Mitsubishi Electric MELFA User manual

MELFA
Industrial Robot
Instruction Manual
CR1 Controller
133798
BFP-A8056-A
MITSUBISHI ELECTRIC
Art.No.:
2000 05 10
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION

All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
→Enforcement of safety training→Enforcement of safety training
→Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
For teaching work, prepare a work plan related to the methods and procedures ofFor teaching work, prepare a work plan related to the methods and procedures of
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
operating the robot, and to the measures to be taken when an error occurs or whenoperating the robot, and to the measures to be taken when an error occurs or when
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance work
restarting. Carry out work following this plan. (This also applies to maintenance workrestarting. Carry out work following this plan. (This also applies to maintenance work
restarting. Carry out work following this plan. (This also applies to maintenance work
with the power source turned ON.)
with the power source turned ON.)with the power source turned ON.)
with the power source turned ON.)
→Preparation of work plan
→Preparation of work plan→Preparation of work plan
→Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
→Setting of emergency stop switch→Setting of emergency stop switch
→Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on theDuring teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turnedstart switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
ON.)ON.)
ON.)
→Indication of teaching work in progress
→Indication of teaching work in progress→Indication of teaching work in progress
→Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator andProvide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
robot.robot.
robot.
→Installation of safety fence
→Installation of safety fence→Installation of safety fence
→Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and followEstablish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and follow
this method.
this method.this method.
this method.
→Signaling of operation start
→Signaling of operation start→Signaling of operation start
→Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that
As a principle turn the power OFF during maintenance work. Place a sign indicating thatAs a principle turn the power OFF during maintenance work. Place a sign indicating that
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.
maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
→Indication of maintenance work in progress→Indication of maintenance work in progress
→Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other relatedBefore starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.
→Inspection before starting work
→Inspection before starting work→Inspection before starting work
→Inspection before starting work
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
Always read the following precautions and the separate
Always read the following precautions and the separateAlways read the following precautions and the separate
Always read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
"Safety Manual" before starting use of the robot to learn the"Safety Manual" before starting use of the robot to learn the
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.
required measures to be taken.required measures to be taken.
required measures to be taken.
Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions

The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do soUse the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noisecould lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
environment, etc.)
environment, etc.)environment, etc.)
environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting theTransport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
robot in a non-designated posture could lead to personal injuries or faults fromrobot in a non-designated posture could lead to personal injuries or faults from
robot in a non-designated posture could lead to personal injuries or faults from
dropping.
dropping.dropping.
dropping.
Always use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could leadAlways use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
to positional deviation and vibration.to positional deviation and vibration.
to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noiseWire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. FailureDo not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. Failure
to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the ratedMake sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure toSecurely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or fliesobserve this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or flies
off during operation.
off during operation.off during operation.
off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
Securely ground the robot and controller. Failure to observe this could lead toSecurely ground the robot and controller. Failure to observe this could lead to
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
malfunctioning by noise or to electric shock accidents.malfunctioning by noise or to electric shock accidents.
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state couldIndicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure theWhen carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal
priority right for the robot control. Failure to observe this could lead to personalpriority right for the robot control. Failure to observe this could lead to personal
priority right for the robot control. Failure to observe this could lead to personal
injuries or damage if the robot is started with external commands.
injuries or damage if the robot is started with external commands.injuries or damage if the robot is started with external commands.
injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do soKeep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation beforeAfter editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
starting automatic operation. Failure to do so could lead to interference withstarting automatic operation. Failure to do so could lead to interference with
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
peripheral devices because of programming mistakes, etc.peripheral devices because of programming mistakes, etc.
peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic
Make sure that if the safety fence entrance door is opened during automaticMake sure that if the safety fence entrance door is opened during automatic
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do so
operation, the door is locked or that the robot will automatically stop. Failure to do sooperation, the door is locked or that the robot will automatically stop. Failure to do so
operation, the door is locked or that the robot will automatically stop. Failure to do so
could lead to personal injuries.
could lead to personal injuries.could lead to personal injuries.
could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designatedNever carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
maintenance parts.maintenance parts.
maintenance parts.
Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not placeWhen the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingershands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
catching depending on the posture.
catching depending on the posture.catching depending on the posture.
catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's mainDo not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
power OFF.power OFF.
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robotIf the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.
accuracy could be adversely affected.accuracy could be adversely affected.
accuracy could be adversely affected.
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION

Precautions for the basic configuration are shown below.
Precautions for the basic configuration are shown below.Precautions for the basic configuration are shown below.
Precautions for the basic configuration are shown below.(
((
(When CR1-571is used for the controller.)
When CR1-571is used for the controller.)When CR1-571is used for the controller.)
When CR1-571is used for the controller.)
Provide an earth leakage breaker that packed together on the primary power
Provide an earth leakage breaker that packed together on the primary powerProvide an earth leakage breaker that packed together on the primary power
Provide an earth leakage breaker that packed together on the primary power
supply of the controller as protection against electric leakage.
supply of the controller as protection against electric leakage.supply of the controller as protection against electric leakage.
supply of the controller as protection against electric leakage.
Failure to do so could lead to electric shock accidents.
Failure to do so could lead to electric shock accidents.Failure to do so could lead to electric shock accidents.
Failure to do so could lead to electric shock accidents.
CAUTION
CAUTIONCAUTION
CAUTION
Cover
CoverCover
Cover
Terminal cove
r
Terminal cove
r
Terminal cove
r
Terminal cove
r
Power supply
Power supplyPower supply
Power supply
(Single phase 85 to 132VAC,
(Single phase 85 to 132VAC,(Single phase 85 to 132VAC,
(Single phase 85 to 132VAC,
or 170 to 253VAC)
or 170 to 253VAC)or 170 to 253VAC)
or 170 to 253VAC)
Rear side of controller
Rear side of controllerRear side of controller
Rear side of controller
Earth leakage
Earth leakageEarth leakage
Earth leakage
breaker
breakerbreaker
breaker
(NV)
(NV)(NV)
(NV)
Protective earth
Protective earthProtective earth
Protective earth
terminal
terminalterminal
terminal
(PE)
(PE)(PE)
(PE)
Cover
CoverCover
Cover
Terminal
TerminalTerminal
Terminal

Revision history
Revision historyRevision history
Revision history
Date of print
Date of printDate of print
Date of print Specifications No.
Specifications No.Specifications No.
Specifications No. Details of revisions
Details of revisionsDetails of revisions
Details of revisions
1999-11-02
1999-11-021999-11-02
1999-11-02 BFP-A8056Z
BFP-A8056ZBFP-A8056Z
BFP-A8056Z First print.
First print.First print.
First print.
1999-12-28
1999-12-281999-12-28
1999-12-28 BFP-A8056Z-A
BFP-A8056Z-ABFP-A8056Z-A
BFP-A8056Z-A Error in writing correction.
Error in writing correction.Error in writing correction.
Error in writing correction.
2000-04-05
2000-04-052000-04-05
2000-04-05 BFP-A8056Z-B
BFP-A8056Z-BBFP-A8056Z-B
BFP-A8056Z-B Error in writing correction.
Error in writing correction.Error in writing correction.
Error in writing correction.
2000-05-11
2000-05-112000-05-11
2000-05-11 BFP-A8056
BFP-A8056BFP-A8056
BFP-A8056 Formal style.
Formal style.Formal style.
Formal style.

■Introduction
■Introduction■Introduction
■Introduction
Thank you for purchasing the Mitsubishi industrial robot.
Thank you for purchasing the Mitsubishi industrial robot.Thank you for purchasing the Mitsubishi industrial robot.
Thank you for purchasing the Mitsubishi industrial robot.
This instruction manual explains the commands and describes sample programs for the "MOVEMASTER COM
This instruction manual explains the commands and describes sample programs for the "MOVEMASTER COMThis instruction manual explains the commands and describes sample programs for the "MOVEMASTER COM
This instruction manual explains the commands and describes sample programs for the "MOVEMASTER COM-
MANDS".
MANDS".MANDS".
MANDS".
Always read through this manual before starting use to ensure correct usage of the robot.
Always read through this manual before starting use to ensure correct usage of the robot.Always read through this manual before starting use to ensure correct usage of the robot.
Always read through this manual before starting use to ensure correct usage of the robot.
Note that there may be cases when these MOVEMASTER
Note that there may be cases when these MOVEMASTERNote that there may be cases when these MOVEMASTER
Note that there may be cases when these MOVEMASTER COMMANDS
COMMANDSCOMMANDS
COMMANDS cannot be used because of the model.
cannot be used because of the model.cannot be used because of the model.
cannot be used because of the model.
Refer to the standard specifications of the corresponding product and check whether these commands can be
Refer to the standard specifications of the corresponding product and check whether these commands can beRefer to the standard specifications of the corresponding product and check whether these commands can be
Refer to the standard specifications of the corresponding product and check whether these commands can be
used.
used.used.
used.
A
AA
Applicable model list
pplicable model listpplicable model list
pplicable model list. (Jan. 2000)
. (Jan. 2000). (Jan. 2000)
. (Jan. 2000)
・No part of this manual may be reproduced by any means or in any form, without prior consent from
・No part of this manual may be reproduced by any means or in any form, without prior consent from・No part of this manual may be reproduced by any means or in any form, without prior consent from
・No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
Mitsubishi.Mitsubishi.
Mitsubishi.
・The details of this manual are subject to change without notice.
・The details of this manual are subject to change without notice.・The details of this manual are subject to change without notice.
・The details of this manual are subject to change without notice.
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
unclear points are found, please contact your dealer.unclear points are found, please contact your dealer.
unclear points are found, please contact your dealer.
Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION
Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATIONCopyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION
Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION
*RV-1A
*RV-1A*RV-1A
*RV-1A
*RV-2AJ
*RV-2AJ*RV-2AJ
*RV-2AJ

CONTENTS
CONTENTSCONTENTS
CONTENTS
i
iii
Page
PagePage
Page
1
11
1Before starting use
Before starting useBefore starting use
Before starting use ................................................................................................................................
................................................................................................................................................................................................................................................................
...............................................................................................................................................................................
..............................................................................................
............................................... 1-1
1-11-1
1-1
1.1
1.11.1
1.1Using the instruction manuals
Using the instruction manualsUsing the instruction manuals
Using the instruction manuals ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................
....................................
.................. 1-1
1-11-1
1-1
1.1.1
1.1.11.1.1
1.1.1The details of each instruction manuals
The details of each instruction manualsThe details of each instruction manuals
The details of each instruction manuals ......................................................................................................................
............................................................................................................................................................................................................................................
...................................................................................................................... 1-1
1-11-1
1-1
1.1.2
1.1.21.1.2
1.1.2 Symbols used in instruction manual
Symbols used in instruction manualSymbols used in instruction manual
Symbols used in instruction manual ...............................................................................................................................
..............................................................................................................................................................................................................................................................
............................................................................................................................... 1-2
1-21-2
1-2
1.2
1.21.2
1.2 Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................
..............................................................................
....................................... 1-3
1-31-3
1-3
1.2.1
1.2.11.2.1
1.2.1Precautions given in the separate Safety Manual
Precautions given in the separate Safety ManualPrecautions given in the separate Safety Manual
Precautions given in the separate Safety Manual ....................................................................................................
........................................................................................................................................................................................................
.................................................................................................... 1-4
1-41-4
1-4
2
22
2 Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................
..................................................................
................................. 2-5
2-52-5
2-5
2.1
2.12.1
2.1Setting the parameters
Setting the parametersSetting the parameters
Setting the parameters ................................................................................................................................
................................................................................................................................................................................................................................................................
...............................................................................................................................................................
..............................................................
............................... 2-5
2-52-5
2-5
2.2
2.22.2
2.2 Setting of RS-232C
Setting of RS-232CSetting of RS-232C
Setting of RS-232C ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
...................................... 2-5
2-52-5
2-5
(1)
(1)(1)
(1) Communication specification
Communication specificationCommunication specification
Communication specification ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................
................
........ 2-5
2-52-5
2-5
(2)
(2)(2)
(2) DTR control
DTR controlDTR control
DTR control ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................
....................................................................................
.......................................... 2-5
2-52-5
2-5
2.3
2.32.3
2.3 Overview of commands
Overview of commandsOverview of commands
Overview of commands ................................................................................................................................
................................................................................................................................................................................................................................................................
...............................................................................................................................................................
..............................................................
............................... 2-6
2-62-6
2-6
(1)
(1)(1)
(1) Position and motion control commands
Position and motion control commandsPosition and motion control commands
Position and motion control commands .................................................................................................................
..................................................................................................................................................................................................................................
................................................................................................................. 2-6
2-62-6
2-6
(2)
(2)(2)
(2) Program control commands
Program control commandsProgram control commands
Program control commands ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................
....................
.......... 2-6
2-62-6
2-6
(3)
(3)(3)
(3) Hand control command
Hand control commandHand control command
Hand control command ................................................................................................................................
................................................................................................................................................................................................................................................................
...................................................................................................................................................
......................................
................... 2-6
2-62-6
2-6
(4)
(4)(4)
(4) I/O control command
I/O control commandI/O control command
I/O control command ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................
..............................................
....................... 2-6
2-62-6
2-6
(5)
(5)(5)
(5) Communication command (Using RS-232C)
Communication command (Using RS-232C)Communication command (Using RS-232C)
Communication command (Using RS-232C) ..........................................................................................................
....................................................................................................................................................................................................................
.......................................................................................................... 2-6
2-62-6
2-6
(6)
(6)(6)
(6) Other command
Other commandOther command
Other command ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................
....................................................................
.................................. 2-6
2-62-6
2-6
2.4
2.42.4
2.4 Explanation of command
Explanation of commandExplanation of command
Explanation of command ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................
..........................................................
............................. 2-6
2-62-6
2-6
(1)
(1)(1)
(1) A viewpoint of command explanation
A viewpoint of command explanationA viewpoint of command explanation
A viewpoint of command explanation ........................................................................................................................
................................................................................................................................................................................................................................................
........................................................................................................................ 2-6
2-62-6
2-6
(2)
(2)(2)
(2) Line
LineLine
Line ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................................
....................................................................................................................
.......................................................... 2-6
2-62-6
2-6
(3)
(3)(3)
(3) Position number
Position numberPosition number
Position number ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................
..................................................................
................................. 2-6
2-62-6
2-6
(4)
(4)(4)
(4) Counter number
Counter numberCounter number
Counter number ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................
..................................................................
................................. 2-7
2-72-7
2-7
(5)
(5)(5)
(5) Character string numbers
Character string numbersCharacter string numbers
Character string numbers ................................................................................................................................
................................................................................................................................................................................................................................................................
..............................................................................................................................................
............................
.............. 2-7
2-72-7
2-7
(6)
(6)(6)
(6) About the operation data and the comparison value
About the operation data and the comparison valueAbout the operation data and the comparison value
About the operation data and the comparison value .........................................................................................
..................................................................................................................................................................................
......................................................................................... 2-7
2-72-7
2-7
(7)
(7)(7)
(7) Direct execution
Direct executionDirect execution
Direct execution ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................
..................................................................
................................. 2-7
2-72-7
2-7
(8)
(8)(8)
(8) Internal register
Internal registerInternal register
Internal register ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................
....................................................................
.................................. 2-7
2-72-7
2-7
(9)
(9)(9)
(9) Character string register
Character string registerCharacter string register
Character string register ................................................................................................................................
................................................................................................................................................................................................................................................................
................................................................................................................................................
................................
................ 2-7
2-72-7
2-7
(10)
(10)(10)
(10) Internal resister and related command. (Reference)
Internal resister and related command. (Reference)Internal resister and related command. (Reference)
Internal resister and related command. (Reference) ........................................................................................
................................................................................................................................................................................
........................................................................................ 2-8
2-82-8
2-8
(11)
(11)(11)
(11) Character string register and related commands (Reference)
Character string register and related commands (Reference)Character string register and related commands (Reference)
Character string register and related commands (Reference) ....................................................................
........................................................................................................................................
.................................................................... 2-8
2-82-8
2-8
2.5
2.52.5
2.5 Explanation of each command
Explanation of each commandExplanation of each command
Explanation of each command ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................
....................................
.................. 2-9
2-92-9
2-9
ADD (Add)
ADD (Add)ADD (Add)
ADD (Add) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................................
..................................................................................................................
......................................................... 2-9
2-92-9
2-9
AN (And)
AN (And)AN (And)
AN (And) ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................................
....................................................................................................................
..........................................................2-10
2-102-10
2-10
ＣＦ (Change figure)
ＣＦ (Change figure)ＣＦ (Change figure)
ＣＦ (Change figure) ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................
....................................................................
..................................2-11
2-112-11
2-11
CL (Counter Load)
CL (Counter Load)CL (Counter Load)
CL (Counter Load) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
......................................2-12
2-122-12
2-12
CP (Compare Counter)
CP (Compare Counter)CP (Compare Counter)
CP (Compare Counter) ................................................................................................................................
................................................................................................................................................................................................................................................................
..............................................................................................................................................................
............................................................
..............................2-13
2-132-13
2-13
CR (Counter Read)
CR (Counter Read)CR (Counter Read)
CR (Counter Read) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
......................................2-14
2-142-14
2-14
DA (Disable Act)
DA (Disable Act)DA (Disable Act)
DA (Disable Act) ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................
....................................................................................
..........................................2-15
2-152-15
2-15
DC (Decreement counter)
DC (Decreement counter)DC (Decreement counter)
DC (Decreement counter) ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................................
................................................
........................2-15
2-152-15
2-15
DIV (Div)
DIV (Div)DIV (Div)
DIV (Div) ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................................
....................................................................................................................
..........................................................2-16
2-162-16
2-16
DJ (Draw Joint)
DJ (Draw Joint)DJ (Draw Joint)
DJ (Draw Joint) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-17
2-172-17
2-17
DL* (Delete Line)
DL* (Delete Line)DL* (Delete Line)
DL* (Delete Line) ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................................................
................................................................................
........................................2-18
2-182-18
2-18
DP (Decrement Position)
DP (Decrement Position)DP (Decrement Position)
DP (Decrement Position) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................
..................................................
.........................2-18
2-182-18
2-18
DR (Data Read)
DR (Data Read)DR (Data Read)
DR (Data Read) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................................
..........................................................................................
.............................................2-19
2-192-19
2-19
DS (Draw Straight)
DS (Draw Straight)DS (Draw Straight)
DS (Draw Straight) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
......................................2-20
2-202-20
2-20
DW (Draw)
DW (Draw)DW (Draw)
DW (Draw) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................................
..............................................................................................................
.......................................................2-21
2-212-21
2-21
EA (Enable Act)
EA (Enable Act)EA (Enable Act)
EA (Enable Act) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-22
2-222-22
2-22
ED (End)
ED (End)ED (End)
ED (End) ................................................................................................................................
................................................................................................................................................................................................................................................................
...........................................................................................................................................................................................
......................................................................................................................
...........................................................2-24
2-242-24
2-24
EQ (Equal)
EQ (Equal)EQ (Equal)
EQ (Equal) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................................
..............................................................................................................
.......................................................2-25
2-252-25
2-25
ER* (Error Read)
ER* (Error Read)ER* (Error Read)
ER* (Error Read) ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................
....................................................................................
..........................................2-26
2-262-26
2-26
GC (Grip Close)
GC (Grip Close)GC (Grip Close)
GC (Grip Close) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-27
2-272-27
2-27
GF (Grip Flag)
GF (Grip Flag)GF (Grip Flag)
GF (Grip Flag) ................................................................................................................................
................................................................................................................................................................................................................................................................
................................................................................................................................................................................
................................................................................................
................................................2-28
2-282-28
2-28
GO (Grip Open)
GO (Grip Open)GO (Grip Open)
GO (Grip Open) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................................
..........................................................................................
.............................................2-29
2-292-29
2-29
GP (Grip Pressure
GP (Grip PressureGP (Grip Pressure
GP (Grip Pressure ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................
..............................................................................
.......................................2-30
2-302-30
2-30
GS (Go Sub)
GS (Go Sub)GS (Go Sub)
GS (Go Sub) ................................................................................................................................
................................................................................................................................................................................................................................................................
...................................................................................................................................................................................
......................................................................................................
...................................................2-31
2-312-31
2-31
GT (Go To)
GT (Go To)GT (Go To)
GT (Go To) ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................................................................
..........................................................................................................
.....................................................2-32
2-322-32
2-32

ii
iiii
ii
Page
PagePage
Page
HE (Here)
HE (Here)HE (Here)
HE (Here) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................................
..................................................................................................................
.........................................................2-33
2-332-33
2-33
HLT (Halt)
HLT (Halt)HLT (Halt)
HLT (Halt) ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................................................................
................................................................................................................
........................................................2-33
2-332-33
2-33
HO (Home)
HO (Home)HO (Home)
HO (Home) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................................
............................................................................................................
......................................................2-34
2-342-34
2-34
IC (Increment Counter)
IC (Increment Counter)IC (Increment Counter)
IC (Increment Counter) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................
..........................................................
.............................2-34
2-342-34
2-34
ID (Input Direct)
ID (Input Direct)ID (Input Direct)
ID (Input Direct) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-35
2-352-35
2-35
INP (Input)
INP (Input)INP (Input)
INP (Input) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................................
..............................................................................................................
.......................................................2-36
2-362-36
2-36
IP (Increment Position)
IP (Increment Position)IP (Increment Position)
IP (Increment Position) ................................................................................................................................
................................................................................................................................................................................................................................................................
..............................................................................................................................................................
............................................................
..............................2-37
2-372-37
2-37
LG (If Larger)
LG (If Larger)LG (If Larger)
LG (If Larger) ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................................
..................................................................................................
.................................................2-38
2-382-38
2-38
LR* (Line Read)
LR* (Line Read)LR* (Line Read)
LR* (Line Read) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-39
2-392-39
2-39
MA (Move Approach)
MA (Move Approach)MA (Move Approach)
MA (Move Approach) ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................
....................................................................
..................................2-40
2-402-40
2-40
MC (Move Continuous)
MC (Move Continuous)MC (Move Continuous)
MC (Move Continuous) ................................................................................................................................
................................................................................................................................................................................................................................................................
..............................................................................................................................................................
............................................................
..............................2-41
2-412-41
2-41
MJ (Move Joint)
MJ (Move Joint)MJ (Move Joint)
MJ (Move Joint) ................................................................................................................................
................................................................................................................................................................................................................................................................
...........................................................................................................................................................................
......................................................................................
...........................................2-42
2-422-42
2-42
MO (Move)
MO (Move)MO (Move)
MO (Move) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................................
............................................................................................................
......................................................2-43
2-432-43
2-43
MP (Move Position)
MP (Move Position)MP (Move Position)
MP (Move Position) ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................................................
..........................................................................
.....................................2-44
2-442-44
2-44
MR (Move R)
MR (Move R)MR (Move R)
MR (Move R) ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................................
....................................................................................................
..................................................2-45
2-452-45
2-45
MRA (Move RA)
MRA (Move RA)MRA (Move RA)
MRA (Move RA) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-47
2-472-47
2-47
MS (Move Staight)
MS (Move Staight)MS (Move Staight)
MS (Move Staight) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................
..............................................................................
.......................................2-48
2-482-48
2-48
MT (Move Tool)
MT (Move Tool)MT (Move Tool)
MT (Move Tool) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................................
..........................................................................................
.............................................2-49
2-492-49
2-49
MTS (Move Straight)
MTS (Move Straight)MTS (Move Straight)
MTS (Move Straight) ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................
....................................................................
..................................2-50
2-502-50
2-50
MUL
MULMUL
MUL ................................................................................................................................
................................................................................................................................................................................................................................................................
....................................................................................................................................................................................................
........................................................................................................................................
....................................................................2-51
2-512-51
2-51
N * (Number)
N * (Number)N * (Number)
N * (Number) ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................................
....................................................................................................
..................................................2-52
2-522-52
2-52
ＮE (If Not Equal)
ＮE (If Not Equal)ＮE (If Not Equal)
ＮE (If Not Equal) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................
..................................................................................
.........................................2-53
2-532-53
2-53
NT (Nest)
NT (Nest)NT (Nest)
NT (Nest) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................................
..................................................................................................................
.........................................................2-54
2-542-54
2-54
NW * (New)
NW * (New)NW * (New)
NW * (New) ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................................................................
..........................................................................................................
.....................................................2-54
2-542-54
2-54
NX (Next)
NX (Next)NX (Next)
NX (Next) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................................
..................................................................................................................
.........................................................2-54
2-542-54
2-54
OB (Output Bit)
OB (Output Bit)OB (Output Bit)
OB (Output Bit) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-55
2-552-55
2-55
OC (Output Counter)
OC (Output Counter)OC (Output Counter)
OC (Output Counter) ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................
..................................................................
.................................2-56
2-562-56
2-56
OD (Output Direct)
OD (Output Direct)OD (Output Direct)
OD (Output Direct) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
......................................2-57
2-572-57
2-57
OG (Origin)
OG (Origin)OG (Origin)
OG (Origin) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................................
............................................................................................................
......................................................2-57
2-572-57
2-57
OPN (Open)
OPN (Open)OPN (Open)
OPN (Open) ................................................................................................................................
................................................................................................................................................................................................................................................................
....................................................................................................................................................................................
........................................................................................................
....................................................2-58
2-582-58
2-58
OR (Or)
OR (Or)OR (Or)
OR (Or) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................................................
..........................................................................................................................
.............................................................2-59
2-592-59
2-59
OVR (Override)
OVR (Override)OVR (Override)
OVR (Override) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................................
..........................................................................................
.............................................2-60
2-602-60
2-60
PA (Pallet Assign)
PA (Pallet Assign)PA (Pallet Assign)
PA (Pallet Assign) ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................................................
................................................................................
........................................2-61
2-612-61
2-61
PC * (Position Clear)
PC * (Position Clear)PC * (Position Clear)
PC * (Position Clear) ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................
..................................................................
.................................2-61
2-612-61
2-61
PD (Position Define)ＰＤ
PD (Position Define)ＰＤPD (Position Define) ＰＤ
PD (Position Define)ＰＤ ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................
..................................................
.........................2-62
2-622-62
2-62
PL (Position Road)
PL (Position Road)PL (Position Road)
PL (Position Road) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
......................................2-63
2-632-63
2-63
PR (Position Read)
PR (Position Read)PR (Position Read)
PR (Position Read) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
......................................2-64
2-642-64
2-64
PRN * (Print)
PRN * (Print)PRN * (Print)
PRN * (Print) ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................................
..................................................................................................
.................................................2-65
2-652-65
2-65
PT (Pallet)
PT (Pallet)PT (Pallet)
PT (Pallet) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................................
..............................................................................................................
.......................................................2-66
2-662-66
2-66
PW (Pulse Wait)
PW (Pulse Wait)PW (Pulse Wait)
PW (Pulse Wait) ................................................................................................................................
................................................................................................................................................................................................................................................................
............................................................................................................................................................................
........................................................................................
............................................2-67
2-672-67
2-67
PX (Position Exchange)
PX (Position Exchange)PX (Position Exchange)
PX (Position Exchange) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................
..........................................................
.............................2-68
2-682-68
2-68
QN (Question Number)
QN (Question Number)QN (Question Number)
QN (Question Number) ................................................................................................................................
................................................................................................................................................................................................................................................................
..............................................................................................................................................................
............................................................
..............................2-69
2-692-69
2-69
RC (Repeat Cycle)
RC (Repeat Cycle)RC (Repeat Cycle)
RC (Repeat Cycle) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................
..............................................................................
.......................................2-70
2-702-70
2-70
RN * (Run)
RN * (Run)RN * (Run)
RN * (Run) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................................
............................................................................................................
......................................................2-71
2-712-71
2-71
RS * (Reset)
RS * (Reset)RS * (Reset)
RS * (Reset) ................................................................................................................................
................................................................................................................................................................................................................................................................
...................................................................................................................................................................................
......................................................................................................
...................................................2-72
2-722-72
2-72
RT (Return)
RT (Return)RT (Return)
RT (Return) ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................................................................
..........................................................................................................
.....................................................2-72
2-722-72
2-72
SC (Set Counter)
SC (Set Counter)SC (Set Counter)
SC (Set Counter) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................
..................................................................................
.........................................2-73
2-732-73
2-73
SD (Speed Define)
SD (Speed Define)SD (Speed Define)
SD (Speed Define) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................
..............................................................................
.......................................2-74
2-742-74
2-74
SF (Shift)
SF (Shift)SF (Shift)
SF (Shift) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................................
..................................................................................................................
.........................................................2-75
2-752-75
2-75
SM (If Smaller)
SM (If Smaller)SM (If Smaller)
SM (If Smaller) ................................................................................................................................
................................................................................................................................................................................................................................................................
...............................................................................................................................................................................
..............................................................................................
...............................................2-76
2-762-76
2-76
SP (Speed)
SP (Speed)SP (Speed)
SP (Speed) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................................
............................................................................................................
......................................................2-77
2-772-77
2-77
STR * (Step Read)
STR * (Step Read)STR * (Step Read)
STR * (Step Read) ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................
............................................................................
......................................2-79
2-792-79
2-79
SUB
SUBSUB
SUB ................................................................................................................................
................................................................................................................................................................................................................................................................
....................................................................................................................................................................................................
........................................................................................................................................
....................................................................2-80
2-802-80
2-80
TB (Test Bit)
TB (Test Bit)TB (Test Bit)
TB (Test Bit) ................................................................................................................................
................................................................................................................................................................................................................................................................
..................................................................................................................................................................................
....................................................................................................
..................................................2-81
2-812-81
2-81
TBD (Test Bit Dirct)
TBD (Test Bit Dirct)TBD (Test Bit Dirct)
TBD (Test Bit Dirct) ................................................................................................................................
................................................................................................................................................................................................................................................................
...................................................................................................................................................................
......................................................................
...................................2-82
2-822-82
2-82
TI (Timer)
TI (Timer)TI (Timer)
TI (Timer) ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................................
..................................................................................................................
.........................................................2-82
2-822-82
2-82
TL (Tool)
TL (Tool)TL (Tool)
TL (Tool) ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................................................
....................................................................................................................
..........................................................2-83
2-832-83
2-83
TLM (Tool Matrix)
TLM (Tool Matrix)TLM (Tool Matrix)
TLM (Tool Matrix) ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................................................
................................................................................
........................................2-84
2-842-84
2-84

iii
iiiiii
iii
Page
PagePage
Page
VR (Version Read)
VR (Version Read)VR (Version Read)
VR (Version Read) ................................................................................................................................
................................................................................................................................................................................................................................................................
.......................................................................................................................................................................
..............................................................................
.......................................2-85
2-852-85
2-85
WH (Where)
WH (Where)WH (Where)
WH (Where) ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................................................................
..........................................................................................................
.....................................................2-86
2-862-86
2-86
WT (What Tool)
WT (What Tool)WT (What Tool)
WT (What Tool) ................................................................................................................................
................................................................................................................................................................................................................................................................
.............................................................................................................................................................................
..........................................................................................
.............................................2-87
2-872-87
2-87
WTM (What Tool Matrix)
WTM (What Tool Matrix)WTM (What Tool Matrix)
WTM (What Tool Matrix) ................................................................................................................................
................................................................................................................................................................................................................................................................
...........................................................................................................................................................
......................................................
...........................2-87
2-872-87
2-87
XO (Exclusive Or)
XO (Exclusive Or)XO (Exclusive Or)
XO (Exclusive Or) ................................................................................................................................
................................................................................................................................................................................................................................................................
........................................................................................................................................................................
................................................................................
........................................2-88
2-882-88
2-88
’(Comment)
’(Comment)’(Comment)
’(Comment) ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................................................................
..................................................................................................
.................................................2-88
2-882-88
2-88
3
33
3 Command List
Command ListCommand List
Command List ................................................................................................................................
................................................................................................................................................................................................................................................................
......................................................................................................................................................................................
............................................................................................................
...................................................... 3-89
3-893-89
3-89
■Position motion control commands
■Position motion control commands■Position motion control commands
■Position motion control commands ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................
..........
.....3-89
3-893-89
3-89
■Program control commands
■Program control commands■Program control commands
■Program control commands ................................................................................................................................
................................................................................................................................................................................................................................................................
....................................................................................................................................................
........................................
....................3-91
3-913-91
3-91
■Hand control commands
■Hand control commands■Hand control commands
■Hand control commands ................................................................................................................................
................................................................................................................................................................................................................................................................
..........................................................................................................................................................
....................................................
..........................3-92
3-923-92
3-92
■I/O control commands
■I/O control commands■I/O control commands
■I/O control commands ................................................................................................................................
................................................................................................................................................................................................................................................................
..............................................................................................................................................................
............................................................
..............................3-92
3-923-92
3-92
■Operation, subsiture, exchange commands
■Operation, subsiture, exchange commands■Operation, subsiture, exchange commands
■Operation, subsiture, exchange commands ......................................................................................................................
............................................................................................................................................................................................................................................
......................................................................................................................3-93
3-933-93
3-93
■RS-232C communication commands
■RS-232C communication commands■RS-232C communication commands
■RS-232C communication commands ................................................................................................................................
................................................................................................................................................................................................................................................................
.................................................................................................................................
...3-93 3-933-93
3-93
■Other commands
■Other commands■Other commands
■Other commands ................................................................................................................................
................................................................................................................................................................................................................................................................
.........................................................................................................................................................................
..................................................................................
.........................................3-94
3-943-94
3-94
4
44
4Appendix
AppendixAppendix
Appendix ................................................................................................................................
................................................................................................................................................................................................................................................................
....................................................................................................................................................................................
........................................................................................................
....................................................Appendix-95
Appendix-95Appendix-95
Appendix-95
Appendix 1：
Appendix 1：Appendix 1：
Appendix 1：RS-232C signal conductor's timing chart (DTR control)
RS-232C signal conductor's timing chart (DTR control)RS-232C signal conductor's timing chart (DTR control)
RS-232C signal conductor's timing chart (DTR control) .....................................................
..........................................................................................................
..................................................... Appendix-95
Appendix-95Appendix-95
Appendix-95
(1)
(1)(1)
(1) The timing of data transmissions from the personal computer to the robot.
The timing of data transmissions from the personal computer to the robot.The timing of data transmissions from the personal computer to the robot.
The timing of data transmissions from the personal computer to the robot. .......................
..............................................
....................... Appendix-95
Appendix-95Appendix-95
Appendix-95
(2)
(2)(2)
(2) The timing of data transmissions from the robot to the personal computer
The timing of data transmissions from the robot to the personal computerThe timing of data transmissions from the robot to the personal computer
The timing of data transmissions from the robot to the personal computer ........................
................................................
........................ Appendix-95
Appendix-95Appendix-95
Appendix-95
Appendix 2 ：
Appendix 2 ：Appendix 2 ：
Appendix 2 ：Sample program
Sample programSample program
Sample program ................................................................................................................................
................................................................................................................................................................................................................................................................
.....................................................................................................................................
..........
..... Appendix-97
Appendix-97Appendix-97
Appendix-97
(1)
(1)(1)
(1) Pick and place operation
Pick and place operationPick and place operation
Pick and place operation .............................................................................................................................
..........................................................................................................................................................................................................................................................
............................................................................................................................. Appendix-98
Appendix-98Appendix-98
Appendix-98
(2)
(2)(2)
(2) Application of interrupt motion
Application of interrupt motionApplication of interrupt motion
Application of interrupt motion ...............................................................................................................
..............................................................................................................................................................................................................................
............................................................................................................... Appendix-100
Appendix-100Appendix-100
Appendix-100
(3)
(3)(3)
(3) Application of palletizing
Application of palletizingApplication of palletizing
Application of palletizing ............................................................................................................................
........................................................................................................................................................................................................................................................
............................................................................................................................ Appendix-102
Appendix-102Appendix-102
Appendix-102
(4)
(4)(4)
(4) Example of connection with external I/O equipment
Example of connection with external I/O equipmentExample of connection with external I/O equipment
Example of connection with external I/O equipment ....................................................................
........................................................................................................................................
.................................................................... Appendix-107
Appendix-107Appendix-107
Appendix-107

1
11
1Before starting use
Before starting useBefore starting use
Before starting use
Using the instruction manuals
Using the instruction manualsUsing the instruction manuals
Using the instruction manuals 1-
1-1-
1-1
11
1
1Before starting use
1Before starting use1Before starting use
1Before starting use
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and theThis chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
safety precautions.
safety precautions.safety precautions.
safety precautions.
1.1Using the instruction manuals
1.1Using the instruction manuals1.1Using the instruction manuals
1.1Using the instruction manuals
1.1.1The details of each instruction manuals
1.1.1The details of each instruction manuals1.1.1The details of each instruction manuals
1.1.1The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
The contents and purposes of the documents enclosed with this product are shown below. Use these documentsThe contents and purposes of the documents enclosed with this product are shown below. Use these documents
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
according to the application.according to the application.
according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.
For special specifications, a separate instruction manual describing the special section may be enclosed.For special specifications, a separate instruction manual describing the special section may be enclosed.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Explains the common precautions and safety measures to be taken for robot handling,
Explains the common precautions and safety measures to be taken for robot handling,Explains the common precautions and safety measures to be taken for robot handling,
Explains the common precautions and safety measures to be taken for robot handling,
system design and manufacture to ensure safety of the operators involved with the robot.
system design and manufacture to ensure safety of the operators involved with the robot.system design and manufacture to ensure safety of the operators involved with the robot.
system design and manufacture to ensure safety of the operators involved with the robot.
Explains the product's standard specifications, factory-set special specifications, option
Explains the product's standard specifications, factory-set special specifications, optionExplains the product's standard specifications, factory-set special specifications, option
Explains the product's standard specifications, factory-set special specifications, option
configuration and maintenance parts, etc. Precautions for safety and technology, when
configuration and maintenance parts, etc. Precautions for safety and technology, whenconfiguration and maintenance parts, etc. Precautions for safety and technology, when
configuration and maintenance parts, etc. Precautions for safety and technology, when
incorporating the robot, are also explained.
incorporating the robot, are also explained.incorporating the robot, are also explained.
incorporating the robot, are also explained.
Explains the procedures required to operate the robot arm (unpacking, transportation,
Explains the procedures required to operate the robot arm (unpacking, transportation,Explains the procedures required to operate the robot arm (unpacking, transportation,
Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
installation, confirmation of operation), and the maintenance and inspection procedures.installation, confirmation of operation), and the maintenance and inspection procedures.
installation, confirmation of operation), and the maintenance and inspection procedures.
Explains the procedures required to operate the controller (unpacking, transportation,
Explains the procedures required to operate the controller (unpacking, transportation,Explains the procedures required to operate the controller (unpacking, transportation,
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to
installation, confirmation of operation), basic operation from creating the program toinstallation, confirmation of operation), basic operation from creating the program to
installation, confirmation of operation), basic operation from creating the program to
automatic operation, and the maintenance and inspection procedures.
automatic operation, and the maintenance and inspection procedures.automatic operation, and the maintenance and inspection procedures.
automatic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation,
Explains details on the functions and operations such as each function and operation,Explains details on the functions and operations such as each function and operation,
Explains details on the functions and operations such as each function and operation,
commands used in the program, connection with the external input/output device, and
commands used in the program, connection with the external input/output device, andcommands used in the program, connection with the external input/output device, and
commands used in the program, connection with the external input/output device, and
parameters, etc.
parameters, etc.parameters, etc.
parameters, etc.
Explains details on the MOVEMASTER commands used in the program.
Explains details on the MOVEMASTER commands used in the program.Explains details on the MOVEMASTER commands used in the program.
Explains details on the MOVEMASTER commands used in the program.
(For RV-1A/2AJ series)
(For RV-1A/2AJ series)(For RV-1A/2AJ series)
(For RV-1A/2AJ series)
Explains the causes and remedies to be taken when an error occurs. Explanations are given
Explains the causes and remedies to be taken when an error occurs. Explanations are givenExplains the causes and remedies to be taken when an error occurs. Explanations are given
Explains the causes and remedies to be taken when an error occurs. Explanations are given
for each error No.
for each error No.for each error No.
for each error No.
Safety Manual
Safety ManualSafety Manual
Safety Manual
Standard
StandardStandard
Standard
Specifications
SpecificationsSpecifications
Specifications
Robot Arm
Robot ArmRobot Arm
Robot Arm
Setup to Main
Setup to MainSetup to Main
Setup to Main-
tenance
tenancetenance
tenance
Controller
ControllerController
Controller
Setup, Basic
Setup, BasicSetup, Basic
Setup, Basic
Operation to
Operation toOperation to
Operation to
Maintenance
MaintenanceMaintenance
Maintenance
Explanation of
Explanation ofExplanation of
Explanation of
Functions and
Functions andFunctions and
Functions and
Operations
OperationsOperations
Operations
Explanations of
Explanations ofExplanations of
Explanations of
MOVEMASTER
MOVEMASTERMOVEMASTER
MOVEMASTER
COMMANDS
COMMANDSCOMMANDS
COMMANDS
Troubleshoot
TroubleshootTroubleshoot
Troubleshoot-
ing
inging
ing

1-2
1-21-2
1-2 Using the instruction manuals
Using the instruction manualsUsing the instruction manuals
Using the instruction manuals
1
11
1Before starting use
Before starting useBefore starting use
Before starting use
1.1.2 Symbols used in instruction manual
1.1.2 Symbols used in instruction manual1.1.2 Symbols used in instruction manual
1.1.2 Symbols used in instruction manual
The symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning of
The symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning ofThe symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning of
The symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning of
these symbols before reading this instruction manual.
these symbols before reading this instruction manual.these symbols before reading this instruction manual.
these symbols before reading this instruction manual.
Table 1-1：Symbols in instruction manual
Table 1-1：Symbols in instruction manualTable 1-1：Symbols in instruction manual
Table 1-1：Symbols in instruction manual
Symbol
SymbolSymbol
Symbol Meaning
MeaningMeaning
Meaning
Precaution indicating cases where there is a risk of operator fatality or seri
Precaution indicating cases where there is a risk of operator fatality or seriPrecaution indicating cases where there is a risk of operator fatality or seri
Precaution indicating cases where there is a risk of operator fatality or seri-
ous injury if handling is mistaken. Always observe these precautions to safely
ous injury if handling is mistaken. Always observe these precautions to safelyous injury if handling is mistaken. Always observe these precautions to safely
ous injury if handling is mistaken. Always observe these precautions to safely
use the robot.
use the robot.use the robot.
use the robot.
Precaution indicating cases where the operator could be subject to fatalities
Precaution indicating cases where the operator could be subject to fatalitiesPrecaution indicating cases where the operator could be subject to fatalities
Precaution indicating cases where the operator could be subject to fatalities
or serious injuries if handling is mistaken. Always observe these precautions
or serious injuries if handling is mistaken. Always observe these precautionsor serious injuries if handling is mistaken. Always observe these precautions
or serious injuries if handling is mistaken. Always observe these precautions
to safely use the robot.
to safely use the robot.to safely use the robot.
to safely use the robot.
Precaution indicating cases where operator could be subject to injury or
Precaution indicating cases where operator could be subject to injury orPrecaution indicating cases where operator could be subject to injury or
Precaution indicating cases where operator could be subject to injury or
physical damage could occur if handling is mistaken. Always observe these
physical damage could occur if handling is mistaken. Always observe thesephysical damage could occur if handling is mistaken. Always observe these
physical damage could occur if handling is mistaken. Always observe these
precautions to safely use the robot.
precautions to safely use the robot.precautions to safely use the robot.
precautions to safely use the robot.
［JOINT ］
［JOINT ］［ JOINT ］
［JOINT ］If a word is enclosed in brackets or a box in the text, this refers to a key on
If a word is enclosed in brackets or a box in the text, this refers to a key onIf a word is enclosed in brackets or a box in the text, this refers to a key on
If a word is enclosed in brackets or a box in the text, this refers to a key on
the teaching pendant.
the teaching pendant.the teaching pendant.
the teaching pendant.
［＋／ＦＯＲＷＤ］＋［＋Ｘ］
［＋／ＦＯＲＷＤ］＋［＋Ｘ］［＋／ＦＯＲＷＤ］＋［＋Ｘ］
［＋／ＦＯＲＷＤ］＋［＋Ｘ］
（Ａ） （Ｂ）
（Ａ） （Ｂ）（Ａ） （Ｂ）
（Ａ） （Ｂ）
This indicates to press the (B) key while holding down the (A) key.
This indicates to press the (B) key while holding down the (A) key.This indicates to press the (B) key while holding down the (A) key.
This indicates to press the (B) key while holding down the (A) key.
In this example, the [+/Forward] key is pressed while holding down the [+X/
In this example, the [+/Forward] key is pressed while holding down the [+X/In this example, the [+/Forward] key is pressed while holding down the [+X/
In this example, the [+/Forward] key is pressed while holding down the [+X/
+Y] key.
+Y] key.+Y] key.
+Y] key.
［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）
［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）
［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）
（Ａ） （Ｂ） （Ｃ）
（Ａ） （Ｂ） （Ｃ）（Ａ） （Ｂ） （Ｃ）
（Ａ） （Ｂ） （Ｃ）
This indicates to hold down the (A) key, press and release the (B) key, and
This indicates to hold down the (A) key, press and release the (B) key, andThis indicates to hold down the (A) key, press and release the (B) key, and
This indicates to hold down the (A) key, press and release the (B) key, and
then press the (C) key. In this example, the [Step/Move] key is held down, the
then press the (C) key. In this example, the [Step/Move] key is held down, thethen press the (C) key. In this example, the [Step/Move] key is held down, the
then press the (C) key. In this example, the [Step/Move] key is held down, the
[Condition] key is pressed and released, and the [Replace ↓key is pressed.
[Condition] key is pressed and released, and the [Replace ↓key is pressed.[Condition] key is pressed and released, and the [Replace ↓key is pressed.
[Condition] key is pressed and released, and the [Replace ↓key is pressed.
Ｔ／Ｂ
Ｔ／ＢＴ／Ｂ
Ｔ／Ｂ This indicates the teaching pendant.
This indicates the teaching pendant.This indicates the teaching pendant.
This indicates the teaching pendant.
DANGER
DANGERDANGER
DANGER
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION

1
11
1Before starting use
Before starting useBefore starting use
Before starting use
Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions 1-
1-1-
1-3
33
3
1.2 Safety Precautions
1.2 Safety Precautions1.2 Safety Precautions
1.2 Safety Precautions
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learnAlways read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
the required measures to be taken.
the required measures to be taken.the required measures to be taken.
the required measures to be taken.
All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.All teaching work must be carried out by an operator who has received special training.
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
→Enforcement of safety training→Enforcement of safety training
→Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of oper
For teaching work, prepare a work plan related to the methods and procedures of operFor teaching work, prepare a work plan related to the methods and procedures of oper
For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart
ating the robot, and to the measures to be taken when an error occurs or when restartating the robot, and to the measures to be taken when an error occurs or when restart
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
ing. Carry out work following this plan. (This also applies to maintenance work with theing. Carry out work following this plan. (This also applies to maintenance work with the
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
power source turned ON.)power source turned ON.)
power source turned ON.)
→Preparation of work plan
→Preparation of work plan→Preparation of work plan
→Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.Prepare a device that allows operation to be stopped immediately during teaching work.
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)(This also applies to maintenance work with the power source turned ON.)
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
→Setting of emergency stop switch→Setting of emergency stop switch
→Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on theDuring teaching work, place a sign indicating that teaching work is in progress on the
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turnedstart switch, etc. (This also applies to maintenance work with the power source turned
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
ON.)ON.)
ON.)
→Indication of teaching work in progress
→Indication of teaching work in progress→Indication of teaching work in progress
→Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator andProvide a fence or enclosure during operation to prevent contact of the operator and
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
robot.robot.
robot.
→Installation of safety fence
→Installation of safety fence→Installation of safety fence
→Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and followEstablish a set signaling method to the related operators for starting work, and follow
Establish a set signaling method to the related operators for starting work, and follow
this method.
this method.this method.
this method.
→Signaling of operation start
→Signaling of operation start→Signaling of operation start
→Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that
As a principle turn the power OFF during maintenance work. Place a sign indicating thatAs a principle turn the power OFF during maintenance work. Place a sign indicating that
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
maintenance work is in progress on the start switch, etc.maintenance work is in progress on the start switch, etc.
maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
→Indication of maintenance work in progress→Indication of maintenance work in progress
→Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other relatedBefore starting work, inspect the robot, emergency stop switch and other related
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.devices, etc., and confirm that there are no errors.
devices, etc., and confirm that there are no errors.
→Inspection before starting work
→Inspection before starting work→Inspection before starting work
→Inspection before starting work
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
DANGER
DANGERDANGER
DANGER
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION

1-4
1-41-4
1-4 Safety Precautions
Safety PrecautionsSafety Precautions
Safety Precautions
1
11
1Before starting use
Before starting useBefore starting use
Before starting use
1.2.1Precautions given in the separate Safety Manual
1.2.1Precautions given in the separate Safety Manual1.2.1Precautions given in the separate Safety Manual
1.2.1Precautions given in the separate Safety Manual
The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.The points of the precautions given in the separate "Safety Manual" are given below.
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.Refer to the actual "Safety Manual" for details.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do soUse the robot within the environment given in the specifications. Failure to do so
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noisecould lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
environment, etc.)
environment, etc.)environment, etc.)
environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting theTransport the robot with the designated transportation posture. Transporting the
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from drop
robot in a non-designated posture could lead to personal injuries or faults from droprobot in a non-designated posture could lead to personal injuries or faults from drop
robot in a non-designated posture could lead to personal injuries or faults from drop-
ping.
ping.ping.
ping.
Always use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could leadAlways use the robot installed on a secure table. Use in an instable posture could lead
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
to positional deviation and vibration.to positional deviation and vibration.
to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noiseWire the cable as far away from noise sources as possible. If placed near a noise
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.source, positional deviation or malfunction could occur.
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. FailureDo not apply excessive force on the connector or excessively bend the cable. Failure
Do not apply excessive force on the connector or excessively bend the cable. Failure
to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.to observe this could lead to contact defects or wire breakage.
to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the ratedMake sure that the workpiece weight, including the hand, does not exceed the rated
Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.load or tolerable torque. Exceeding these values could lead to alarms or faults.
load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure toSecurely install the hand and tool, and securely grasp the workpiece. Failure to
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or fliesobserve this could lead to personal injuries or damage if the object comes off or flies
observe this could lead to personal injuries or damage if the object comes off or flies
off during operation.
off during operation.off during operation.
off during operation.
Securely ground the robot and controller. Failure to observe this could lead to mal
Securely ground the robot and controller. Failure to observe this could lead to malSecurely ground the robot and controller. Failure to observe this could lead to mal
Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.
functioning by noise or to electric shock accidents.functioning by noise or to electric shock accidents.
functioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state couldIndicate the operation state during robot operation. Failure to indicate the state could
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.lead to operators approaching the robot or to incorrect operation.
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure theWhen carrying out teaching work in the robot's movement range, always secure the
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal inju
priority right for the robot control. Failure to observe this could lead to personal injupriority right for the robot control. Failure to observe this could lead to personal inju
priority right for the robot control. Failure to observe this could lead to personal inju-
ries or damage if the robot is started with external commands.
ries or damage if the robot is started with external commands.ries or damage if the robot is started with external commands.
ries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do soKeep the jog speed as low as possible, and always watch the robot. Failure to do so
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.could lead to interference with the workpiece or peripheral devices.
could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation beforeAfter editing the program, always confirm the operation with step operation before
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with periph
starting automatic operation. Failure to do so could lead to interference with periphstarting automatic operation. Failure to do so could lead to interference with periph
starting automatic operation. Failure to do so could lead to interference with periph-
eral devices because of programming mistakes, etc.
eral devices because of programming mistakes, etc.eral devices because of programming mistakes, etc.
eral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic opera
Make sure that if the safety fence entrance door is opened during automatic operaMake sure that if the safety fence entrance door is opened during automatic opera
Make sure that if the safety fence entrance door is opened during automatic opera-
tion, the door is locked or that the robot will automatically stop. Failure to do so could
tion, the door is locked or that the robot will automatically stop. Failure to do so couldtion, the door is locked or that the robot will automatically stop. Failure to do so could
tion, the door is locked or that the robot will automatically stop. Failure to do so could
lead to personal injuries.
lead to personal injuries.lead to personal injuries.
lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designatedNever carry out modifications based on personal judgments, or use non-designated
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
maintenance parts.maintenance parts.
maintenance parts.
Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.Failure to observe this could lead to faults or failures.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not placeWhen the robot arm has to be moved by hand from an external area, do not place
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingershands or fingers in the openings. Failure to observe this could lead to hands or fingers
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
catching depending on the posture.
catching depending on the posture.catching depending on the posture.
catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's mainDo not stop the robot or apply emergency stop by turning the robot controller's main
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
power OFF.power OFF.
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robotIf the robot controller main power is turned OFF during automatic operation, the robot
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.
accuracy could be adversely affected.accuracy could be adversely affected.
accuracy could be adversely affected.
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
CAUTION
CAUTIONCAUTION
CAUTION
WARNING
WARNINGWARNING
WARNING
CAUTION
CAUTIONCAUTION
CAUTION

2
22
2Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands
Setting the parameters
Setting the parametersSetting the parameters
Setting the parameters 2
22
2-5
-5-5
-5
2 Explanation of Commands
2 Explanation of Commands2 Explanation of Commands
2 Explanation of Commands
2.1Setting the parameters
2.1Setting the parameters2.1Setting the parameters
2.1Setting the parameters
The parameters must be set before using the MOVEMASTER commands.
The parameters must be set before using the MOVEMASTER commands.The parameters must be set before using the MOVEMASTER commands.
The parameters must be set before using the MOVEMASTER commands.
Change the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controller
Change the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controllerChange the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controller
Change the working language parameter: RLNG value to "0" as shown in Table 2-1, and then turn the controller
power ON and OFF before starting use.
power ON and OFF before starting use.power ON and OFF before starting use.
power ON and OFF before starting use.
Refer to the separate
Refer to the separateRefer to the separate
Refer to the separate manual
manualmanual
manual "Detailed Explanation
"Detailed Explanation"Detailed Explanation
"Detailed Explanations
ss
s of Functions and Operations" for details on changing the
of Functions and Operations" for details on changing theof Functions and Operations" for details on changing the
of Functions and Operations" for details on changing the
parameters.
parameters.parameters.
parameters.
Table 2-1：Parameter: RLNG setting
Table 2-1：Parameter: RLNG settingTable 2-1：Parameter: RLNG setting
Table 2-1：Parameter: RLNG setting
Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used.
Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used.Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used.
Note) When the MOVEMASTER COMMANDS is selected, the multitask function cannot be used.
2.2 Setting of RS-232C
2.2 Setting of RS-232C2.2 Setting of RS-232C
2.2 Setting of RS-232C
(1) Communication specification
(1) Communication specification(1) Communication specification
(1) Communication specification
When RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value on
When RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value onWhen RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value on
When RS-232C is used, it is necessary to set setting the communication shown in Table 2-2 in the same value on
the robot controller side and the personal computer side. When this is not the same, it is not possible to
the robot controller side and the personal computer side. When this is not the same, it is not possible tothe robot controller side and the personal computer side. When this is not the same, it is not possible to
the robot controller side and the personal computer side. When this is not the same, it is not possible to
communicate normally.
communicate normally.communicate normally.
communicate normally.
Table 2-2 ：Communication specification
Table 2-2 ：Communication specificationTable 2-2 ：Communication specification
Table 2-2 ：Communication specification
The set value shown in Table 2-2 can be changed with the value set when shipping by robot controller's
The set value shown in Table 2-2 can be changed with the value set when shipping by robot controller'sThe set value shown in Table 2-2 can be changed with the value set when shipping by robot controller's
The set value shown in Table 2-2 can be changed with the value set when shipping by robot controller's
"Communication setting" parameter.
"Communication setting" parameter."Communication setting" parameter.
"Communication setting" parameter.
Refer to separate manual "Detailed Explanation
Refer to separate manual "Detailed ExplanationRefer to separate manual "Detailed Explanation
Refer to separate manual "Detailed Explanations
ss
s of Functions and Operations" for details.
of Functions and Operations" for details.of Functions and Operations" for details.
of Functions and Operations" for details.
(2) DTR control
(2) DTR control(2) DTR control
(2) DTR control
To do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1".
To do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1".To do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1".
To do the DTR control effectively, robot controller's "CDTR232" parameter is set in "1".
Table 2-3 ：Parameter:CDTR232 setting
Table 2-3 ：Parameter:CDTR232 settingTable 2-3 ：Parameter:CDTR232 setting
Table 2-3 ：Parameter:CDTR232 setting
Refer to separate manual "Detailed Explanation
Refer to separate manual "Detailed ExplanationRefer to separate manual "Detailed Explanation
Refer to separate manual "Detailed Explanations
ss
s of Functions and Operations" for modification method of the
of Functions and Operations" for modification method of theof Functions and Operations" for modification method of the
of Functions and Operations" for modification method of the
parameter.
parameter.parameter.
parameter.
Refer to
Refer toRefer to
Refer to page 95, "Appendix 1：RS-232C signal conductor's timing chart (DTR control)" , because the timing
page 95, "Appendix 1：RS-232C signal conductor's timing chart (DTR control)" , because the timingpage 95, "Appendix 1：RS-232C signal conductor's timing chart (DTR control)" , because the timing
page 95, "Appendix 1：RS-232C signal conductor's timing chart (DTR control)" , because the timing
chart of the controll signal line is specified.
chart of the controll signal line is specified.chart of the controll signal line is specified.
chart of the controll signal line is specified.
Setting value
Setting valueSetting value
Setting value Working language
Working languageWorking language
Working language Remarks
RemarksRemarks
Remarks
1
11
1MELFA-BASIC Ⅳ
MELFA-BASIC ⅣMELFA-BASIC Ⅳ
MELFA-BASIC ⅣDefault setting
Default settingDefault setting
Default setting
0
00
0 MOVEMASTER COMMANDS
MOVEMASTER COMMANDSMOVEMASTER COMMANDS
MOVEMASTER COMMANDS
Item
ItemItem
Item Set value
Set valueSet value
Set value
Baud rate
Baud rateBaud rate
Baud rate 9600
96009600
9600 BPS
BPSBPS
BPS
Data bit length
Data bit lengthData bit length
Data bit length 8 bit
8 bit8 bit
8 bit
Parity bit
Parity bitParity bit
Parity bit Even parity
Even parityEven parity
Even parity
Stop bit length
Stop bit lengthStop bit length
Stop bit length 2 bit
2 bit2 bit
2 bit
Changing line code
Changing line codeChanging line code
Changing line code CR
CRCR
CR
Set value
Set valueSet value
Set value Content
ContentContent
Content Remarks
RemarksRemarks
Remarks
１
１１
１DTR control effective
DTR control effectiveDTR control effective
DTR control effective
０
００
０DTR control invalidity
DTR control invalidityDTR control invalidity
DTR control invalidity Setting when shipping
Setting when shippingSetting when shipping
Setting when shipping

2
22
2-
--
-6
66
6 Overview of commands
Overview of commandsOverview of commands
Overview of commands
2
22
2Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands
2.3 Overview of commands
2.3 Overview of commands2.3 Overview of commands
2.3 Overview of commands
This section gives an overview of a wealth of commands provided for the MOVEMASTER command
This section gives an overview of a wealth of commands provided for the MOVEMASTER commandThis section gives an overview of a wealth of commands provided for the MOVEMASTER command
This section gives an overview of a wealth of commands provided for the MOVEMASTER command
method.Commands are classified mainly into six types to the following. You should use appropriate commands
method.Commands are classified mainly into six types to the following. You should use appropriate commandsmethod.Commands are classified mainly into six types to the following. You should use appropriate commands
method.Commands are classified mainly into six types to the following. You should use appropriate commands
according to your application. (
according to your application. (according to your application. (
according to your application. (Refer
ReferRefer
Refer page 89, "3Command List")
page 89, "3Command List")page 89, "3Command List")
page 89, "3Command List")
(1) Position and motion control commands
(1) Position and motion control commands(1) Position and motion control commands
(1) Position and motion control commands
These commands are concerned with definition of position and coordinates as well as assignment of interpolation,
These commands are concerned with definition of position and coordinates as well as assignment of interpolation,These commands are concerned with definition of position and coordinates as well as assignment of interpolation,
These commands are concerned with definition of position and coordinates as well as assignment of interpolation,
speed, timer, tool, palette, etc.
speed, timer, tool, palette, etc.speed, timer, tool, palette, etc.
speed, timer, tool, palette, etc.
(2) Program control commands
(2) Program control commands(2) Program control commands
(2) Program control commands
These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting
These commands are concerned with conditional branching, repetitive operation, interrupting of signals, startingThese commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting
These commands are concerned with conditional branching, repetitive operation, interrupting of signals, starting
and stopping, counter operation, etc.
and stopping, counter operation, etc.and stopping, counter operation, etc.
and stopping, counter operation, etc.
(3) Hand control command
(3) Hand control command(3) Hand control command
(3) Hand control command
These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you
These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, youThese commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you
These commands are concerned with opening/closing action of hand. For the optional motor-operated hand, you
can control gripping force by parameter setting.
can control gripping force by parameter setting.can control gripping force by parameter setting.
can control gripping force by parameter setting.
(4) I/O control command
(4) I/O control command(4) I/O control command
(4) I/O control command
These commands are concerned with input/output control of external I/O. Both single and parallel bits can be
These commands are concerned with input/output control of external I/O. Both single and parallel bits can beThese commands are concerned with input/output control of external I/O. Both single and parallel bits can be
These commands are concerned with input/output control of external I/O. Both single and parallel bits can be
handled enabling the logical operation in the internal register.
handled enabling the logical operation in the internal register.handled enabling the logical operation in the internal register.
handled enabling the logical operation in the internal register.
(5) Communication command (Using RS-232C)
(5) Communication command (Using RS-232C)(5) Communication command (Using RS-232C)
(5) Communication command (Using RS-232C)
These commands transfer internal information of the robot such as counters, positions, program list, input/output
These commands transfer internal information of the robot such as counters, positions, program list, input/outputThese commands transfer internal information of the robot such as counters, positions, program list, input/output
These commands transfer internal information of the robot such as counters, positions, program list, input/output
signal status, parameters to personal computer.
signal status, parameters to personal computer.signal status, parameters to personal computer.
signal status, parameters to personal computer.
(6) Other command
(6) Other command(6) Other command
(6) Other command
These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and
These commands are concerned with setting of parameters, selecting of programs, resetting of errors, andThese commands are concerned with setting of parameters, selecting of programs, resetting of errors, and
These commands are concerned with setting of parameters, selecting of programs, resetting of errors, and
describing of comments.
describing of comments.describing of comments.
describing of comments.
2.4 Explanation of command
2.4 Explanation of command2.4 Explanation of command
2.4 Explanation of command
All commands are explained in alphabetical order to the following
All commands are explained in alphabetical order to the followingAll commands are explained in alphabetical order to the following
All commands are explained in alphabetical order to the following
(1) A viewpoint of command explanation
(1) A viewpoint of command explanation(1) A viewpoint of command explanation
(1) A viewpoint of command explanation
This shows the meaning of title described in the explanation of each command.
This shows the meaning of title described in the explanation of each command.This shows the meaning of title described in the explanation of each command.
This shows the meaning of title described in the explanation of each command.
1) ＊Symbol
1) ＊Symbol1) ＊Symbol
1) ＊Symbol :The command that has ＊mark can not be described in the program with line
:The command that has ＊mark can not be described in the program with line:The command that has ＊mark can not be described in the program with line
:The command that has ＊mark can not be described in the program with line
number. (If done, it will become error.) You should execute the commands
number. (If done, it will become error.) You should execute the commandsnumber. (If done, it will become error.) You should execute the commands
number. (If done, it will become error.) You should execute the commands
directly by personal computer or teaching box.
directly by personal computer or teaching box.directly by personal computer or teaching box.
directly by personal computer or teaching box.
2) 【Function 】
2) 【Function 】2) 【Function 】
2) 【Function 】:Shows the brief Function of command.
:Shows the brief Function of command.:Shows the brief Function of command.
:Shows the brief Function of command.
3) 【Input Format 】
3) 【Input Format 】3) 【Input Format 】
3) 【Input Format 】:Shows the argument of the command entry.
:Shows the argument of the command entry.:Shows the argument of the command entry.
:Shows the argument of the command entry.
< > indicates the command parameter.[ ] indicates the parameter that can be
< > indicates the command parameter.[ ] indicates the parameter that can be< > indicates the command parameter.[ ] indicates the parameter that can be
< > indicates the command parameter.[ ] indicates the parameter that can be
omitted.
omitted.omitted.
omitted.
4) 【Term】
4) 【Term】4) 【Term】
4) 【Term】:Shows the meaning and limited range of command argument.
:Shows the meaning and limited range of command argument.:Shows the meaning and limited range of command argument.
:Shows the meaning and limited range of command argument.
5) 【Explanation 】
5) 【Explanation 】5) 【Explanation 】
5) 【Explanation 】:Explains detailed Function and precautions.
:Explains detailed Function and precautions.:Explains detailed Function and precautions.
:Explains detailed Function and precautions.
6) 【Relating Parameters 】
6) 【Relating Parameters 】6) 【Relating Parameters 】
6) 【Relating Parameters 】:Shows the parameters that have relationship with the command.
:Shows the parameters that have relationship with the command.:Shows the parameters that have relationship with the command.
:Shows the parameters that have relationship with the command.
7) 【Sample program 】
7) 【Sample program 】7) 【Sample program 】
7) 【Sample program 】:Gives a typical program using MOVEMASTER command and BASIC language.
:Gives a typical program using MOVEMASTER command and BASIC language.:Gives a typical program using MOVEMASTER command and BASIC language.
:Gives a typical program using MOVEMASTER command and BASIC language.
(2) Line
(2) Line(2) Line
(2) Line
Line consists of line number and a command sentence. The length of one line contains 120 characters in
Line consists of line number and a command sentence. The length of one line contains 120 characters inLine consists of line number and a command sentence. The length of one line contains 120 characters in
Line consists of line number and a command sentence. The length of one line contains 120 characters in
maximum.
maximum.maximum.
maximum.
(3) Position number
(3) Position number(3) Position number
(3) Position number
The range of position number is 1-999. When program is different from each other, positions from 1-900 are
The range of position number is 1-999. When program is different from each other, positions from 1-900 areThe range of position number is 1-999. When program is different from each other, positions from 1-900 are
The range of position number is 1-999. When program is different from each other, positions from 1-900 are
memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are
memorized as individual data even if they have the same number. On the other hand, positions from 901-999 arememorized as individual data even if they have the same number. On the other hand, positions from 901-999 are
memorized as individual data even if they have the same number. On the other hand, positions from 901-999 are
memorized as common.
memorized as common.memorized as common.
memorized as common.
Further, you can appoint position number indirectly by the value of counter.
Further, you can appoint position number indirectly by the value of counter.Further, you can appoint position number indirectly by the value of counter.
Further, you can appoint position number indirectly by the value of counter.
An example
An exampleAn example
An example 10 SC 21,10
10 SC 21,1010 SC 21,10
10 SC 21,10 :Sets value 10 in counter 21.
:Sets value 10 in counter 21.:Sets value 10 in counter 21.
:Sets value 10 in counter 21.
20 MO ＠21
20 MO ＠2120 MO ＠21
20 MO ＠21:Moves to position 10, the value of counter 21.
:Moves to position 10, the value of counter 21.:Moves to position 10, the value of counter 21.
:Moves to position 10, the value of counter 21.
【Relating Commands 】CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF
【Relating Commands 】CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF【Relating Commands 】CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF
【Relating Commands 】CF,HE,MA,MC,MO,MR,MRA,MS,MT,MTS,PC,PL,PR,PX,SF

2
22
2Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands
Explanation of command
Explanation of commandExplanation of command
Explanation of command 2
22
2-7
-7-7
-7
(4) Counter number
(4) Counter number(4) Counter number
(4) Counter number
The range of counter number is 1-99. When program is different from each other, counters from 1-90 are
The range of counter number is 1-99. When program is different from each other, counters from 1-90 areThe range of counter number is 1-99. When program is different from each other, counters from 1-90 are
The range of counter number is 1-99. When program is different from each other, counters from 1-90 are
memorized as individual data even if they have the same number. On the other hand, counters from 91-99 are
memorized as individual data even if they have the same number. On the other hand, counters from 91-99 arememorized as individual data even if they have the same number. On the other hand, counters from 91-99 are
memorized as individual data even if they have the same number. On the other hand, counters from 91-99 are
memorized as common. Further, you can appoint counter number indirectly by the value of counter.
memorized as common. Further, you can appoint counter number indirectly by the value of counter.memorized as common. Further, you can appoint counter number indirectly by the value of counter.
memorized as common. Further, you can appoint counter number indirectly by the value of counter.
An example
An exampleAn example
An example 10 SC 21,10
10 SC 21,1010 SC 21,10
10 SC 21,10 :Sets value10 in counter 21.
:Sets value10 in counter 21.:Sets value10 in counter 21.
:Sets value10 in counter 21.
20 IC ＠21
20 IC ＠2120 IC ＠21
20 IC ＠21:Adds one to counter 10, the value of counter 21.
:Adds one to counter 10, the value of counter 21.:Adds one to counter 10, the value of counter 21.
:Adds one to counter 10, the value of counter 21.
【Relating Commands 】CL,CP,CR,DC,IC,OC,SC
【Relating Commands 】CL,CP,CR,DC,IC,OC,SC【Relating Commands 】CL,CP,CR,DC,IC,OC,SC
【Relating Commands 】CL,CP,CR,DC,IC,OC,SC
(5) Character string numbers
(5) Character string numbers(5) Character string numbers
(5) Character string numbers
By using a character string number, character strings (max. 120 alphanumeric or symbol characters) can be
By using a character string number, character strings (max. 120 alphanumeric or symbol characters) can beBy using a character string number, character strings (max. 120 alphanumeric or symbol characters) can be
By using a character string number, character strings (max. 120 alphanumeric or symbol characters) can be
communicated to the external device over the serial channel.
communicated to the external device over the serial channel.communicated to the external device over the serial channel.
communicated to the external device over the serial channel.
The character string number can be specified from $1to $99. If the program differs between $1and $90, these will
The character string number can be specified from $1to $99. If the program differs between $1and $90, these willThe character string number can be specified from $1to $99. If the program differs between $1and $90, these will
The character string number can be specified from $1to $99. If the program differs between $1and $90, these will
be registered as separate data even if the number is the same. On the other hand, $91to $99 are common for all
be registered as separate data even if the number is the same. On the other hand, $91to $99 are common for allbe registered as separate data even if the number is the same. On the other hand, $91to $99 are common for all
be registered as separate data even if the number is the same. On the other hand, $91to $99 are common for all
programs. Depending on the counter number value (details), the character string number cannot be specified
programs. Depending on the counter number value (details), the character string number cannot be specifiedprograms. Depending on the counter number value (details), the character string number cannot be specified
programs. Depending on the counter number value (details), the character string number cannot be specified
indirectly.
indirectly.indirectly.
indirectly.
An example
An exampleAn example
An example 10 SC $1, "ABC"
10 SC $1, "ABC"10 SC $1, "ABC"
10 SC $1, "ABC" :Character string "ABC" is set in character string number 1
:Character string "ABC" is set in character string number 1:Character string "ABC" is set in character string number 1
:Character string "ABC" is set in character string number 1
20 CP $1
20 CP $120 CP $1
20 CP $1:The details of character string number 1are set in the character string
:The details of character string number 1are set in the character string:The details of character string number 1are set in the character string
:The details of character string number 1are set in the character string
register
registerregister
register
30 CL $2
30 CL $230 CL $2
30 CL $2 :The details of the character string register are set in character string
:The details of the character string register are set in character string:The details of the character string register are set in character string
:The details of the character string register are set in character string
number 2.
number 2.number 2.
number 2.
【Relating commands 】CL, CP, CR, INP, LG, NE, EQ, SM, SC
【Relating commands 】CL, CP, CR, INP, LG, NE, EQ, SM, SC【Relating commands 】CL, CP, CR, INP, LG, NE, EQ, SM, SC
【Relating commands 】CL, CP, CR, INP, LG, NE, EQ, SM, SC
(6) About the operation data and the comparison value
(6) About the operation data and the comparison value(6) About the operation data and the comparison value
(6) About the operation data and the comparison value
The operation data and the comparison value have the method of specifying the content of the method of directly
The operation data and the comparison value have the method of specifying the content of the method of directlyThe operation data and the comparison value have the method of specifying the content of the method of directly
The operation data and the comparison value have the method of specifying the content of the method of directly
specifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) and
specifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) andspecifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) and
specifying the numerical value (Specification by the decimal number and the hexadecimal number is possible) and
the counter number.
the counter number.the counter number.
the counter number.
When the numerical value is directly specified by the decimal number.When the numerical value is specifiedby the
When the numerical value is directly specified by the decimal number.When the numerical value is specifiedby theWhen the numerical value is directly specified by the decimal number.When the numerical value is specifiedby the
When the numerical value is directly specified by the decimal number.When the numerical value is specifiedby the
hexadecimal number, "&" is input to the head of the hexadecimal number.
hexadecimal number, "&" is input to the head of the hexadecimal number.hexadecimal number, "&" is input to the head of the hexadecimal number.
hexadecimal number, "&" is input to the head of the hexadecimal number.
When the content of the counter number is specified, "@" is input to the head of the counter number.
When the content of the counter number is specified, "@" is input to the head of the counter number.When the content of the counter number is specified, "@" is input to the head of the counter number.
When the content of the counter number is specified, "@" is input to the head of the counter number.
An
AnAn
An xample)
xample)xample)
xample) 10 ADD 10
10 ADD 1010 ADD 10
10 ADD 10;10 is added to internal register.
;10 is added to internal register.;10 is added to internal register.
;10 is added to internal register.
20 ADD &000A
20 ADD &000A20 ADD &000A
20 ADD &000A ;A
;A;A
;A(hexadecimal number)
(hexadecimal number)(hexadecimal number)
(hexadecimal number) is added to internal register.
is added to internal register.is added to internal register.
is added to internal register.
30 SC 1, 10
30 SC 1, 1030 SC 1, 10
30 SC 1, 10;
;;;10 is setted to counter number 1. 10 is setted to counter number 1.10 is setted to counter number 1.
10 is setted to counter number 1.
40 ADD @1
40 ADD @140 ADD @1
40 ADD @1;
;;;The value of counter number 1(10) is added to internal register. The value of counter number 1(10) is added to internal register.The value of counter number 1(10) is added to internal register.
The value of counter number 1(10) is added to internal register.
【Relating commands】：ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO
【Relating commands】：ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO【Relating commands】：ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO
【Relating commands】：ADD, AN, DIV, EQ, LG, MUL, NE OR, SM, SUB, XO
(7) Direct execution
(7) Direct execution(7) Direct execution
(7) Direct execution
If you transfer command to the controller without line number by personal computer or teaching box, it will be
If you transfer command to the controller without line number by personal computer or teaching box, it will beIf you transfer command to the controller without line number by personal computer or teaching box, it will be
If you transfer command to the controller without line number by personal computer or teaching box, it will be
executed instantaneously. (Not be programed.) Especially hold with care in case executing moving command. You
executed instantaneously. (Not be programed.) Especially hold with care in case executing moving command. Youexecuted instantaneously. (Not be programed.) Especially hold with care in case executing moving command. You
executed instantaneously. (Not be programed.) Especially hold with care in case executing moving command. You
can execute PRN and RS-232C communication command even if the program is running.
can execute PRN and RS-232C communication command even if the program is running.can execute PRN and RS-232C communication command even if the program is running.
can execute PRN and RS-232C communication command even if the program is running.
Note:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do direct
Note:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do directNote:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do direct
Note:Make the DTR control shown in the previous item "2.2 Setting of RS-232C" effective when you do direct
execution with RS-232C.
execution with RS-232C.execution with RS-232C.
execution with RS-232C.
A direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), and
A direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), andA direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), and
A direct execution is to make the MODE changeover switch of the controller control panel AUTO (Ext.), and
do it.
do it.do it.
do it.
(8) Internal register
(8) Internal register(8) Internal register
(8) Internal register
The data taken from external I/O are memorized in so called "internal register", then used for conditional
The data taken from external I/O are memorized in so called "internal register", then used for conditionalThe data taken from external I/O are memorized in so called "internal register", then used for conditional
The data taken from external I/O are memorized in so called "internal register", then used for conditional
branching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching on
branching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching onbranching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching on
branching, comparison, logical bit operation, counter setting, and etc. When you carry out conditional branching on
the basis of counter value, you use this internal register too.
the basis of counter value, you use this internal register too.the basis of counter value, you use this internal register too.
the basis of counter value, you use this internal register too.
【Relating Commands 】AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO
【Relating Commands 】AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO【Relating Commands 】AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO
【Relating Commands 】AN,CL,CP,DR,EQ,ID,INP,NE,OR,SM,TB,XO
(9) Character string register
(9) Character string register(9) Character string register
(9) Character string register
The character string led in to the external device over the serial channel is stored in the memory called the
The character string led in to the external device over the serial channel is stored in the memory called theThe character string led in to the external device over the serial channel is stored in the memory called the
The character string led in to the external device over the serial channel is stored in the memory called the
"character string register". It is then used for making settings of the character string comparison or character
"character string register". It is then used for making settings of the character string comparison or character"character string register". It is then used for making settings of the character string comparison or character
"character string register". It is then used for making settings of the character string comparison or character
string number to jump conditions.
string number to jump conditions.string number to jump conditions.
string number to jump conditions.
【Relating commands】CL, CP, INP, LG, NE, EQ, SM
【Relating commands】CL, CP, INP, LG, NE, EQ, SM【Relating commands】CL, CP, INP, LG, NE, EQ, SM
【Relating commands】CL, CP, INP, LG, NE, EQ, SM

2
22
2-
--
-8
88
8 Explanation of command
Explanation of commandExplanation of command
Explanation of command
2
22
2Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands
(10) Internal resister and related command. (Reference)
(10) Internal resister and related command. (Reference)(10) Internal resister and related command. (Reference)
(10) Internal resister and related command. (Reference)
It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.
It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.
It shows it as follows about interior resister, counter, input port and flow of treatment of command concerned.
(11) Character string register and related commands (Reference)
(11) Character string register and related commands (Reference)(11) Character string register and related commands (Reference)
(11) Character string register and related commands (Reference)
The flow of the character string register, character string and related command process is shown below.
The flow of the character string register, character string and related command process is shown below.The flow of the character string register, character string and related command process is shown below.
The flow of the character string register, character string and related command process is shown below.
TBD
TBDTBD
TBD
EA
EAEA
EA
TB
TBTB
TB
EQ
EQEQ
EQ
LG
LGLG
LG
SM
SMSM
SM
NE
NENE
NE
DR
DRDR
DR
CR
CRCR
CR
INP
INPINP
INP
(PRN)
(PRN)(PRN)
(PRN)
SC
SCSC
SC
IC
ICIC
IC
DC
DCDC
DC
OD
ODOD
OD
OB
OBOB
OB
(16bit)
(16bit)(16bit)
(16bit)
98
9898
98
99
9999
99
Counter
CounterCounter
Counter
1
11
1
2
22
2
3
33
3
CL
CLCL
CL CP
CPCP
CP
OC
OCOC
OC
(1bit)
(1bit)(1bit)
(1bit)
900
900900
900
32767
3276732767
32767
0
00
0
(1bit)
(1bit)(1bit)
(1bit) 32767
3276732767
32767
900
900900
900
0
00
0
ID
IDID
ID
Internal
InternalInternal
Internal
resister
resisterresister
resister
(16bit)
(16bit)(16bit)
(16bit)
General I/O
General I/OGeneral I/O
General I/O
Counter
CounterCounter
Counter
/internal
/internal/internal
/internal
resister
resisterresister
resister
transmission.
transmission.transmission.
transmission.
Note
NoteNote
Note1
11
1
Counter/output port
Counter/output portCounter/output port
Counter/output port
transmission
transmissiontransmission
transmission
Input port
Input portInput port
Input port
Output port
Output portOutput port
Output port
INP
INPINP
INP
(RS232Capplication)
(RS232Capplication)(RS232Capplication)
(RS232Capplication)
(RS232Capplication)
(RS232Capplication)(RS232Capplication)
(RS232Capplication)
Note
NoteNote
Note2
22
2
Condition jump
Condition jump Condition jump
Condition jump Logio operation
Logio operation Logio operation
Logio operation Getting data
Getting data Getting data
Getting data
from RS-232C
from RS-232C from RS-232C
from RS-232C Counter operation
Counter operation Counter operation
Counter operation General I/O
General I/O General I/O
General I/O
ADD
ADDADD
ADD
SUB
SUBSUB
SUB
MUL
MULMUL
MUL
DIV
DIVDIV
DIV
AN
ANAN
AN
OR
OROR
OR
XO
XOXO
XO
Note 1) Address 900 is the hand input/output.
Note 1) Address 900 is the hand input/output.Note 1) Address 900 is the hand input/output.
Note 1) Address 900 is the hand input/output.
Note 2) If the counter number is omitted, it will be set in the internal resister.
Note 2) If the counter number is omitted, it will be set in the internal resister.Note 2) If the counter number is omitted, it will be set in the internal resister.
Note 2) If the counter number is omitted, it will be set in the internal resister.
CL $1
CL $1CL $1
CL $1CP $1
CP $1CP $1
CP $1
Condition jump
Condition jumpCondition jump
Condition jump
Character string
Character stringCharacter string
Character string
register
registerregister
register
$1
$1$1
$1
$2
$2$2
$2
$3
$3$3
$3
$99
$99$99
$99
INP 1, ,2
INP 1, ,2INP 1, ,2
INP 1, ,2
INP 1,$1,2
INP 1,$1,2INP 1,$1,2
INP 1,$1,2
CR $2
CR $2CR $2
CR $2
Input
InputInput
Input
Output
OutputOutput
Output
Set
SetSet
Set
Input
InputInput
Input
SC $99,"RUN"
SC $99,"RUN"SC $99,"RUN"
SC $99,"RUN"
EQ/NE $1,100
EQ/NE $1,100EQ/NE $1,100
EQ/NE $1,100
LG/SM $2,200
LG/SM $2,200LG/SM $2,200
LG/SM $2,200
; When character
; When character; When character
; When character
; number is omitted
; number is omitted; number is omitted
; number is omitted
RS-232Cinput
RS-232CinputRS-232Cinput
RS-232Cinput
RS-232Coutpu
t
RS-232CoutputRS-232Coutpu
t
RS-232Coutput
Character string
Character stringCharacter string
Character string
(120 character max.)
(120 character max.)(120 character max.)
(120 character max.)

2
22
2 Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands
ADD (Add)
ADD (Add)ADD (Add)
ADD (Add) 2
22
2-9
-9-9
-9
2.5 Explanation of each command
2.5 Explanation of each command2.5 Explanation of each command
2.5 Explanation of each command
Hereafter, each command (instruction) is explained in alphabetical order.
Hereafter, each command (instruction) is explained in alphabetical order.Hereafter, each command (instruction) is explained in alphabetical order.
Hereafter, each command (instruction) is explained in alphabetical order.
ADD (Add)
ADD (Add)ADD (Add)
ADD (Add)
【Function 】
【Function 】【 Function 】
【Function 】
Multiples the internal register value, and stores the result in the internal register.
Multiples the internal register value, and stores the result in the internal register.Multiples the internal register value, and stores the result in the internal register.
Multiples the internal register value, and stores the result in the internal register.
【Input Format 】
【Input Format 】【 Input Format 】
【Input Format 】
【Term 】
【Term 】【 Term 】
【Term 】
<Operation data> Describes the data to be operated as a numeric value or counter No. with @.
<Operation data> Describes the data to be operated as a numeric value or counter No. with @.<Operation data> Describes the data to be operated as a numeric value or counter No. with @.
<Operation data> Describes the data to be operated as a numeric value or counter No. with @.
-32768 ≦numeric value (decimal) ≦32767
-32768 ≦numeric value (decimal) ≦32767-32768 ≦numeric value (decimal) ≦32767
-32768 ≦numeric value (decimal) ≦32767
&8000 ≦numeric value (hexadecimal) ≦&7FFF
&8000 ≦numeric value (hexadecimal) ≦&7FFF&8000 ≦numeric value (hexadecimal) ≦&7FFF
&8000 ≦numeric value (hexadecimal) ≦&7FFF
@1≦Counter No. ≦@99
@1≦Counter No. ≦@99@1≦Counter No. ≦@99
@1≦Counter No. ≦@99
【Explanation 】
【Explanation 】【 Explanation 】
【Explanation 】
(1)Designate the operation datasetting as a numeric value or counter No.
(1)Designate the operation datasetting as a numeric value or counter No.(1)Designate the operation datasetting as a numeric value or counter No.
(1)Designate the operation datasetting as a numeric value or counter No.
When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&"
When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&"When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&"
When designating eith a numeric value, use a decimal or hexadecimal value. When using a hexadecimal, add a "&"
to the head of the operation data.
to the head of the operation data.to the head of the operation data.
to the head of the operation data.
When setting with a counter No. will be used as the operation data.
When setting with a counter No. will be used as the operation data.When setting with a counter No. will be used as the operation data.
When setting with a counter No. will be used as the operation data.
(2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the
(2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the(2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the
(2)The operation results are stored in the internal register, so operation, comparison and reading, etc., of the
operation results can be carried out with the related commands.
operation results can be carried out with the related commands.operation results can be carried out with the related commands.
operation results can be carried out with the related commands.
(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR
(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR
(Refer to SUB, MUL, DIV. EQ, NE, LG, SM, CL, DR, OR, AN, XO
, AN, XO, AN, XO
, AN, XO commands)
commands)commands)
commands)
【Sample program 】(Movemaster command)
【Sample program 】(Movemaster command)【Sample program 】(Movemaster command)
【Sample program 】(Movemaster command)
10 CP1
10 CP110 CP1
10 CP1; Stores counter No.1value in internaal register
; Stores counter No.1value in internaal register; Stores counter No.1value in internaal register
; Stores counter No.1value in internaal register
20 ADD @2
20 ADD @220 ADD @2
20 ADD @2 ; Counter No.2 to the contents of multiplies internal register value.
; Counter No.2 to the contents of multiplies internal register value.; Counter No.2 to the contents of multiplies internal register value.
; Counter No.2 to the contents of multiplies internal register value.
30 CL3
30 CL330 CL3
30 CL3 ; Sets internal register value in counter No.3
; Sets internal register value in counter No.3; Sets internal register value in counter No.3
; Sets internal register value in counter No.3
(Counter No.3 = counter No.1+ counter No.2)
(Counter No.3 = counter No.1+ counter No.2)(Counter No.3 = counter No.1+ counter No.2)
(Counter No.3 = counter No.1+ counter No.2)
40 CP1
40 CP140 CP1
40 CP1; Stores counter No.1value in internal register
; Stores counter No.1value in internal register; Stores counter No.1value in internal register
; Stores counter No.1value in internal register
50 ADD 15
50 ADD 1550 ADD 15
50 ADD 15 ; Add 15 to the contents of multiplies internal register value.
; Add 15 to the contents of multiplies internal register value.; Add 15 to the contents of multiplies internal register value.
; Add 15 to the contents of multiplies internal register value.
60 CL4
60 CL460 CL4
60 CL4 ; Sets internal register value in counter No.4
; Sets internal register value in counter No.4; Sets internal register value in counter No.4
; Sets internal register value in counter No.4
(Counter No.4 = counter No.1+ 15)
(Counter No.4 = counter No.1+ 15)(Counter No.4 = counter No.1+ 15)
(Counter No.4 = counter No.1+ 15)
ADD <Operation data>
ADD <Operation data>ADD <Operation data>
ADD <Operation data>

2
22
2-
--
-10
1010
10 AN (And)
AN (And)AN (And)
AN (And)
2
22
2 Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands
AN (And)
AN (And)AN (And)
AN (And)
【Function 】
【Function 】【 Function 】
【Function 】
ANDs the specified value with the internal register, then stores the result to the internal register.
ANDs the specified value with the internal register, then stores the result to the internal register.ANDs the specified value with the internal register, then stores the result to the internal register.
ANDs the specified value with the internal register, then stores the result to the internal register.
【Input Format 】
【Input Format 】【 Input Format 】
【Input Format 】
【Term 】
【Term 】【 Term 】
【Term 】
<operation data>
<operation data><operation data>
<operation data> Specify the data to be operated
Specify the data to be operatedSpecify the data to be operated
Specify the data to be operated or counter No. with @
or counter No. with @or counter No. with @
or counter No. with @.
...
-32768 ≦operation data (decimal) ≦32767
-32768 ≦operation data (decimal) ≦32767-32768 ≦operation data (decimal) ≦32767
-32768 ≦operation data (decimal) ≦32767
&8000 ≦operation data (hexadecimal) ≦&7FFF
&8000 ≦operation data (hexadecimal) ≦&7FFF&8000 ≦operation data (hexadecimal) ≦&7FFF
&8000 ≦operation data (hexadecimal) ≦&7FFF
@1
@1@1
@1≦
≦≦
≦counter No.
counter No.counter No.
counter No. ≦
≦≦
≦@99
@99@99
@99
【Explanation 】
【Explanation 】【 Explanation 】
【Explanation 】
(1) Specify the data to be operated in decimal or hexadecimal.
(1) Specify the data to be operated in decimal or hexadecimal.(1) Specify the data to be operated in decimal or hexadecimal.
(1) Specify the data to be operated in decimal or hexadecimal.
Any hexadecimal value must be headed by "&".
Any hexadecimal value must be headed by "&".Any hexadecimal value must be headed by "&".
Any hexadecimal value must be headed by "&".
(2) The operation result is stored into the internal register and can be changed, compared or read by relevant
(2) The operation result is stored into the internal register and can be changed, compared or read by relevant(2) The operation result is stored into the internal register and can be changed, compared or read by relevant
(2) The operation result is stored into the internal register and can be changed, compared or read by relevant
commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)
commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)
commands. (See the EQ, NE, LG, SM, CL, DR, OR commands)
(3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input
(3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input(3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input
(3) Execution of the AN command after the input commands (ID) allows receiving of only the required bits of the input
data fetched from the external device.
data fetched from the external device.data fetched from the external device.
data fetched from the external device.
【Sample program 】(Movemaster command)
【Sample program 】(Movemaster command)【Sample program 】(Movemaster command)
【Sample program 】(Movemaster command)
10 ID
10 ID10 ID
10 ID ; Fetches data from external input port.
; Fetches data from external input port.; Fetches data from external input port.
; Fetches data from external input port.
20 AN &000F
20 AN &000F20 AN &000F
20 AN &000F ; Receives four lower bits only
; Receives four lower bits only; Receives four lower bits only
; Receives four lower bits only
30 CL 12
30 CL 1230 CL 12
30 CL 12 ; Loads above data into counter 12
; Loads above data into counter 12; Loads above data into counter 12
; Loads above data into counter 12
40 EQ 8,200
40 EQ 8,20040 EQ 8,200
40 EQ 8,200 ; Jumps to line 200 if above data is equal to 8.
; Jumps to line 200 if above data is equal to 8.; Jumps to line 200 if above data is equal to 8.
; Jumps to line 200 if above data is equal to 8.
50 ED
50 ED50 ED
50 ED ; Ends program.
; Ends program.; Ends program.
; Ends program.
200 MO 99
200 MO 99200 MO 99
200 MO 99 ; Moves to position 99.
; Moves to position 99.; Moves to position 99.
; Moves to position 99.
AN <operation data>
AN <operation data>AN <operation data>
AN <operation data>

2
22
2 Explanation of Commands
Explanation of CommandsExplanation of Commands
Explanation of Commands
ＣＦ (Change figure)
ＣＦ (Change figure)ＣＦ (Change figure)
ＣＦ (Change figure) 2
22
2-11
-11-11
-11
ＣＦ (Change figure)
ＣＦ (Change figure)ＣＦ (Change figure)
ＣＦ (Change figure)
【Function 】
【Function 】【 Function 】
【Function 】
Changes the attitude data of the robot at the specified position.
Changes the attitude data of the robot at the specified position.Changes the attitude data of the robot at the specified position.
Changes the attitude data of the robot at the specified position.
【Input Format 】
【Input Format 】【 Input Format 】
【Input Format 】
(1) 6-axis type
(1) 6-axis type(1) 6-axis type
(1) 6-axis type
(2) 5-axis type
(2) 5-axis type(2) 5-axis type
(2) 5-axis type
【Term 】
【Term 】【 Term 】
【Term 】
<Position number>
<Position number><Position number>
<Position number> Specify position number changing attitude data in integer value.
Specify position number changing attitude data in integer value.Specify position number changing attitude data in integer value.
Specify position number changing attitude data in integer value.
1≦position number ≦999
1≦position number ≦9991≦position number ≦999
1≦position number ≦999
<R/L>
<R/L><R/L>
<R/L> Appoint structure flag of the robot to Right or Left.
Appoint structure flag of the robot to Right or Left.Appoint structure flag of the robot to Right or Left.
Appoint structure flag of the robot to Right or Left.
R : Right (Default)
R : Right (Default)R : Right (Default)
R : Right (Default)
L : Left
L : LeftL : Left
L : Left
<A/B>
<A/B><A/B>
<A/B> Appoint structure flag of the robot to Above or Below.
Appoint structure flag of the robot to Above or Below.Appoint structure flag of the robot to Above or Below.
Appoint structure flag of the robot to Above or Below.
A : Above (Default)
A : Above (Default)A : Above (Default)
A : Above (Default)
B : Below
B : BelowB : Below
B : Below
<N/F>
<N/F><N/F>
<N/F> Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)
Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)
Appoint structure flag of the robot to Non flip or Flip. (6-axis type only)
N : Nonflip (Default)
N : Nonflip (Default)N : Nonflip (Default)
N : Nonflip (Default)
F : Flip
F : FlipF : Flip
F : Flip
【Explanation 】
【Explanation 】【 Explanation 】
【Explanation 】
(1) Changes the attitude data of the robot at the specified position.
(1) Changes the attitude data of the robot at the specified position.(1) Changes the attitude data of the robot at the specified position.
(1) Changes the attitude data of the robot at the specified position.
(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.
(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.
(2) Does not effect the coordinate data of the specified position and the open/close state of the hand.
(3) Even if the position is reachable before executing this command, there is case becoming not reachable in the
(3) Even if the position is reachable before executing this command, there is case becoming not reachable in the(3) Even if the position is reachable before executing this command, there is case becoming not reachable in the
(3) Even if the position is reachable before executing this command, there is case becoming not reachable in the
waist and shoulder joint after execution.
waist and shoulder joint after execution.waist and shoulder joint after execution.
waist and shoulder joint after execution.
(4) You can confirm the attitude of the specified position by PR command.
(4) You can confirm the attitude of the specified position by PR command.(4) You can confirm the attitude of the specified position by PR command.
(4) You can confirm the attitude of the specified position by PR command.
【Sample program 】(Movemaster command)
【Sample program 】(Movemaster command)【Sample program 】(Movemaster command)
【Sample program 】(Movemaster command)
(1)6-axis type
(1)6-axis type(1)6-axis type
(1)6-axis type
10 PD 1,530,0,470,10,135,-10,R,A,N
10 PD 1,530,0,470,10,135,-10,R,A,N10 PD 1,530,0,470,10,135,-10,R,A,N
10 PD 1,530,0,470,10,135,-10,R,A,N ; Defines the position 1. (Right、Above、Non Flip)
; Defines the position 1. (Right、Above、Non Flip); Defines the position 1. (Right、Above、Non Flip)
; Defines the position 1. (Right、Above、Non Flip)
20 MO 1
20 MO 120 MO 1
20 MO 1; Moves to position 1.
; Moves to position 1.; Moves to position 1.
; Moves to position 1.
30 CF 1,R,A,F
30 CF 1,R,A,F30 CF 1,R,A,F
30 CF 1,R,A,F ; Changes the attitude of position 1. (Right、Above、Flip)
; Changes the attitude of position 1. (Right、Above、Flip); Changes the attitude of position 1. (Right、Above、Flip)
; Changes the attitude of position 1. (Right、Above、Flip)
40 MO 1
40 MO 140 MO 1
40 MO 1; Defines the position 1.
; Defines the position 1.; Defines the position 1.
; Defines the position 1.
(2)5-axis type
(2)5-axis type(2)5-axis type
(2)5-axis type
10 PD 1,-280,-50,970,-10,-20,L,A
10 PD 1,-280,-50,970,-10,-20,L,A10 PD 1,-280,-50,970,-10,-20,L,A
10 PD 1,-280,-50,970,-10,-20,L,A ; Defines the position 1. (Left、Above)
; Defines the position 1. (Left、Above); Defines the position 1. (Left、Above)
; Defines the position 1. (Left、Above)
20 MO 1
20 MO 120 MO 1
20 MO 1; Moves to position 1.
; Moves to position 1.; Moves to position 1.
; Moves to position 1.
30 CF 1,R,A
30 CF 1,R,A30 CF 1,R,A
30 CF 1,R,A ; Changes the attitude of position 1. (Right、Above)
; Changes the attitude of position 1. (Right、Above); Changes the attitude of position 1. (Right、Above)
; Changes the attitude of position 1. (Right、Above)
40 MO 1
40 MO 140 MO 1
40 MO 1; Defines the position 1.
; Defines the position 1.; Defines the position 1.
; Defines the position 1.
CF <position number> ［， ［<R/L>］［，［<A/B>］［，［<N/F>］］］］
CF <position number> ［， ［<R/L>］［，［<A/B>］［，［<N/F>］］］］CF <position number> ［， ［<R/L>］［，［<A/B>］［，［<N/F>］］］］
CF <position number> ［， ［<R/L>］［，［<A/B>］［，［<N/F>］］］］
CF <position number> ［， ［<R/L>］［，［<A/B>］］］
CF <position number> ［， ［<R/L>］［，［<A/B>］］］CF <position number> ［， ［<R/L>］［，［<A/B>］］］
CF <position number> ［， ［<R/L>］［，［<A/B>］］］