfixed screwsor the terminal Securelyfastenthe screws.
block'sscrews loose?
Determinethe causeand
Removethe variouscoversand confirmthat there removeit. lf thereis any big
is nostain,damage,or frictionon the various damageto the cables,
cables. contactthe service desk at
Mitsubishi.
3-monthinspection
Adjustit so thatthe tension
I
Are thereany problemswiththe tensionof the is nottoo loosenor too tight.
timingbelt? (Seepage5.3.3)
6-monthinsoection

1 Conlirmthe abrasionof the timing gear teeth.

Whengearteethget badly
damaged,replacethem.
1-yearinspectionitems
Supplygreaselor the harmonic
reductiongears Referto page5.3.4tor
1
for eachaxis. aboutgreasing.
information
Replacethe backupbatteriesin the mainrobot Relerto page5.3.5when
unitand insidethe controller. youdo the replacing.

5-3
 procedures
and inspection
5.3 Maintenance
ln the followingwe'll explain the actual proceduresfor conductingthe periodic
maintenanceand inspection. Study the descriptions carefully and follow the
instructionswhen you carry out the tasks.You can arange to have lhese tasks done
for you by contactingthe Mitsubishiservice desk, bui you will be charged for these
services. (Never disassemblethe partsexcept for the parts described below.)
It you decide to implement the maintenanceand inspectionprogram yourself,you
can lind inJormation aboul the maintenanceparts in section5.4 "Maintenanceparts"
in this manual.lf you need some parts,youcan contactthe dealer where you purchased
this product,or you can contactyour local Mitsubishiservice center.

I Cautionlf youundertaketheseduties,theremaybe someitemsthatresultin

originslipsoithe machinesystem.Youmayneedto do "revisingthe
body position"or "re-teaching."

5.3.1Structureof the main robot unit In

Figure 5.2.1shows a structuraloutlinedrawing for the RV-E2 /RV-E2M and Figure
5.2.2showsone for the RV-E3J/RV-E3JM.The varioussections are as follows:
(1) Waistjoint
The rotationof the waistmovesaccordinglo 1) theW joint motorand 2) the harmonic
reductiongear.
The W joint motor is equipped with a brake.
(2) Shoulderjoint
The rotationof the shouldermovesaccordingto 3) the S-joint motor located in the
upper arm and 4) S-jointreductiongear.
The S-iointmotor,3) , is equipped with a brake in order to prevent the robot from
falling when the power source is OFF.
(3) Elbowloint
The elbow joint moves accordingto 5) the E-jointmotor located in the upper arm,
and 6) the E-jointreductiongear.
The E-iointmotor,5) , is equipped with a brake.
(4) Wrist twistjoint (Forthe RV-E2/RV-E2Monly)
The wrist twist ioint rotatesaccordingto 7) the T-joint motor located in the elbow
block and 8) the T-joint reducliongear.
(5) Wrist pitchjointarea
The rotationof 9) the P-jointmoiorlocatedin the forearmis transleredto 11) the P-
jointreductiongear through10) the P-jointtimingbelt,resultingthe wrist housing.
(6) Wristrolljoint
The rotationo{ the wrist roll movesaccordingto 12) the R-loint motor in the wrist
housingandto 13) the iointreductiongear.
Fig. 5.2.1Main robot unit'soutlinestructuraldiagram (RV-E2/RV-E2M)

3-J
 W-iointmotor
(11)P-jointreductiongear (2)W-axisre-

(13)R-jointreductiongear

Fig. 5.2.2Main robot unit'soutlinestructuraldiagram (RV-E3J/RV-E3JM)

5.3.2lnstallation/removal ot cover
{1)lf the robot is the RV-E2/RV-E2M,reter to Fi9.5.3.1,and if the robotis RV-E3J/RV-
E3JM, refer to Fig. 5.3.2,and removethe cover.
(2)Thenamesof the covers are shown in Table 5.3, and the list of cover installation
screws is shown in Table 5.4.
(3)Somecovers may be difficultto remove dependingon lhe postureof the robot.ln
this case, change the robot posturewith jogging operation,and then remove the
cover.
(4)Use the removal procedure inreverseto installthe cover after maintenanceand
inspection.

Table 5.3 Cover name

Product Covername Quantity Notes
number
Shouldercover(Ll
Shouldercover(R)
Shouldercover(F)
Shouldercover(B)
NO.1 Arm cover(R)
NO.1 Arm cover(L)
Elbowcover(U)
a Forthe RV-E2/RV-E2M
Elbowcover(B)
Forthe RV-E3J/RV-E3JM
Elbow cover (L)
Elbow cover (F) Appliesonlyto RV-E2/
RV-E2M
10 NO.2 Arm cover(U)
11 NO.2 Arm cover(L)
12 Wristcover(U)
.t?
Wristcover(L)
'14 Wrist cover(S)

Table 5.4 List of cover installationscrews

Symbol Installation
screwname Qtv. Remarks
Socket bolt M3X8 (nickel plated) 27
Trussscrew M3X6 (nickelplated) 10
TrussscrrewM3X8 (nickelplated)

Socketbolt M3X6 (nickelplated) Appliesonlyto RV-E2/

RV-E2M
The productnumbersand symbolsused in Table 5.3 and Table 5.4 correspondto
thoseused in Fig.5.3.1andFig.5.3.2.

5-7
 To remove
the wristcover,
pushit up
usinga screw
driver.

(13)Wristcove(Ll
No.1 arm

(a)
-!
(a)

, (a)6-.
,' (b) --a (a)
-P"r
c)

.2b)

.-.-l(b)
._-al

Fio. 5.3.1How to disassemblethe covers [RV-E2/RV-E2M)

13)WristcoverL

--..
(a)
-.qc)

c)
(b){g a)

,"fF--1 ---ol(b)
.-.al

Fig.5.3.2How to disassemble
the covers (RV-E3J/RV-E3JM)

5-9
5.3.3Inspecting,adjusting,and replacingthe timingbelts
The robot uses a timing belt to drive the pitch joint.The timing belt is superiorto
gears or chainsin that it requiresno lubricationand makes little noise.When tensile
controlor tensionadjustingis unsuitable,that could cause a shorter productlife and
generate noise.
We carry out an aging operationto remove initialelongationand we also adjust the
belt tensile before shipment.But tensile confirmationis necessaryin the routine
inspections,because elongationoccurs over a long period of time, in some oases.
Replacingthe timing belt is necessaryin the tollowingcases:
*Replacingthe timing belt
It's had to judge the productli{e of the timing beli becauseit depends on the running
environment.

(1) Replacethe timing belts underthese cases:

1. lt gets cracked on the base ot a tooth or the back of the belt tooth.
2. lt swells oul as a result of stuck oil.
3. lt loosesits width (approx.half a tooth width)
4. lt jumps the gear tooth by abrasion.
5. lt breaks.

I CautionInitialabrasionof the iiming belt is unavoidable.lt is notan abnormality

i{ you find abrasion powder in the cover atter about 300 hours of
operation.Changethe belt, even if you can wipe otf the abrasion
powder.

(2) Inspecting,adiusting,and replacingthe timer belt for the wrist pitch joint drive.
A. Inspectionmethod
1. Figure 5.4 shows how lo inspectand adjusta liming belt for wrist pitch joint
drive.
2. Removethe no.2 arm covers U and L as shown in the Figures 5.3 "How to
disassemblethe covers."
3. Visuallyconfirmthat situationshown in the former sectionactually happened.
4. Pushthe middle o f the belt with the finger lightly. (About0.7Kgf) as shown in
Fig.5.5 and confirmthat it sags2mm.

B. Adjustmentmethod
1. Fig. 5.4 shows how to inspectand adjust a timing bell for wrist pitch joint drive.
2. Loosenthe 4 motorinstallationscrews
3. Move the motorto the directionof the arrow in Fig. 5.4 to adjust the tension by
confirmingihe belt. The motorcasing has long hole to adjust it.
4. Move the molorto arrow"a" to fastenthe belt. Move the motorin the directionof
the arrow "b" to loosenthe belt.
5. Don'tloosenthe belt too muchso that it comesotf the timing pulleys,4, 5.
6. Fastenthe 4 motorinstallation screwstightlyafter makingthe adjustments.lf
they are not securelyfixed, they can come loosefrom vibration.
C. Replacementmethod
1. Fig. 5.4 shows how lo replace a timing bell.
2. Turn down the wrist pitch joint with the teachingbox.
Ourn it to the direction of gravity)
3. Hold the pulleys when replacingthe belt.
It can cause a location gap where the locationrelationshipol pulley (4) and
pulley (5) slipsoff.
4. Mark the timing belt (2) and the timing pulleys (4) and (5) to keep their location.
5. Put otf the motor installationscrewsto removethe timing belt.
6. Copy the mark to a new timing belt by stretchingthe bett.
7. Assemblea new timing belt intothe timing pulleysto set the marks.
8. Adjust the tension of the belt. The former items (3) to (6) explain how to adjust
it.
9. There is the possibilityof a locationgap being created after replacingthe belt.
Confirmthal a locationgap has not occurred.
1o.Adjustthe robot when it gets a locationgap. Refer io section 3.9 "setting the
origin" in the User's Manualor'Settingthe origin"in this manualto reset the zero
point position.

1\ Caution When you replace the belt, a machine-causedlocationgap ot the

origin can be generated.In this case,you will need to reenterthe
positiondata.

(1)Motor fixing screw

M3'14 (boltwith hole)

Timi belt ml belt

Fig. 5.4 Inspecting,adjusting,and replacingthe timingbelt for the wrist pitchjoint

drive.

t l.t
(3) Tensionof the timing belt
A timing belt needs suitabletensionto keep good power transmissionand its
durability.When the tensionof the belt is weak, the sides ot the belt vibrate.When
the tension of the belt is strong,the tension side of the belt vibrates with a sharp
sound.Fig. 5.5 and Table 5.5 illustratethe how to adjustthe tension of the belt.
Adjust the tensionol the belt by the force f and the deflectionof the span, s.

Tension of belt kgf

Length of span mm
Deflectionof belt mm

Fig. 5.5 Force and deflection

Tabrle5.5 Tensionof the belt

Joint Belttype span s: mm Detlectiond: Forcef: kgf

P Joint S2M-320-U 12O o.7

5.3.4Grease charge
{1) Greasecharge place and greasechargespecification
Fig. 5.6showsthe locationtor the greasenipple.And Table 5.6 showsgreasecharge
specificationslor each place. Whenyou want to charge grease,followsection5.3.2
"Disassemblingcovers"to removethe necessarycovers.

RV-E2/RV-E2M RV-E3J/RV-E3JM

(4)T-joint grease

(1)W-iointgrease

Commonlor RV-E2/RV-E2M.
RV-E3J/RV-E3JM

Fig. 5.6 Greasecharge ports

5-13
 Table 5.6 Grease charge specification
Numcrease
charse Grease
rype B"'J:"'#"?5y Removar
"rff::Jl,t#:l:fl,;'l*,
,I Waistjoint Greasenipple Grease GeargreaseSK-lA X 2000Hr Shoulder
'l7g cover(B)
Reductiongear WA-610 409

- Shoulderjoint Greasenipple Grease GeargreaseSK-1A X 2000Hr

z Reductiongear WA-610 409 175

^ Elbowjoint Greasenipple Grease GeargreaseSK-1A x 2000Hr

'179
o Reductiongear WA-610 409

. Wristtwistjoint Greasenipple Grease GeargreaseSK-1A X 2000Hr

4 Reductiongear WA-610 6.5K9 6.29

- Wristpitchjoint Greasenipple Grease GeargreaseSK-1A X 2000Hr

5 Reduction gear WA-610 6.5K9 1.6S

^ Wristrollioint Greasenipple Grease GeargreaseSK-1A X 2000Hr Wrislcover

b Reducliongear wA-610 6.5K9 3.59 (s)

Note : The RV-E3J/RV-E3JMin number4 have no wrist twist ioint.

- OaOripOaO
'1. The brand names in Table 5.6 are the ones used lor the robol at the time of
factoryshipment.
2. The "Grease charge interval"is the lolal time runningfull speed.
You can extend the grease charge intervalby operating it under continuous
operationor at a slow fixed speed.
-
flhe mark (X) refers to one year inspections.8 hoursx 20 days x 12 months
2000 hours.)
3. The "Hours of supply"can vary dependingon operatingcondilions,so please
make sure you don't run out.
4. The numberin the upper list corresponds to the numbersgiven in Fig. 5.6.

(2) Grease charge approach

1. Pose the robot as shown in Fig. 5.6 /
2. Referto section5.3.2"Disassemblingcovers"in the ReferenceManualto find
how to take ofi the covers of the waist and wrist roll axes.
3. Inject grease intothe grease nipple with the greasegun. and enter the amountof
greaselisted in Table 5.6.
4 . R e a s s e m b l et h e c o v e r s b y f o l l o w i n g l h e s t e p s i n r e v e r s e f o r w h e n y o u
disassembledthe covers.

5.3.5 Replacingthe backup battery

Since in the E-series,there is a positiondetector equipped,a positionmemorywith
a battery backup is needed in case of power tailures..
The controlleralso uses a battery backup for such things as program memory.The
batteriesare supplied at the factoryat the time they are shipped, but since they are
expendable parts,you need to replace them at periodic intervals.
A general yardstickfor battery backup is one year, but depending on how you use
the robot, the actual time can vary. When remainingbattery life is low, a message
reading "As soon as battery alarm occur." is displayed as an alarm (alarmnumber
2300) . When this alarm has occurred, change the batterieslor both the robot and
'
controlleras soonas possible.Both the conlrollerand the robol use lithiumbatteries
(fype: A68AT) .
Below, you'llfind an explanationof how to change the batteries.

E.'lt
(1) Replacingthe batterieson the mainrobot unit
Fig. 5.7 shows how to replace the batteriesfor the main robot unit.
Since the RV-E2. RV-E3J don't have a baftery cover, 4, it is not necessary to remove
one. Also,there are lour batteriesfor the RV-E3J/RV-E3JM.

1. Conlirmthat the cable betweenthe cable and robot is securelyattached.

2. Turn ON the controllerpower.
When we replace the batteries,we'll be relying on the power supply from the
controllerto protect the positiondata. Consequently,if the cable is not securely
attached,or il the controllerpower is OFF, the positiondata can lost.
3. Press the Emergency stop button to bring the robot into an emergency stop
condition.This is a safety measure,so don'tforget to do it.
4. Removethe fixing screws 2 and 3 as shown in Fig. 5.7,and removethe shoulder
cover (B) , 1, from the robot.
5. Removethe installationbolt,5, in sectionA of the main robot unit,and removethe
battery cover, 4.
6. There is a battery cover 4 in the battery holder.Take the old batteriesout of the
holderand remove the lead connectors.
7. Place the new batteries into the holder and reconnectthe lead connector.You
shouldreplace all batteriesat the same time.
8. Go back to step 4 and 5 and replacethe batterycover,4, and shouldercover B by
followingthe instructionsin reverseorder.

$ Caution lf the connectorcomes loose.the battery can't work properly,and

the encoder'spositiondata could be lost.You will lose the encoder's
positiondata if you dont supplypowerlrom the controllerto the robot
when you are replacingbatteries,or if you keep the conlroller'spovyer
OFF.

5-15
(3)
' ' Socket
head bolt

(51
' ' Socket
head bolt

B
T
._ _ . . _ (4)Batterycover
Lead connector

Detail drawing of part A

Fig. 5.7 How to replace batteriesof the main robot unit

(2) Replacingthe bateries for the controller
1. Turn the controllerpower ON once. (Forabout 1 minute)
2. Turn OFF the controllerpoyveras well as the povyersource.After at least 3 minutes
have elapsed, you can begin to remove the fixing screws and remove the top
cover.
3. Removethe old batteriesinsidelhe controller.
4. Place new batterieswhere the old ones used to be so that they fit securely.
5. Pick the cable soket of the new battery and connect it to the connector (CONI BT)
on the card so that the red colorlead comesto the + (plus) side.
This entire processshouldbe completedwithin 15 minuteslrom the time you
removethe batteries.
6. When you are finished,replacethe top cover and tightenthe cover.

I Cautionlf you continueto work despite the tact that a battery reserve time
alarmhas been generated,youwill get a backupfailurealarm.lf you
generate a backup failure alarm,the contentsof the memory can't
be guaranteed,so you should back up importantprogramsand
positiondata beforehand,usingpersonalcomputersoftwareor other
softwareto save the data onto floppy disks for storage.

(3) Alarmreset
1. Once you havefinishedreplacingthe batterieslor boththe robotand the controller,
don'tforget to reset the backupfailure alarm.
2.The reset operationshould be done using the RS command {RS2) in direct
execution,from the teachingbox or from lhe personalcomputer.
When using direct execution,the lollow the written instructionslor "creating a
program"undersection2.3.2Programming with the Movemastercommandmethod
in this manual,and input " tRl tsl [2] " to execute.
Refer also to Table 2.14 on the same page, 2.3.2.

T----..-
L-4

Wait at least 3 minutes

after tuming the power
off beJore removing the
top panel. Dont turn the
power on until the top
panel has been istalled.
Other methods of handling
may lead to elecaic shocks.

Fig.5.8 How to removethe batteriesfrom the controller

E 1't
5.3.6Replacingthe fuse
When the conlrollerhas blown its fuse, follow the steps below to replace it.
(1) Turn the power button on the bottomright corner of the controllerOFF
(2) Turn OFF the power sourcethat suppliesthe controller.
(3) Turn the tuse holder,1, on the back of the controller,to the left, and pull out the
fuse holder with the fuse. At this time, confirmthat the luse has been blown.
(4) Removethe cause of the blown tuse.
Example: You supplied200Vtothe controller, whichis specifiedfor only100V.
(5) Take out the luse from the holder.
(6) Inserta new fuse into the holder.
(7) Replacethe new fuse by followingthe steps in reverseorder in step (3) for the
fuse holder,and screw it in securely.

I Cautionlf it seems that the tuse will blow again,contactyour nearestservice

center.

tr \-E!!e

Fig.5.9 Howto replacethe fuse

E lo
 parts
5.4 Maintenance
The expendable parts that need to be replaced periodically for this product, are
listed in Table 5.7and Table5.9.Also,we'll showyou spare partsthatyou will probably
eventuallyneed for makingrepairsin Table 5.8 and Table 5.10.When you purchase
parts,buy from recommendedmanufacturers orlrom Mitsubishi'sservicedepartment.
Note that the parts designatedby Mitsubishidiffer lrom the maker's standard
parts.Alwaysconfirmthe part name,and the robotand controllermanulacturingNos.,
and purchasethe partsfrom the MitsubishiService Cenier.
(1)Robotconsumableparts
Table5.7Robot consumablepart list
Partname Modeltype Supplier
t""T (Manutacturer) Locationof use Quantity

2 Grease GeargreaseSK-lA JapanHarmonic Gearreduclionunits slighlly

ffi
batteries E2M.the shoulder
For the RV-E3J/RV-
E3JM.the shoulder

(2) Robotspare parts

Table5.8Robol spare parts list
N u m Partname Model type (Note) Supplier
ber (Manutactured Locationof use Quantity
1 AC servo MilsubishiElectric Waist,shoulder,
motor elbow
2 AC servo Milsubishi
Electric For the RV-E2/RV-
motor E2M,the lwist,pitch,
and roll
For the RV-E3J/RV-
E3JM.the pitchand
roll
3 Jointreduction Mitsubishi
Electric Waist,shoutder -,
gear
4 Jointreduction Mitsubishi
Electric Elbow | .

5 Joint reduclion Mitsubishi

Electric Forthe RV-E2/RV- 2
9ear E2M,the twist,and
oitch
For the RV-E3J/RV-
E3JM,lhe pitch
Joinl reduction Mitsubishi
Electric Wristroll

Note : Confirmthe robotmanulacturing

No.,and contactthe MitsubishiServiceCenter.
(3) Controllerconsumableparts
Table5.9ControllerconsumableDartlist
N u m Part name Model type (Note) Supplier
ber (Manufacturer) Location of use Ouantity
1 Lithium MilsubishiElectric Controller,
top ol CPU I
batteries caro

(4) Controllerspareparts
Table5.10Controllersparepartslist
Partname Model type (Note) Supplier
t'"T (Manutacturer) Localion ol use Quantity
1 Fuse MF6ONR-8A.05 ToyoFuse Controller,back side,
inside luse holder

5-1q
Chapter6: Appendix.
6.1Commandlist.
Positionmotioncontrolcommands.
Pa9e

RV-E2M robot at position(a). R means Right,L means

CF aUR/Ll Len.
[,[A/B] A means Above, B
t,lN/Fnn meansBetow.
N means Non tlip, F
meansFlip.
RV-E3J/ Chanoes
-at the Doseol the yes 1=a=999 3-5
RV-E3JM robot positibn{a). R meansRight,L means
cF 4,[R/LI
[,[A/B]n A means Above,B
means Below.

RV-E2M speciled amount(b). Joint interpolation.

DJab
RV-E3J/ Movesthe joint (a)by the yes 1SaS5
RV-E3JM speciled amount(b). Jointinterpolation.
DJ a-b
3 Decrement DP Movest
position positionin number lrom

dislancelrc|n currenl

6 Here HE a Memorizescurent Dosition yes 0Sa=999 -

as the positionnumber (a). (ln lhe case ot 0, the
robot memorizesthe
data as the user defined
origin.)
7 Home HO [a]
as the origin. method
a=l: Calibration
iig
method
a=2:User delined
originemethod
8 lncrement lP 1
Position numberlrom curent
oosition.
9 Jo,nt roll JRC Overwritesthe current yes
' -l adds 360 3-42
change <[+]1/-'l> positionby adding+/- 360 -t subtracts350
to the curent joint position
ol the R-axis
MOVeS IO a pOSrIOnaway yes r> at,az > 99!
from position(a1)by lhe Joint interpolalion.
distanceol position(a2). O meansoDeninoa
hand.C mdansciosinga
nano-
a
conltnuous ll to the position{a2)with l A 1 - a 2l < 9 9
linearinteroolation. O heans oDeninqa
hand.C mdansciosinga
hand.

RV-E2M
HV-EZM speciliedanqte
Specmed lrom the
anqlelrom the
MJ [wltrs],[e]cunentposition.

RV-E3J/ Turnsthe iointbv the yes Joint interpolation, 3-48

RV-E3JM specifiedangle
specified
specfredinole
angleirom the
currenl position-

o-l
Positionmotion controlcommands.
Nomenclature InputFohal Funclion Program Page
l4 Move posltion RV-e2/ Moves to the position yes Joint interpolation. 3-50
RV.E2M (xJ,z,a,b,c). R means Right,L means
MP Left.
A means A bove, B
means Below.
N means Non Flip, F
means Flip.
RV-E3J/ Moves lo the position yes Jdnt inlerpolation. 3-50
RV.E3JM (x,y,z,a,b). R means Right, L means
MP [x]{yl,[z], Left.
tal.tbl A means Above, B
LIR/L] means Below.
[,[A/Bn
15 Move play back RV-Ez/ Movesto the specilied yes 0 = b =32767 3-51
RV.E2M posltionwith the speed (d), 05 e 5255
timer(e),outputstare (fxg), 0 S l.g,h,i =a7FFF
input state (hXi),interpolation J =o0oint ) 1(linear) 2(arc)
mode (i). R:Right,L:Left.
A:Above,B:Below
N: Non Flip
F: Flip.
O:Opening a hand
C :Closing a hand

0= e 5255
0 = t.g,h,l =&7FFF
J -qiolnt ) 1(linear) 2(arc)
R:Right,L:Lett.
A:Above,B:Below
O:opening a hand
C :Closing a hand

16 Move play back RV-E2/ Moves to the specitied yes D'qjoint) l(linear) 2(arc) 3-53
conlinuous RV-E2M posltion with the specilied R:Right,L:Left.
MPC [dl interpolation method. A:Above,B:Below-
,txl,tvl,t21 N: Non Flip
,Ia1{b],Ic] F: Flip.
t,tR/Ll O:Opening a hand
t,tAlBl C :Closing a hand
t,tN/FIIII
t{o/cll
RV-E3JM positioh with the specilied R : Right, L : Lett.
MPC [d] interpolation method. A: Above, B : Below.
,{x1,[y1,tz1 O:Opening a hand
,tal,tbl C:Closing a hand
t,lR/Ll
t,[A/Bm
t,to/cll
17 Move R MR a1.a2,a3 Movesoh the arc that yes 1= a'l,a2,a3=999 3-54
[{O,/Cn positioh(a1l(a2xa3) O:Opening a hand
deletminewith circular C:Closinga hand

a I ne tooot moves on lne arc yes a

[,[O/C]l that the previous and the O :Opening a hand
next MRA deterrnine with C:Closing a hand
circularinterpolation.

[,[O,/Cn with linear interpolation. a hand

a nano
to a Position away yes t=a=999
lrom position (a) by the Jointinterpolation.
distance(b)in the tool O :Ooeninoa hand

straight [,[O/Cn ftom position(a) by the Linear interpolation.

distance (bl in the tool a nano
a hand
userspe yes

odoin oosition.
24 Override OVR a Establishes program over- yes 1= a =200 3-72
ride.

A)
 Positionmotioncontrolcommands.
Input Forrnat Function Program XoG age
25 Pllet Assign PA ij,k Delines lhe number of grid 1si59
points U,k) in the column and 1si,ks32767
row directlontor

15a'|.a2=999
Positiondetine RV-E2/ (xJ,z,a,b,c)to 15 a S
RV-E2M position(a). R:Right, L:Lett
PD A:Above, B:Below
N:Nonflip, F:Flip
O:open a hand
C:closing a hand

RV.E3J,/ Substitutes(xy,z,a,b)to yes 15 a 5 999 3-75

RV-E3JM position(a). R:Right, L:Left
A:Above, B:Below
Orhand open,
C:hand close

2A Position loading PL a1,a2 Substitulescoordinates 1= a1,a2 5

value ol (a2)to

29 Pallet the coordi-nates

ol a grid point on pallet (a)
and identifiesthe
coordinates as position (a).
30 Pulsewait PW a Waits lor all axes being yes 1= a = 10000 3-85
oositioned within the

Position PXa1,a2 Exchanqes the coordinate

exchange ol position(a'l)tor those ol

('}.r>a>5!
order deley tirne c.onst (b), 1= b s 300
accele.alion ti.ne (c), 05 c,b = 2000
decele.ation tlme (d) and e = 0 (disable),
CNT sening (e) in linear over 1(enable).
inleagolalion and circular
inle.oolation.
SF a1,a2 Shiftsthe coordinales ol
positloh (al ) by lhe
coordinates of Oos
Detines speed (a), aS30
acceleralion and decele- H:Ouick motion,
ration, CNT setting (b). L:Smooth motion.
B - 0 (disable),
over 1(enable).
36 Timer Halts rnotion lor time (a). yes 0= a = 32767 3-104
(Unit :0.1secpnd)
37 Tool TL [a] Establishes distance (a) yes Unit :mm. 3-j 05
between hand flange
surtace and hand lip.

Programcontrolcommands.
I'la Nomenclature Inout Format Function Program Note Page
38 CounterLoad CL a Loads internalregister yes 1=a=99 3-6
value/strings
to the $1S a = $99
specifiedcounter.
39 Compare CPa Loadsvalue/strings in yes 1=a=99
counter counter(a)to the internal 91< a < $99
regrster.
40 DisableAct DAa Disablesinterrupt by the 0= a = 32767 3-1 1
bit (a)ol externalinpul
terminal.
41 Decrement DCa Decrementscounter(a)by 'l
=a=99 3-12
Count 1.

6-3
Prooramcontrolcommands.
fb Nomenclature Inpul Format Function Program Page
42 DeleteLine DL [a1[Ia2] Delelesprogramlines a1 =a2 bl 3-14
llbftlb2m trom(a1)to (a2),or steps <b2
lrom(bl ) to (b2). 1 = a1,a2,b1,b2 =
9999

43 Enable Act EA[+/-l a,b Enablesintenuptby the yes 0< a < 32767 3-19
[,tcn lerminal,
bit(a)ofenernalinput +: Bit on,-: Bit olf
specitiesline l<rr<OOOO
number(b)to whichthe c=0 or 'l
programiumpswhen 0: Jump,1:Callsub-
InterruDt
occurs.and routine
specitiesjumpingmode.
44 End EL' Ends the program. yes
45 ll Equal EQ a(or &b) Causes a iump to line yes -3276A= e =32767 3-22
,c number (c) it internal &8000 5 b =&7fff
reoister value/slrinos
- $1= a = $99
eq'lals (a)(or &b). l<^<CKIOO

yes '1
46 Go Sub GS ta[,tb]l Call subroutinewhich =a=9999
slarts lrom line number (a)
ot program (b)
47 Go To GTa Causesa jump to line yes 1= a = 9999
number (a).
48 Halt HLT Halts the program. yes 3-35
49 Increment lCa It increments
the counter 1SaS99
count (al.
50 ll Larger LG 4or &b) Causesa iump to line yes -32768= a =+32767
,c number (c )il internal &8000= b =&7ttf
regisler value/stringsis 91< a < S99
greater than (a)(or &b). 1= c = 9999
51 ll Not Equal NE a(or &b) Causes a iump to line yes -32758S a =+32767 3-51
,c number (c )it internal &8000= b =&7ftf
reoister value/strinos $1< a < $99
do-esnot equal (a)(t &b). 1= c = 9999
52 New NW Deletes all lines and 3-64
positionsol the selected
program.
53 Next NX Specifies the range ot a yes 3-65
loop in a program
executed by command

54 Repeat Cycle RC a Repeats the loop yes 14 a 5-32767 3-88

specilied by command NX
(a)times.
55 Run RN[all,a2 Executesprogram(b]from yes 1= a1,a2=9999 3-89
t,blll line(a1)to (a2).(a2not
included)
56 Return Hrtal Completes subroutine yes 1= a =9999 3-91
activated by commandGS a is the destination.
and returns to main
program.

57 Set Counter sc a,[b] Loadsvalue(b)into o 1=a =99

-32768 < b <
3-97
counter(a).
32767
&8000=b s &
TFFF
S 1= a 5 $ 9 9
1 =6 = 122
(characternumber)

58 lf Smaller SM 4or &b), Causes a jump to line c - 3 2 7 6 8= a = + 3-102

c number(c)it the internal
register value is smaller &8000 =b = &
than(a)(or&b). TFFF
$1Sa S$99
1= c = 9999

a-a
Hand controlcommands.
nb Nornenclature lnput Function Prog.am Page
Format
59 Grip Close Gctal Closes hand grlp. a - O' l :: T h e 1 s t h a n d -
The 2nd hancl.
60 Grip Flag GFA Oetines lhe open/close a- O: Open
state ol hand grip used in l: Close
cotriunc0on wilh comma|)d

61 Grip Open Golal Opens hand grip. a- o:

'l:The 1st hand.
The 2nd hancr.
62 Grip Pressure GP Detines motor-oDerated O5a1.a2S63
a1,a2,a3 hand Eripping torce and O5a3599
gdpping torce retention (Unit :O.l second.)

l/O controlcommands.
tb Nomenclalure Input Function Program Page
Format
A3 AND AN a(or &b) ANOS internal register yes -3276a<a:= +
val!e and sDecitled value 32767
(a) (o. &b). &4000 s b S&7FFF
54 Inplt Direct lD lal Gets signai troh external o 3a = 327A7
in0ut withoul condition.
66 Output Bil OB [+/-l a Sets lhe output state ol bil yes O =a = 32767
(a) ot extemal output +: Bit on, -:Bit oft.
terminal.
67 Output Counter OC a [,t:all Outputs the counter value yes 1 Sa =99
t,ta2lll (a) to exlernal output o = a 1 = 327€.7
terminal unconditionally. 1=a2 = 16
(a1: starting bit, a2: bit
length)
68 outputDirect. Outputs data (a) to external yes -3276a8a= +
ftgfirLt.rt olrtPril tenninal 32767
unconditionally. &4000 5 a 5&7FFF
(a1: staning blt, a2: blt o =a1 = 32767
length) I 5a2= 16
69 0R OR a(or & ORs iniernal register value -3276a=aS + 3-71
b) and specitied value (a) lor & 32767
b). &ao00 = b <&7FFF

71 Test Bit TB [+/-] a,b Causes a jurhp to line O = a = 15 3-1o2

number (b) in accorclance +: Bit on. -:Bll otl.
with the state ol bit (a) of 1=b59993
inteanal register value,
72 Test Bit Di.ecl TBD [+/-l Causes a jump to line O =a S 32767
number (b) in accordance +: Bit on, -:Bit oft.
with the state ot bit {a} of 15b=9999
external input terminal.
73 Exclusive OR XO a(or &b) EXCLUSTVEORs inrernal -32768=a= + 3-109
reEister value and 32767
specitied value (axor &b). &a000 = b 5&7FFF

RS-232Ccommunication
commands.
ib Nornenclature Inpul Function Program Page
Format
74 Colhter Read CR a Reads out contents of yes 15a 599 3-9
counter (a) $1 5 a 5599
75 Data Read Reads out data in external yes o S a 532767 3-16

76 Enor Read Reads oul the eraor status. '1 S a = 128 3-24
77 LineRead LR [a] Reads out program oh line 0=aS9999 3-45
nurnber (a).
79 Paraheter PMR ["a"] Reads out the contents of yes
Read parameter (a).
80 Position Read PR [a] Reads out coordinates of yes 0Sa5999
position (a).
81 Question ON [a] Reads out the selected a: program name 3-87
Nu lnber program number or the Intormalion:used step
intormation ol prograrn (a). number, used position
numbet, usecl counter
numoer

b-5
RS-232Ccommunicationcommands.
Nomenclalute Inpur Funcllon Progratn Page
Forrnat
82 Step R€ad sTR [al Reacls out the contents of 05a59999 3-101
slep number (a).
83 Version Read Reads out the veGion 3-'106
name ot systeh ROM.
84 Where Reads out coordinates ot yes 3-107
cu'lent oosltion.
85 What Tool Reacls out current tool 3-104
lenglh.

Other commands.
Nomenclature -lnput Function P.ogram Page
FOrmat
EG Input INP a,b.[, Reads the value ol counter oSa= 2 3-39
[o! (b) or position (b) or 1 5 b = 99
character strings (b) 'lom '!5 b = 999
channel (a). 315bSS99
C_O : Counter,
1 : Position,
2 : Characler
87 Nurnber N Selects program (a) "a" is a program
name.
88 Open OPN a,b Opens l/O (b) lor channel oSaS 2 3-70
(a). b :1 : Standard RS-
232C
2 : Standard RS-422

89 Parameter Substltutes (b) lor the 'a" is a paaameter 3-79

crntents ol parameter (a). hame.
'b- is a setting data-

90 Print PRN a,b or Sends oul the contenls ol 'a- is counter value
counier (a) or position (b) or -3276a = a =+
characler siring 1c)lrom a 32767
personal compuler In & 8 0 O OS a = &
cohjunction with commnand
INP 'b" is coorclinates
value
RV.E2lRV-E2M:
(x, Y, z, A, B,C,R/L,
A/B,N/F,O/C)
RV.E3J/RV.E3JM:
(x,Y,z3,B,R/L.A/8,
o/c)
-c- is character
srrnos
1 =a ='122
(character number)

91 Reset Rs tal Resets an alarm and yes a -0:(Alarm resel)

program line numbea. 1: (Resets all counter
data)
2: (Resets battery
timer)
3: (lnitializes all liles)
4: (Resets the origin
setting.)
94 Commenl Allows programmer to'. wlite 3-1'tO
a comment tollowing
(less than 120 characte.s)
6.2 Parameter
list.
Parameterlist.

Parameter Pararnelername Anay numbet Contents Dslaultvalue Remarks

Tool XTL 6 real number Sets initialvalue ot tool coodinate 0,0 , 0-0 , 123.0,
coordinales system(X,Y, Z, A, B, C). OnlyZ 0.0,0.0,0.0
coordkrate ir changeable lo. RV-
E3J,/RV-R3JM. Unit mm. mh.
mrn,deg, deg, deg.

Base XBS 6 real number Sets inlllalvalu€ ol base 0.0,0.0,0.0 ,

cooadinales coordinatesystem(X,Y, Z, A, B, 0.0 , 0-0 , 0.0
C). Only X, Y, Z aoordinatesare
changeablelor RV-E3J/RV-R3JM.
Unit mm, mm, mm, d€9, deg, deg

Perpendi- PAR 6 real nuhber Sets overrunlimits ol XYZ -10000.0,1@00.0, Note1

cular area coordinate system lor minus and -10000.0
, 10000.0,
lirnit phs dirction{-X, +X, -Y, +Y, -2, + -10000.0
,10000.0,
A. unit mm
Joint area JAR '12realnumber S€tsovenunlimitsol €achjoint. - 1 6 0 . 01, 6 0 . 0 , RV-E2/
limit cooralinate
systemlor minusand {5.0 , 135.0, RV.E2M
ptusdirction(Jl, +Jl, J2, +J2,- 0 . 0 ,1 3 5 . 0 ,
J3,+J3, -r4, +J4,J5, +J5,J6, + -160.0,160.0,
J6). Unit Deg, - 1 2 0 - 01,2 0 . 0 ,
-200.0, 200.0
-150.0,160.0, RV-E3J/
-.1s.0,'t35.0, RV-E3JM
0.0,135.0,
-160.0, 150.0,
-120.0,120.0,
-200.0,200.0
User. UAR 6 real number Detinesthe area where the rcbol 1 . 0 , 0 . 0, 1 . 0 ,
detinedarea outputsa signal. 0.0,1.0,0.0
GX,+X, -Y, +Y, -2, +
Autornatic ATP Sets paogramnarne to be - -( No setting).
program ereculed autornatically when
eleclrtion powered gn.
Continue 1 integer Sets whether the robot continues
Function to run lrom the lasl erecution
environhent when oowered on.
(Execution step, Program inner
variable,l/O status,etc.)
0: Disable 1: Enable
ON/OFFol BZR 1 integer Sets ON/OFF ol buzzersound.
brzzer 0 : O F F 1 :O N
Automatic '| anteger S€ts initial level ol autoriatic
operation operation speed .

External 2 real number Sels initial ovenide ot autoinatic 't00.0,100.0

ovenide operalbn.
(Erternaloveraide,Program
override) Unlt %.
Jog speed 3 real number Sets jog ahd step operationspeed 1, 1 . 0 , 1 3 . 0
control lor ioint interpolationmode.
(lnching,low sp6ed, high speed)
Unit deg, %, %.
JGP 3 realnumber Setsi)g and step operationspeed 0.'1,1.5,100.0
lor linear and circular interDolation
tnode.
(lnchlng,low speed, high speed)
Unit:mln, rnm/s. fnm/s
Continuous CNT 'I integer
S€ts whether robot accelerates 0
riol|on and decelerates at taughtposition
conlrol when moving. 0: Disable
1:Enable
Accel. and ADL 2 real number Sels acceleation and 02 ,0.2
oecel. decelerationperiods lor reaching
peraod to maximumsoeed.
Unit second
Delay tirne 1 real number SetsfiEt-order delay time
conslanl constant. Unit: millisecond.

6-7
 Palameter Param€ter runie Atay number Contents Detaolt value Remarks

Pulse width PWI 1 real number Sets accoracyol positioning.Unit: 1q)Cl0

DUtSe.
Grio control GcD 1 ant69er Sets fie initralstate ot hand 0 . 1 .0 .1 See
opetatbn at pol rer oi. Cme lst
hand nodnal / reverse- the 1st commands.
hand hitial condition, the 2nd hand
noarnal/ reveFe,lhe 2nd hand
Inltiialcondnion)
Nodnal / rgverses: 0 means
nodial. 1 means reveGe lnitial
state:G3.
The o.igin HOE 1 inieger Sets enable/ dlsalle ol o.igin poant o
Point setting setting.
pelmFs|on 0: Diseble 1: €nable
(Robolcan not erecrte p.ograh
u/henset lo 1).
The user- UOG 6 real number Sets user-definedo.igin point. -160.0. -45.0, 50.0. RV-E2I
clelined (W, S, E, T, P, R) Unlt: -160.0.-120.0. -200.0 RV-E2M
origin point oegree
-160.0. -45.O, O.0. RV-E3J/
o.o, -120.0, -200.0 RV-E3JM

Joint order ot UNG 6 rcaf nuftber Sels rointmotion older to retwn to 2.1 ,'l ,1 ,2 ,2 Note 3
retuming to the origanpolnt.
origin point
wrht angte RCD 1 integer selecls wrist angle coordinate RV-E3J/
coordinate system lor control and display. RV-E3JM
s9lection O:General angle (Maintains
posture),'1: Joint angle (varies
DOStUte)
Stop input INB 1 integer Setsslop input to. A q.'pecontact O
type or B lype contact.
selection 0: A type (No.mallyopen),1: B type
(Normallyclosed)
Parallel l/O S€tslunctionlor inDu.tboard.
inputsening lN1 20stings Setsfunctlonlor tirstl/O nterlace Pto,,,, p11.,,,
DOafo,
20 ,STA.STP, RST
lN2 strings S€ts fun3tlonlir seicn! i.'O
20 int€rlace board.
lN3 strings Sets functbn lor thiad l/O interlace
board.
Pafallel l/O Sets function lor outDut board-
outpul oT1 l6ltinEs S€ls function lor lirsl l/O interlace ,,,,
sening board. , hL,ruivi'ir,'efih
of2 16 stings S€ts lrrlction lor second l/O
hterlace board.
16 sbings Sets lunction tor lhird l/O inlerlace
DOaJO.

Prcgrarn 1 integer $ts srhelher lhe exlemal prograh O

start mooe nomber is read inlo the robot at
$anuD.
O:No (P.ezentprografi), 'l:Y6s
(ApPointod proE am)
Z phase AOJZ 1 integer Sets enable / disable ol Z phase
ollset rewrite ollset rewrite. 0: Disable.1:
pelmrssion Enable

Z phase 6 inlegers Memorizesthe otlset pulses ol the o, O,0, 0, 0, 0

otlset origin posllioolloln the encoder Z
phase.Setting 0 hltializ€s lhe

Comhuni- CMO 7 i egers sets communication lno<t€ot 2,a,E,2,o,M

calon mocle RS232Cinterlace. Baud rate (1:
19200,2:9600,3:4600,4:2400.
5:12OO,6:600), Data bltrr. a), Panty
bit (E:ev6n,O:odd, N:none),Stop
bit ( 1,2), End code (o:auto,1:CR+
LF, 2:CR),Com.way(M: no-
prDlocol)

N o t e1 ) Delault setting does not exceed the limit.

Note 2) Defaultsetting is out of the setting area.
Note 3) It becomes elfective just after setting.
Note 4) When set to "0:auto", the robot sendsthe same code as the receivingcode
from the exlernalequipment. flhe defaultsettingis "CR".)
6.3Sampleprogram t1l Teachingplaybacksystem
This sectionexplainsthe teachingmethod by illustratingan example of what kind
of jobs the robot could do with the teachingplaybacksystem.We recommendyou to
draw up programmingsheetsas describedlater in order to make your programclear
and understandable.

Table 6.1 Programmingstep

No ltem Operationdescription
1 Workplan (1)Definethe totalworkand describethe "WORKNAME"
(2)lt thereis conditional
branching,dividethe abovework into
severalprograms. Thenmakeentryof programnumberand
programname.
(3)Furthermore, dividethe aboveprogramintoseriesof
independent operation.Thenmakeentryof eachoperationand its
work positions.
(4)Checkthe abovesequenceagain.

2 Cording (1)Describeconditiondatacorrespondingto eachstep.

(lnterpolation
mode,speed,timer,signaloutput,signalinput)
(2)Makeentryof temporarynumberof step.

3 Teaching See "2. Operation"

of this manualand "User'sManual"and
Check completethe programgradually.Thencheckand modifythe
Modify programil necessary.
6.3.1Pick & place operation
(1) Work description
The robot picks up a workpiece on a conveyorwith a hand.Then the robot places it
on a turn table.

(2)Signall/o
t/o Description Bit
Conveyerin position. Bit l
Input
Turn table in position. Bit 3
Drives the conveyorto supply the next Bit 1
Outout workpiece.
Drives the turn table. Bit 3

(3) Schematicdiagram
Figure 6.1 shows descriptionof operation.

Start point
Note3) Step 9
100o/o
\
Ste p1 Step 4 50% Step 5 Step 8

100mm 60mm 30mm 100mm

/second /second /second

Workl
' S t e p3

Conveyor
o*1(
G{"C
Turn table

Note 1) Step 3 is the conditionsteo whichtollowssteo 2.

Note 2) Steb 7 is the conditionsteb whichfollowssteb 6.
'start
Note 3) Thd robot moveslrom the point at f irst cycle.

Fig.6.1 Pick & place operation.

(4) Procedure
(1) The robot waits for a workpieceto iinish positioningon a conveyer.
(2) The robot grabs the workpieceand waits for the turn table to finish positioning.
(3) The robotreleasesthe workpiece.
{5) Operationflow
Figure 6.2 showsthe tlow of operation.

----- Opens hand

Movesto steo 1 ----- Joint interpolation,10 %

----- Waitsfor conditionin steo 1

Waitsfor ON of input bit 1

Movesto step2 Linear interpolation,100mm/s

0.5 second timer after moving

Grasp workpiece ----- Opens hand in step 2

0.3 second timer after movingto step 3

Movesto steo 4 ----- Linear interpolation,60mm/s

After moving,turns on the bit 1 for
conveyor starting

Moves to steD 5 ----- Joint interpolation,50 7o

After moving,turns ofi the bit 1

table in positi ----- Waitsfor conditionin steo 5

Waitsfor ON ot input bit 3

Moves to steo 6 ----- Linear interpolation,30mm/s

0.5secondtimer aftermovino

Releasesworkpiece ----- Opens hand in step 6

0.4secondtimer in steo 7

Moves to steo 8 ----- Linear interpolation,100mm/s

Atter moving,turns on the bil 3 ior
turn table starting
Moves to steo 9
----- Joint interpolation,100 %
After moving,turns off the bit 3
One cycle completed

Fig. 6.2 Flowchart

6-1 1
(6) Programmingsheet
Work name : Pick and place
Program name: Pick and place. Prooramnumber:2
Step Operationposilion Interpo- Speed lmer Hand Signal Signal
number (Operationdescription) lalion Open/ oulput input
Close
Wailing pointaboveconveyer 10% Open bit 1
(Robotwaitsfor a workpiece Wait ON
coming.)
Waitingpointaboveconveyer Linear 100 /s 0.5sec
(Robotwaitstor a workpiece
coming.)
The sameposilion:Conditionstep 0.3sec
(Robotwails tor the handclosed-)
The positionaboveconveyer 60m/s 0 Close bit 1
(Robotpicks up the workpiece.) ON
The positionaboveturn table Joint Close bit 1 bil3
(Robotwaitsfor the turn lable in OFF WaitON
position.)
The positionon the turn table Open
(Robotmovesdownand releases
the workoiece.l
The same position: Condition step 0.4sec Open
(Robot waits lor ihe hand opened.)
The posilionaboveturn table Linear 100mr/s 0 Open bil 3
(Robotmovesup.) ON
The Dosition above convever Joint 100% 0 Open bit 3

6.3.2 Handling operation (The robot sortsout delective resistorsfrom non-defective

ones.)

(1) Work description

The robot inspectsresistorssuppliedlrom a conveyerwith inspectionapparatus.
After inspection,the robot puts non-defectiveregistorson anotherconveyerand
throws detective ones into a box.

(2) Signall/O

t/o Description Bit

Completionsignal of resistorfeeding Bit 0
Completionsignal of inspection Bit 1
lnput
OK signal from inspectionapparatus Bit 2
NG signal from inspectionapparatus Bit 3
Non-delectiveresistorfeeding out signal Bit 0
Output
Triggersignalfor inspection Bit 1

A-'1,
(3) Schematicdiagram
Figure 6.3 showsthe schematicdiagramof this work.

Resistor

Box for defective resistor

Feed c-onveyor

Inspectionapparatus

Conveyorfor non-defectiveresistor

Fig. 6.3 Sortingout registors

(4) Procedure
1) The robotwaits for a registorto be fed above a conveyer.
2) The robot carries the fed registorto an inspection apparatusand activares
inspection.
3) The robotwaits for insoectionto linish.
4) It the registoris non-de{eclive,the robot puts it on a conveyerand outputsfeeding
out signalfor 0.5 second.lf it is defective,the robot throws it into a box.

(5) Operationf low

1) Simoleteachingplavbackmethod
In the caseof teachingplaybackmethod,
Start there is no conditionalbranchingfunction
accordingto input signal.Therefore,an
externalPLC shouldstartthe program1,
then selectthe program2 or 3 according
Program1 to OK/NG signal ot the inspectioi
apparatus.
Non-
detecti\ -ffi""*--> { refective Program1
Carriesa resistorfrom feedino
XLecljyez locationto inspectionapparatis.
Program2
Picks up the resistorfrom inspection
Program 2 Program3
apparatusand puts it on the feeding
out conveyor.
Program3
End End Picksup the resistorfrom inspection
apparatusand throws it into to a box.
 ---- Opens hand Closeshand

Joint interpolation, '100% Joint inlerpolation,100%

Linear interpolation, LinearinterDolation.

50mm/s 50mm/s
0.5 second timer atler 0.3secondtimer
movrng
ODenshand in steo 2
Closeshand in step 2 0.5 second timer
0-5 second timer iri step 3
Linear interDolation. Linear interDolation.
50mm,/s 50mm./s
Binarydigit 0 ON
------ Joint interpolation, |00 %
0.5 second timer

---- Linear interpolation,

50mm/s
Bit 1 ON afier movino Opens hand
Wait tor ON ol inout 6it 1
Linear interDolation. Joint interpolation. 100 %
50mm/s 0.3 secondtimer
Bit 1 OFF

Fig. 6.4 Flowchart

2) Combinationof commandmethodand teachinoplaybackmethod

The combinationof commandmethodand teaching playback method enables
conditionalselectionot programswithoutPLC. In ihis case, the robot requires OK/
NG signalfrom inspectionapparatusto sort out registors.

<Program10r (An example of commandprogram)

10 'MAIN PROGRAM......... Meansthe mainprogramthat conirolsthe totalflow.
20 GS , 1 Callsthe teachingplaybackprogram1.
.........
(Settingof resistor).
30 tD Inputssignallrom the inspectionapparatus.
40 TB +2,100 lf it is OK,jumpsto the line 100.
50 TB +3,200 ll it is NG,jumpsto the line 200.
60 GT a n Otherwise,jumpsto the line 30.
1OO GS Calls the teaching playbackprogram 2.
(Feedingout non-defectiveresistors)
1 1 0E D END of program.
2OOGS Callsthe teachingplaybackprogram3.
(Throwingthe defective registor)
2 1 0E D END of program.

Note : The tirst parameterof GS commandshouldbe vacantin this examole.

C 1A
(6) Programseat.
name :
Programname: Settingol resistor Programnumber:'l
Step Work posiiion(Workdescription) lnterpolat Speed Timer Hand Signal Signal
numb€r ton Open/ output inpul
Close
The position above conveyor Joint 1000/6 Open bit 0
(Robotwaitslor the resistorto Wait ON
come.)
Resistorchuckingposition Linear 50Br!/s 0.3 sec
movesdownand graspslhe
resistor.)
The same position:Conditionstep 0.5sec Close
(Robotwaitsfor the handclosed.)
The positionabove conveyor Close
(Robotpicks up the resislor.)
The position above inspection Joint - 0 Close
apparatus
Teslingposition(Robotturnson Linear 0.5sec Close bit 1 ON bit 1
the lriggersignalandwaitslill wait oN
finishing.)
The position above inspection Linear Close bil'1
apparalus(Robotlums off the OFF
signal.)

Work name:Testot resistor

Programname:Feeding outol OK resastor Programnumber:2
Slep Work position(Workdescription) Interp Speed Timer Hand Signal Signal
number olation Open/ output input
Close
The positionaboveteedingout Joint 100% Close
conveyor
Feedingout position(Robotmoves Linear 50|| /s 0.3sec Open
downandreleasesthe resistor.l
The same position:Conditionstep 0.5sec Open
(Robot waits lor the hand opened.)
The position above leeding oul Linear Open bir 0 0N
conveyor (Robot turns on the feed
out signal.)
The sameposition:Conditionstep 0.5sec Close bit 0
(Robotturnsoll the feedingout
signal.)

Workname:Test
ot resistor
ramnumber2
nlerpola g nal
tion Open/ oulput input
Close
Throwingposition(Robotmoves Joinl 100%
down and releaseslhe resistor

6-15
6.3.3Assemblyoperation

(1) Work description

The robot picks up a relay from the relay feeder and fixes it onto the printed wiring
board on a conveyer.

{2) Signall/O.
t/o Description Bit
Relaysupplycompletion Bit 0
Input
Printedwiringboardin position Bit 1
Output Relayassemblycompletion Bit 1

(3) Schematicdiagram
Figure 6.5 showsgeneral descriptionol operation.

Fig. 6.5 Fixinga relayontoa printedwiringboard

(4) Procedure
1) The robot waits for a relay to come {rom a relay feeder.
2) The robot grasps the relay and waits for a printed wiring board to come above a
conveyor.
3) The robot fixes the relay onlo the printed wiring board.
4) The robot turns on the completionsignalfor 0.5 second.
(5) Operationflow
Figure 6.6 showsthe flow of operation.

----- Opens hand

Movesto step 1 ----- Joint interpolation,100 %

Relayfed? ----- Waits tor conditionin step 1

Waits for ON of input bit 0

Movesto sieD 2 ----- Linear interpolation,30mm/s

0.3 second timer after moving

Graspsthe relay ----- Closes hand in step 2

0.5secondtimer in step 3

Movesto steo 4 ----- Linear interpolation,30mm/s

Moves to slep 5 ----- Joint interpolation,100 %

----- Waits for conditionin siep 5

Waits for ON of input bit 0

Moves to step 6 ----- Linear interpolation,30mm/s

0.3 secondtimer after moving

Releasesthe relay ----- Open hands in step 5

0.5 second timer in step 7

Moves to step 8 ----- Linear interpolation,30mm/s

Turnson bit 1.

Moves to step I ---- 0.5secondtimer in sten 9

Turns off bit 1.

(Repeat)

Fig.6.6 Flowchart.
(6) Programmingseat.
name:Assembly
Programname:Assemblyol relay Programnumber:1
Slep Workposition(Workdescription) Interpola Speed Timer Hand Signal Signal
number tion Open/ output input
Close
Relaychuckingposition(Robol Joint 100% Open bir 0
movesdown and graspsthe relay.) WailON
Relaychuckingposition(Robot Linear 30rn/s 0.3sec
movesdown and graspsthe relay.)
The sameposition: Conditionslep 0.5sec
(Robotwaitslor the hand closed.)
The positionaboverelaysupply
device(Robotpicks up the relay.)
The positionaboveprinted board Close bit 1
(Robotwaitslor the printed board Wait ON
in position.)
Relayassemblingposilion(Robot 0.3sec Open
movesdownand releasesthe
relay.)
The same position(Robotwaitsfor 0.5sec Open
the handopened.)
The posilionaboveprinted board Linear Open bit 1 ON
(Robotlums on the relayassembly
completion signal.)
The sameposition:Conditionstep - 0.5sec Open bit 1
(Robotturnsofl the relay assembly
completion signal.)

6.3.4Sealingoperation

(1) Work description

The roboJdispensesseal on a workpiece fed from conveyor.

(2) Signall/O.

t/o Description Bit

Input Conveyorin position Bir 3
Startsconveyor(Requestfor nextworkpiece) Bit 3
Output
Seal ON/OFF Bit 4
(3) Schematicdiagram
Figure5.7 shows general descriptionof operation.

Step 1
Originsettingposition Noti 2 s t e p1 3 , 1 4
2oo/o
50Yo
Step

Step 4
W:$
Step 7

Step I

Conveyor

Fig.6.7 Sealingoperation

(4) Parametercontrolsel
As sealingoperationneeds continuousmotionwithoutaccelerationnor decelera-
tion,set the parameterot continuouscontrol (CNT) to 1 to make the robot move
continuously. Reler "1.3:Parametersetting"of this manualto set the parameter.

b- tv
(5) Operationllow
Figure 6.8 showsthe flow of operation.

Movesto step 1 .......Jointinterpolation,

20 %

........
Waitsfor conditionin step 1
........
Waitsfor ON oJinoutbit 3
.......Jointinterpolation,
50 %
........
0.3 secondtimer afier movino
........
Startssealing (Bit4 ON)
Continuoussealingwork .......All linearinteroolation
.......Fromstep 2 to 5
lrom step 2 to step 12. ........
Fromslep 5 to 9
........
Fromstep 9 to 12
........
Finishessealing (Bit4 OFF)
Movesto steo 13 .......Jointinterpolation,
30 %

One cycle completed .......0.5 secondtimer in steo 14

........Bit 3 off to start conveyor

Fig.6.8 Flowchart.

Atn
(6) Programmingseat.

Work name : Sealing

Programname : Sealing Programnumber:1
Step Work position(Work InterpolSpeed Timer Hand Signal Signal
number description) ation Open/ output input
Close
Waitingpositionabove Joint 20%
conveyor
Sealingstartpositionon Joint 50% 0.3 sec bit 4
workoiece ON
Sealing positionon Linear 30nm/s
workpiece
Sealing positionon Linear 30mm/s
workoiece
Sealing positionon Linear 3onm/s
workDiece
Sealing positionon Linear 35mm/s
workoiece
Sealing positionon Linear 35mm/s
workpiece
Sealing positionon Linear 35mm/s
workoiece
Sealing positionon Linear 35nm/s
workoiece
10 Sealing positionon Linear 25nm/s
workoiece
11 Sealingpositionon Linear 25mm/s
workpiece
Sealing end positionon Linear 2smm/s bit 4
workpiece OFF
ta Waiting positionabove Joint 30% bit 3
conveyor ON
14 The same position: 0.5sec bit 3
Conditionstep OFF

0-z I
6.4 Sample program (21 Movemastsrcommand
method
This section explainshow to make a programwith Movemaslercommand method.
Table 6.2 showseffective programmingprocedure.

Table 6.2 programmingprocedure

No ltem Operationdescription
1 Workplan OAssumemainflowof work.
@Detinethe work of the robot.

2 Drawingof flow- ODiviOethe wholeworkintoseparatejobs.

chart (?lf thereare conditional
branchings in the work,dividethe
work into programs
different or divideone programinto
differentblocks.
Oeppointpositionnumberat eachwork position.
(!Assigninput/outputsignals.
@Basedonthe abovepiocedure,drawflowchart.
3 Programming Basedon the aboveflowchart,makethe program.

6.4.1Pick and place operation

(1) Work description
The robot transfersa workpiece from one place to anotherplace.

(2) Defined position

PositionNo. PositiondescriDtion Teaching way

Position1 Pickingposition
By actualteaching
Position2 Placingposition
Position10 Movementdistanceaboveoosition1
By numericalvaluesetting
Position20 Movementdistanceaboveposition2
(3) Operationf low
Figure 6.9 showsthe flow of operation

Initialspeed setting

Movesabove oosition2

One cycle completed

(Repeatedly)

Fig. 6.9 Flowchart.

(4) Schematicdiagram
Figure6.10showsgeneraldescription
of operation.

Settinoto \
Positio'n10 /

Fig.5.10Pick and placeoperation

b- 2.1
(5) Exampleprogram

10 PD 10,0,0,20,0,0,0Defines the aerial distanceof travel trom position1 (Z=20

llml .
20 PD 20,0,0,30,0,0,0Deflnesthe aerial distanceof travel from position2 (Z=30
].lm, .
30 SP 17 Setsthe initialspeed.
40 MA 1,10,O Opens hand and moves 20 mm above the position1.
50 MO 1,O Movesto the position1.
60 GC Closes hand and graspsthe workpiece.
70 MA 1,10,C Moves 10 mm above the position1 with hand closed.
80 MA 2,20,C Moves 30 mm above the position2 with hand closed.
90 MO 2, C Putsthe workpiece.
100 GO Opens handand releasesthe workpiece.
110 MA 2,20,0 Moves30 mm abovethe position2 with handopened.
120 GT 40 Repeatsthis program. ( Jumpsto the line 40.)

6.4.2Applicationof interruptmotion
(1) Work description
The robot graspsthe workpiecesthat have differentheight using a limit switch tixed
insidethe hand.The robotgets a signalof the limitswilchthroughhandcheck l/O.

(2) Defined position

PositionNo. Positiondescription Teaching way

Position1 Positionabovework By actualteaching

(3) Signall/O

t/o Oescription Bit

lnput Workpresencesignal Bit 900

(4) Exampleprogram

90 SP 20 ;Setsspeed20.
100 EA +900,140 ; Enablesinterruptof bit 900.
110 MO 1,O ; M o v e sa b o v ea w o r k p i e c e .
120 DS 0,0,-50 ; Moves50 mm in the -Z direction. (Linearinterpolation)
130 GT 110 ;Jumps to the line 110to returnto the position1 as no
workpiece has been detected.
140 DA 900 ;Disablesinterruptof bit 900.
150 GC ; Closeshandand it graspsthe workpiece.
160 MO 1, C , Movesto position1 with handclosed.
i

a_ra
(5) Explanation.
In this example,the robot moves50 mm in the -Z direction in line 120. lf there is a
workpiece,the limit switch signalis input and the robot stopped - Then, the robot
jumps to line 140, graspsthe workpiece after disabling interruptand moves to
position1. lf there is no workpiece,the robotjumpsfrom line 130to line 110
returningto position1. Thus,the robot repeatsthe same operationagain.

(6) Schematicdiagram.
Figure 6.11 shows brief descriptionof motion.

Limitswitch

Less than 50 mm

Workpiece

Fig. 6.11 interruptmotion

(7) Operationtlow
Figure 6.12showsthe f low of operation.

Initialspeed setting

Interruptenable

Movesto Dosition1

Interrupt?

Disablesinterruot

One cycle completed

Fio. 6.12Flowchart
6-25
6.4.3Applicationof palletizing

(1) Work description

The robot picks up a workpiecefrom a feeding pallet and places it on an inspection
equipment.After inspection,the robot picks up and places it in anotherpallet. This
program assumesthat the shapes ol the two pallets are different.

(2) Defined position

PositionNo. PositiondescriDtion Teachingway

Position1 Palette1 settingposition
Defined by PT command
Position2 Palette2 settingposition
Position10 Palette1 referenceDosition
Position11 position
Palette1 columnterminating
Position12 position
Palette1 rowterminating
position13 1 cornerpositionoppositeto
Pa.lette
reterence
Position20 Palette2 referenceoosition
By actualteaching
Position21 Palette2 columnterminatino
oosition
Position22 Palette2 row terminatingposition
position23 positionoppositeto
L1'""rt:?1""ttt
Position30 Testequipmentset position
Position50 Distanceof travelfromDallets

(3) Defined counter.

CounterNo. Description
Counter11 Palette1 columncounter
Counter'l2 Palette1 row counter
Counter21 Palette2 columncounter
Counter22 Palette2 row counter

(4) Defined inputsignal.

t/o Description
Input Test completionsignal Bit 7
(5) Example program.

(lnitialsetup)
10 PD 50,0,0,20,0,0,0; Delinesthe aerialdistanceol travel (Z=2Omm)as position50.
Note1 )
1 5 TL 145 ; Setstoollengthat 145mm.
zv GP 10,8,10 ; Sets handopen/closeparameters.
25 P A 1 , 1 0 , 6 ; Delinesthe numberof grid pointsin the columnand row
directionsfor pallet1. (ver.10X hor.6)
30 PA 2,15,4 ; Delines the numberof gridpointsin the columnand row
directionslor pallet2. (ver.15X hor.4)
AE sG 11,1 Initializesthe columncounter1 l ol the pallet 1. (Sets 1 to the
counter.)
40 s c 1 2 , 1 Initializesthe row counter12 ol the pallet 1. (Sets 1 to the
counter.)
45 SC 21,1 Initializesthe columncounler11 of the pallet 2. (Sets 1 to the
counter.)
50 sc 22,1 Initializesthe row counter12 ol the pallet 2. (Sets 1 to the
counter.)

(Mainroutine)
100 Rc 60 Sets the numberol repeat cycles ol a loop up to line 140.
110GS 200 Calls the subroutineol pickingworkpiecesirom the 1st pallet.
120 GS 300 Calls the subroutineol settingworkpieceson the inspection
equipment.
130 GS 400 Calls the subroutineof placingworkpieceson the 2nd pallet.
140 NX Retumsto line 100.
150 ED End

The followingprogramshowssubroutinesused in the main program:

(Subroutine: Picking up the workpiecesto be tested)
200 sP 2s ; Sets sDeed.
202 PT 1 Sets the grid point of the pallet 1 to the position1.
204 MA 1,50,O Movesto a locationaboveposition1.
206 SP I Sets soeed.
2 0 8 M O 1 ,O Moves to the position 1.
210 GC Closeshandand graspsthe workpiece.
212 MA 1,50,C Moves to a location 20 mm above the position 1 with the
workpiecegrasped.
214 lC 11 Incrementsthe columncounter11 oi the pallet 1 by 1.
216CP 11 Sets the value ol counter'l1 to the internalreoister.
218 EQ 11,230 Jumps to line 230 on completingthe column l-ine. (compares
withvaluell.)
220 RT Ends the subroutineotherwise.
230 SC 1 1 , 1 lnitializescounter11. (Sets1 to the counter.)
232 lC t z lncrementsthe row counter12 ol the oallet 2.
234 Rr Endsthe subroutine.

(Subroutine:Settingup the workpieceson the test equipment)

300 sP 25 ; Sets speed.
302 MT 30,-50,C ; Movesto a location50mmahead ol the test equipment.
304 SP 8 ; Sets speed.
306 MO 30,C Sets lhe workpieceto the inspectionequipment.
308 lD Inputsexternaldata.
310TB -7,308 Waitsfor the test to comolete.
312 MT 30.-50,C Movesto a position50 mm ahead the inspectionequipment.
314 RT Endsthe subroutine.
(Subroutine: Placingthe lested workpiecein pallet2)
400 sP 25 ; Sets speed.

o-zt
 402 PI 2 ; Setsthe grid pointof the pallet2 to the position2.
404 MA 2,50,C ;The robotmovesto the sky after position2.
406 SP 8 ;The robotsets speed.
408 MO 2, C ; The robotmovesto the 2nd position.
410 GO ;The robotopensthe handand it putsthe work.
412 MA 2,50,O ; Movesto a location20 mm abovethe oosition2.
414 lC 21 ; Increments the columncounter21 of the pallet2.
416 CP 21 ; Setsthe valueol the counter21to the intemalregister.
418 EQ 16,430 ; Jumpsto line430on completingthe columnline. (compares
withvalue16.)
420 Rr Endsthe subroutine otherwise.
430 SC 21,1 counter21. (Sets1 intothe counter.)
Initializes
432 lC 22 fncrements the rowcounter22 of the oallet2.
434 RT Endsthe subroutine.
Notel) For'RV-E3J/RV-E3JM",the line10shouldbe"10 PD50,0,0,20,0,0".
(6) Explanation.
1) In this example,the robol incrementsthe column counterof each pallet.The robot
initializesthem to returnto the top of columnwhen it reachesthe end of the column.
And it incrementsthe row counterof each palletto moveto the next column. {From
lhe 214lineto the 232ndlinesand from the 414thline to the 432ndline)
2) The robot waits forthe tesl completionsignal. Fhe 31Othline) .
3) The completionol the entire sequence is determined by the number ol main
programcycles. (Seeline 100)

(7) Schematicdiagram.
Figure 5.13 shows general descriptionol operation.

Position
22
Position
Position30

(10x6)

Position12 Position13
(patettez)
Test device
(Patette t )
Position21 Position23

Fig.6.13 Palletizing

o- z6
(8) Operationflow
Figure 6.14 showsthe flow of operation.

(Mainroutine) (Subroutine)

Settinqof
Initialsetting speed .
parameter

Defines the numberof

gl$t:'". forparret
1 point
of
3:il:l?,n"srid
Definesthe row and
columncounterol pallet

Operation1
ng up untested

lncremenlsrow counter
by1
1 0X 6 t i m e s

Initializesrow counter

lncrementscolumn
counterby 1

Fig.6.14 Flowchart(Continue)
 (Subroutine) (Subroutine)

oDeration2
Placingworkpieceto
test device

sridpointor
Movesaboveposition30 ;:,[??tn.
Moves above posilion2

Placingworkpiece to

Takes in input data

Tesl comoleted ? Moves above position2

Incrementsrow counler

nishesro*-

Initializeesrow counter

Incrementsrow counter

Fig.6.14 Flowchart
6.4.4Exampleof connectionwith externall/O equipment

(1) Work description

The following program causesthe robot to select any of 8 jobs through 8 switches
connectedto the inputfor use as externall/O equipmentand displaythe job curren y
being executed by any of the 8 LEDs connectedto the outputs.

(2) Connection.
Figure6.15showsconnectionexample.

l/O port powersource

(DC1?-24V)

: Generalpurposeinput0 .....Switch 1
General purpose input 1 .....Switch 2
Generalpurposeinput2 .....Switch 3
o
a Generalpurposeinput3 ..-.-Switch 4
f
Generalpurposeinput4 .....Switch 5
Generalpurposeinput5 ..--.Switch6
Generalpurposeinput5 . . . . . S w i t c h7
_Generalpurposeinput7 . . . - . S w i t c h8

J
o

(l Generalpurposeoutput0 ....LED 1
o. Generalpurposeoutput1 ....LED 2
Generalpurposeoutput2 ....LED3
Generalpurposeoutput3 . . . . L E D4

!
o

Generalpurposeoutput4 . . . . L E D5
Generalpurposeoutput5 . . . . L E D5
a
Generalpurposeoutput6 ....LEU {

Generalpurposeoutput7 . . . .LEU 5

Fig.6.15 Connection
examplewith externall,/Oequipment.

6-31
(3) Operationf low
Figure 6.16 shows the flow of operation.
(Main routine)

All LEDotf

Operation2

Operation6

Operation7

(Eachoperationroutine)

Execule ooeration1 Execute ooeration8

Fig 6.16 Flowchart

(4) Exampleprogram

(Main routine)
150D0 ; All LED turnsoff.
20 sP 10 ; Initializes
speed.
25 tD ; Inputs signals.
30 TB +0,100 'l
;Jumpsto the line 100when the switch is turnedon.
(Job | )
31 TB +1,200 ;Jumpsto the line 200 when the switch2 is turnedon.
Uob 2)
32 TB +2,300 ; Jumps to the line 300 when the switch 3 is turned on.
(Job 3)
33 TB +3,400 ; Jumpsto the line 400 when the switch 4 is turned on.
(Job 4)
34 TB +4,500 ; Jumps to the line 500 when the switch 5 is turned on.
(Job 5)
35 TB +5,600 ; Jumps to the line 600 when the switch 6 is turned on.
(Job 6)
36 TB +6,700 ; Jumpsto the line 700 when the switch7 is turnedon.
(Job 7)
37 TB +7,800 ; Jumpsto the line 800when the switch8 is turnedon.
(Job 8)
38 GT 25 ;The robotjumps to the line 25 when all switchesare off.

(Eachoperationroutine)
100 0B +0 ; Turnson the 1st LED.
105 MO 10
(Job started)
; Carriesout the 1st operation. t_
J'*
1stoperation.
:
198 0B -0 ; Turnsolf the 1st LED.
(Jobcompleted)
199 GT 25 ; Jumpsto the line 25.
800 0B +7 ; Turnson the 8th LED.
(Job started)
805 MO 80 ; Carriesout the 8th operation. -, operation.
898 0B -7 ; Turnsofl the 8th LED.
(Job completed) 1*"
899 GT 25 ; Jumpsto the line 25.

O-JJ
6.5 Alarmlist.
ALARMNO, ERRORGENRATING
CAUSEANDITS REMEDY
0100-0120 Cause) Erroroccursin the powersupply
Remedy) Attertumingott power,turnon the poweragain.
0200-0266 Cause) Encoderdetectionis laulty.
Remedy) Afte|tuming ofl power,turn on the power again.
lf the enor stillpersists,resetthe encoderandset originpoint.
0200-0206 Encorderdatarangeover
0210-0216 Encorderdala error
0220-0226 Encorderdatainitializationerror
0230-0236 Encorderdalacomunication error
0240-0246 Encorderdatamisscountenor
0250-0256 Encorderdalalhermalenor
0260-0266 Encorderdala circuitenor.
Note) The lowestdigit meansioint number.

0300 Cause) Batterybackuperroroccursin lhe controller.

Remedy) Check the connectionoi banerycable to the controller.
lf the enor still persisis,changethe batteryin accordancewith the
changingprocedure.
0311-0316 Cause) Batterybackuperroroccursin lhe encoder.The connection ol
batterycaue is laulty.
Remedy) Check the connectionof batterycabteto the printedboard.
lf the enor still persisits,changethe battery in accordancewith the
changingprocedure.
Notel The lowestdioit meansioint number.
0400-0450 Cause) Saved data is invalid. Clear the
Remedy) data.
0500-0566 Cause) Faultis detectedin the servosystem-
Remedy) Attertumingoft power,lurnon the poweragain.

0500-0506 2-portmemorylails.
0510-0516 Servomemorylails.
0520-0526 Watchdog time out
0530-0536 Amplitier,/encordernolconnected
0540-0546 Gale arrayerror
0550-0556 A/D @nverlerunusual
0560-0566 Overcunent
Note) The lowestdigit meansiointnumber.

0600 Cause) Use ol communication protocolis improper.

Remedy) Checkthe protocoland dataot the connectedequipment.
0610 Cause) The communication lineis nol conlirmed.
Remedy) Check the conneclionol cabtesandthe power on ot the connected
eoutDment.
0620 Cause) Dala receiveerror
Remedv) Checkthe connection
of cables.
0630 Cause) Datesenderror
Remedv) Checkthe connection
ol cables.
0640 Cause) The conneclion ol teaching box is nol conlirmed.
Remedy) Aiter tuming off power, turn on the power again.
0650 Cause) channelis notopenedyet.
The communication
Remedv) ODencommunicationlinewith"OPN"command.
0700 Cause) Motor-operaledhand interfaceluse is broken
Remedy) Checkthe handcablesandreplacethe tuse.
0710 Cause) Pneumatichand interfaceluse is broken.
Remedy) Check the hand cables and replace the fuse.
Cause) Parallell,/O intertaceluse is broken.
Remedy) Check the l,/O cables and replace the luse.
 ALARMNO. ERRORGENERATING
CAUSEAND ITSREMEDY

1200 Cause) Emergencystop signalis input.(eriternalswitch)

Remedy) Inactivatethe emergencystop and teset the error.

Cause Emergency stopsignalis input. panel

Remedy) Inaclivatethe emergencystop and resetlhe error.

'1220
Cause) Emergencyslop signalis input, (leachingbox)
Remedy) Inaclivatethe emergencystop and resel the error.

1230 Cause) The leaching box is connectedwith the EMG. cancel switch ol the
Remedy) controllerpushed. Remove the
teachingbox when not used. Releasethe EMG. cancel switch ot lhe
controller when using the teaching box.

Remedy) Checkwhetherthe load capacityexceedsthe ralingor the robol

motlonis disturbedby obslacle.
1400-1406 Overcunent
1410-1416 Machanically locked
1420-1426 Overspeed (commandlevel)
1430-1436 Overload
1440-1446 Excessivepositioningerror
1450-1456 Overspeed(teedbacklevel)
Note) The lowestdigitmeansjointnumber-
'1501-1506
Cause) Can'tturn on servopower for no Z phasepositionis memorized.
Remedy) Memorizethe Z phasepositionin accordance wiih the detectinq
procedurewith the teachingbox. The lowest digit
meansioinlnumber.
1600 Cause) Can'1move in XYZmode lor no origin point is set.
Remedy) Sel the originpointwiththe teachingbox.
1700-1799 Cause) Servoparamentererror.
Remedy) Correclthe Darameter.
1800 cause) Stop signal or stop switch is active.
Remedy) Reset stoD slate.
2300 Cause) Warnimgof batleryovertime.
Remedy) Replacelhe old batterywith newone quickly.
2400 Cause operationwhilethe programis running
Remedy) Atterstoppingthe program,try it again.
2410 Cause) lmpossibleoperalionwhile the seryo is on
Remedy) Atter tumning otl the servo,try it again.
2420 Cause operationwhile the servois
Remedy) Atlertumningon the servo,try il again.
2600 Cause) The linenumberassignedfor execuliondoesnotexisl.
Remedy) Checkthe linenumberin the program,and assignagain.
2700 Cause The positiondataassignedfor execution not exisl.
Remedy) Check lhe positiondale in the program,and assignit again.

2800 cause) Syntaxenor occursin the commandstalement.

Remedy) Correctthe commandslatement, andinputit again.
Cause Parameter valueol the commandis outot ranae
Remedy) Correctthe value.
 A L A R MN O . ERRORGENERATING
CAUSEAND ITSREMEDY
2820 Cause) Parameter valueof the INPcommandis incorrect.
Remedy) Correctthe commandstatement,and input it again.
2900 Cause) Incorreclnumberusedin the command
Remedy) Correctthe commandstalement, andinputit again.
3400 Cause) The depth of loopingin RC and NX command exceeds 9levels.
Remedy) Set the loopingdepth within 9 levels.

3500 Cause) The numberof internuDtcommnands exceedsthe limit. .

Remedy) Checkthe programand deletethe inlerruplcommand.
3600 Cause) Can'tcalculateconectly.
Remedy) Check lhe programand correctit.
3700 Cause) IncorrectmalchingbetweenGS and RT command
Remedy) Correctthe program.
3710 Cause) The deoth of GS command exceeds 9 levels.
Remedy) Setthe depth within 9levels.

Cause) Assigned pallet is not defined.

Remedy) Deline the pallet before execution.

3900 Cause) Device is not valid yet.

Remedy) Make lhe device valid.
3910 Cause) Upper-rankeddevice ot priorityis alreadyvalid .
Remedy) Make the upper-rankeddevice invalid.

4501-4506 Cause) Jointangleexceedslhe limit.

Remedy) Movethe joinlintothe movablerangewithiointjog mode.lJthe
Nole) erroroccursduringprogramoperation,modiiy the posiiiondata.
The lowestdigitmeansjointnumber.
4511 -4516 Cause) Orthogonalposilionexceeds the lirnit.
Remedy) Move the ioint into the movable range with ioint jog mode. lf the
Nole) error occurs during program operation, modify the position data.
The lowest digil means joint number.

4521-4526 Cause) Userdetinedareaexceedsthe limit.

Remedy) Movethe iointintothe movablerangewithjointjog mode.Il the
Note) erroroccursduringprogramoperation,moditylhe positiondata.
The lowestdigi'tmeansjointnumber.

4531-4536 Cause) Robotarmcomesintoconlactwiththe tloor.

Remedy) Movethe jointintothe movablerangewithjointjog mode.lf the
Note) erroroccursduringprogramoperation,modifylhe positiondala.
The lowestdigilmeansjointnumber.
4541-4546 Cause) Bobotarm comesinlo contactwith the robotitself.
Remedy) Niovethe joinlintothe movablerangewithjointiog mode.ll the
Note) erroroccursduringprogramoperation, moditythe positiondata.
The lowestdigitmeansjointnumber.
 ALARM NO, ERRORGENERATINGCAUSE AND ITS REMEDY

4550 Cause) Can'tcalculate jointangleof the arm.

Remedy) Movethe joint intothe movablerange with joint iog mode.

4560 Cause) The position where the robot can't reach is taught
Bemedy) Teach the position after moving the robot lo lhe movable range.

4600 Cause) The position is out ol range, or the starting position and the
deslination posilion has a difterent structure flag in linear and
Remedy) circular interpolation. Correct the
position data or the structure lla9.

4700 Cause) Can't calculate the posture of intermediate position between the
Remedy) startposilionand lhe destinationposition.
Add the position with posture between the siart position and the
destination position.

4800-4810 Cause) Speed is excessive.

Remedy) Reducethe assignedspeed.

Cause) Numberof program registrationexceeds the limit.

Remedy) Check the programand delete unnecessaryone.

4910 Cause) Memoryarea is lull. Commandscannot be enlered.

Remedy) Check lhe programand delele unnecessaryone.

5600 Cause) Non-existingprogramis specitied,

Remedv) Check lhe tite name.

5610 Cause) Double detinitionof tile name

Remedy) Check the lile name and delete the excessive one.

s620 Cause) Write prolected

Remedy) Specilyanotherfile.

5630 Cause) Read prolected

Remedy) Specify another lile.

5640 Cause) The tile name is not orooer.

Remedy) Check il the charactersand lhe expressionin lhe program name are
proper.

5650 Cause) Programls laulty.

Remedy) Select the proper program.

5700 Cause) Programnol seleted

Remedy) Speciiythe correct program.

5800 Cause) The step numberspecilied for renumberingis faulty.

Remedy) Check the step number.

5810 Cause) Date assignedlor edition do€s nol exist.

Remedy) Check the programand operate again.

Cause) Uses special-purposeoutput signallor general-purposeoutput.

Remedy) Changethe signalassignmentof special-purposeoutput.Or change
lne program.

F.-?7
 ALARM NO. ERROR
G E N E R A T I NCGA U S EA N DR E M E D Y

6800 Cause) Signalp:rameterassignment ot Plo-Pt2 is incorrect.

Remedy) Table4.5in the reterencemanual/4.1.4 givescorrectcommands
and oaramelers.
6900 Cause) Signalparamelerassignment of POO-PO2is inconEct
Remedy) Table 4.6 in lhe reterencemanual/ 4.'1.4gives conect commands
and Darameters.
7900 Cause) Powervollagein the maincircuit drops.
Remedy) Checkthatpower voltageis as specified.
8900-8999 Cause) Faultoccursin the setf-diagnosisof the syslemsoftware.
Remedy) Afterresettingthe alarm,retrythe operation.
6.6 Troubleshooting.
These tables explain how to shoottroubles.

Trouble shooting.

A trouble A confirmation
matter Troubleshooting
Powersource (1)Checkpowerplug. (1)Connect it surely.
is notready. (2)Checkfuse. (2)Change fuse.Reterencemanual/
5.3.6explainshowto replaceit.
(3)Checkvoltageot power (3)Supplypowersourcewith correct
source. voltage.
Robotdoesnot (1)Checkcommand. (1)Checkcommandnameand format.
work. (2)Checkcable. (2)Connect
cable surely.
(3)Checkemergencystop (3)Reset
emergencystopswitch.
switch.
(4)Checkmovable (4)Movethe robotintothe movable
range. range.
(S)Checkcollision (s)Movethe robotto avoidcollision.
betweenthe robotarm
and mechanical
stopperor external
machines.
(6)Checkmotorpower (6)Connect
cabtesurely.
cable.
(7)Checkan elilernalstop/ (7)Resetstop/ emergencyswitch.
emergencystop.

A computer (1)Checkif the Enable/ (l )SetEnable/ Disableswitchto

cannot inDuta Disableswitchinto Disable.
program. Enable.
(2)Checkcommand (2)Checkcommandnameand format.
(3)Checkcomputer (3)Connect
cabtesurely.
connectioncable.
(4)lsprogramstopping? (4)Push
the reset buttonto reset
program.

Handdosenot (1)Checkparameterof GP (1)Set parameterto a suitablevalue.

work.(Motor command. 2l
hand) (2)Checkgreaseof hand. Chargegreaseto gears. (Contactour
servicedivision).
Handdosenot (1)Checkairsupply. (1)Supplyair.
work. (2)ls solenoidvalve (2)Usea compatiblesolenoidvalve.
(Pneumatic compatible?
handl
 A trouble A confirmation
matter Troubleshooting
It stopped (1)Checkcables. (1)Replace cables.
during (2)Checkexcessiveload. (2)Reduce load.
operation. Specification /5.1.2Ratedload
exp:ainsit.
(3)Checkvoltageof power (3)Uselt in voltagelimit.
source.
(4)Checkpowerlailureor (4)Operate
it onceagain.
powerdrop.
instantaneous
(s)Checkemergencystop (S)Resetthe emergencystopswitch
switch. and operateit again.
(6)Checksmellfrom Motors. (6)Thereis possibilityof molorburned
(7)Checkabnormalsoundand out.Changemotor.
excessivevibration. (7)"Abnormal soundoccurs.",
"Vibrationis large."explainsit.

Positioningof (1)Check electricnoise. (1)Reduce noisesource.

accuracyslips (2)Checkinstallation of the (2)Fasteninstallingboltsof the robot
off repeatedly. robot. arm.
(3)Checktensionof timing (3)Adjust
tensionof timingbelt.
belt. Referencemanual/5.3.3Timingbelt.
(4)Checkinstallation
screwsof (4)Fastenscrewssecurely.
hand. (s)Setorigin.
(5)Checkcombination of the (6)Avoidcollision.
controllerandthe robot.
(6)Checkcollisionbetween
roboland peripheralduring
operation.

Abnormal (1)Checkinstallation
boltsof (1)Fasten screwssecurely.
sound robotarm.
develops. (2)Checksoundfrom reduction(2)Breakage of reductiongearsis
Vibrationis gears.(HarmoicDrives)Check expected.Contactour service
large. vibrationlrom reductiongears. division.
Outputof l/O (1)Checkvoltageand polarity (1)Connect the robotwith correct
does notwork. of e)iternalpowersource. voltagesourceand polarity.
(2)CheckOD and OB
command. (2)Usecommandscorrectly.
(3)Checktransistordamage
lrom loadshortcircuit. (3)Contactourservicedivision.
Robotworked (1)Checkalarm. (1)Contactourservicedivision.
abnormally. (2)Checkif the robotarm
hangsdownjust afterpoweris
oN.
(3)Checkwhich joint works
abnormallv

a_/n
6.7Structureflag.
6.7.1Whatis a structureflag?.
It is a llag that representspose of robot.The robot decides the pose of the tip with
positiondata of X, Y , Z, A, B, (C) coordinates.But there are complementaryposes
that robotcan take with the same positiondata.The robot identifiesthese poseswith
this llag information.
6.7.2Delinitionof each structuretlao.
(1) RrGHT/LEFT.

RV-E2/RV-E2M
This flag showsthe positionof the wrist pitchjoint center (O) trom the vertical
axis throughthe shoulderjoint.
I

RV-E3J/RV-E3JM
This flag showsthe positionof the tool center (O) from the vertical axis through
the shoulderioint.

F i g . 6 . 1 7R I G H T / L E F T .
6-41
(2) ABOVE/BELOW.
Thisflagshowsthe positionof the wristrolljointcenter [O] fromtheaxisthroughthe
shoulderjointandelbowioint.

RV-E2,/RV-E2M

BELOW

RV.E3J/RV.E3JM

BELOW

Fig.6.18 ABoVE/BELOW.

(3) NONFLIP/ FLIP (RV-E2/RV-E2M only.)

This tlag showsthe direction ol the mechanicalinterface from ihe axis throughthe
wrist twist joint and wrist pitch joint.

N O NF I L I P

Mechanicalinterface

F i g . 6 . 1 9N O N F L I P/ F L I P
 Index
A

Alarmlist...............
.... .....6.34
Resening the alarm. ...........................
2-8. 2-25
B

Replacing
the backupbat|ery.......... ....................5-14
c
.3-1

Functions on the backpanel

ol the connectors

ln.loY- l
P

handinterfac€
Dneumatic ............. ...J-8

S
Sampleprogram.

Settingthedock..........
Settingthe inlerpolation
method ............2-33
Settingtheorigin ........1-11
Settingthetimer. ........2-36
solenoid valvesel .....-...1-4
Speed
Jogspeed........... ...............................2-18
Settingthespeed ..............................2-94
Start, Restart
Startupandrestarting............. 2-7,2-23

Screentree....-.--. ...............2-20
Timingchartlor exlemaloperations ........+17
Toofing............... ........4-ZO
Troubleshooting .........S39

Index-2
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