Motoman 131915-1 User manual

ERC BASIC
PROGRAMMING
QUICK REFERENCE
GUIDE
Revised 10/14/96
Part Number 131915-1
December 1, 1993
MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: [phone] FAX: [phone]
24-HOUR SERVICE HOTLINE: [phone]
The information contained within this document is the proprietary
property of Motoman, Inc., and may not be copied, reproduced or
transmitted to other parties without the expressed written
authorization of Motoman, Inc.
©1999 by MOTOMAN
All Rights Reserved

1
C
alling A Job
TEACH ➨OTHER JOB ➨(cursor to job) ➨
ENTER
1. Press TEACH.
2. Press OTHER JOB.
3. Move cursor to job.
4. Press ENTER.
P
laying A Job
PLAY ➨ CYCLE (AUTO, 1-CYCLE, OR STEP)
➨ START
1. Call the job to be played onto the screen.
2. Press the PLAY key.
3. Choose the desired cycle (AUTO, 1-
CYCLE, or STEP).
4. Press the START button.
C
alling Master Job To Screen
TEACH ➨ MASTER JOB ➨ CALL ➨ PLAY
➨ START
1. Press the TEACH button.
2. Press MASTER JOB.
3. Press CALL.
4. Press PLAY.
5. Press START.

2
R
egistration Of Master Job
TEACH ➨ MASTER JOB ➨ STORE ➨
(cursor to job) ➨ ENTER
1. Press TEACH.
2. Press MASTER JOB.
3. Press STORE.
4. Move cursor to job by using the
CURSOR keys.
5. Press ENTER.
N
aming a Job Alphabetically
TEACH ➨ NEW JOB ➨ JOB ➨ ABC·ABC
➨ (insert data) ➨ EXIT➨ ENTER
1. Press the TEACH button.
2. Press NEW JOB.
3. Press JOB.
4. Press ABC•ABC.
Character display appears.
5. Place the cursor on the desired alphabet
letter by using the CURSOR keys. Press
the ENTER key. Move cursor to the
next desired alphabet letter and press
ENTER again. Continue until spelling
is complete.
6. Press EXIT to end the character inputting.
Otherwise the job cannot be registered.
7. Press ENTER.

3
E
-Stop Recovery
1. Release the E-Stop by twisting the button
clockwise.
2. Engage servo power by pressing the
SERVO POWER ON key on the operator's
panel or operator's station.
3. Wait three seconds for the controller to
acquire the encoder data.
4. Press the START pushbutton on the
operator's panel or operator's station.
S
low Speed
PLAY ➨SLOW SPEED ➨START
1. Press PLAY.
2. Press SLOW SPEED.
3. Press START.
C
heck
PLAY ➨CHECK ➨START
1. Press PLAY.
2. Press CHECK.
3. Press START.
To release check operation:
PLAY ➨RELEASE
1. Press PLAY.
2. Press RELEASE.

4
M
odifying Points
(move cursor) ➨(move manipulator) ➨
MODIFY ➨RECORD
1. Move the cursor to the position that will
be modified.
2. Move the manipulator to the desired point.
3. Press MODIFY.
4. Press RECORD.
I
nserting Points
(move cursor) ➨(move manipulator) ➨
INSERT ➨RECORD
1. Move the cursor to the position before the
step to be inserted. The new step will be
inserted after the position of the cursor.
2. Move the manipulator to the desired point.
3. Press INSERT.
4. Press RECORD.
D
eleting Points
ADDR ➨(move cursor) ➨DELETE ➨
RECORD
1. Press ADDR key.
2. Move the cursor to the step to be deleted.
3. Press DELETE.
4. Press RECORD.

5
P
osition Level Specification
MOTION TYPE ➨PLAY SPEED ➨POS LVL
➨+ON or -OFF ➨RECORD
1. Choose MOTION TYPE.
2. Choose PLAY SPEED.
3. Press POS LVL.
The positioning level previously selected
is displayed.
4. Select the desired level by pressing +ON
or -OFF.
5. Press RECORD.
M
odifying Motion Types
(cursor to step) ➨EDIT ➨ALTER ➨
CHOOSE MOTION TYPE ➨ENTER
1. At the operator's panel cursor to the step
to be changed.
2. Press the EDIT key.
3. Press the soft key labeled ALTER.
4. Choose motion type.
5. Press ENTER.

6
S
peed Correction From Operator's
P
anel
(cursor to step) ➨ EDIT ➨ SPEED
CHANGE ➨ (choose speed type) ➨ (input
speed) ➨ ENTER ➨ EXIT
1. Move cursor to the first step to
be changed.
2. Press EDIT.
3. Press SPEED CHANGE.
4. Choose the type of speed being changed.
5. Input the desired speed from the DATA
keys.
6. Press ENTER.
7. When no other step is to be changed press
EXIT.
R
emoving Instructions
(cursor to instruction) ➨EDIT ➨DELETE
➨EXECUTE
1. Move cursor to the instruction to
be removed.
2. Press EDIT.
3. Press DELETE.
4. Press EXECUTE.

7
C
all
EDIT ➨INSERT ➨SEQUENCE ➨(➭) ➨
CALL ➨JOB ➨(cursor to job) ENTER ➨
ENTER
1. Press EDIT.
2. Press INSERT.
3. Press SEQUENCE.
4. Press the right arrow soft key.
5. Press CALL.
6. Press JOB.
7. Move cursor to job to be called.
8. Press ENTER.
9. Press ENTER.
R
eturn
EDIT ➨INSERT ➨SEQUENCE ➨(➭) ➨
RET ➨ENTER
1. Press EDIT.
2. Press INSERT.
3. Press SEQUENCE.
4. Press the right arrow soft key.
5. Press RET.
6. Press ENTER.

8
J
ump
EDIT ➨INSERT ➨SEQUENCE ➨JUMP ➨
LABEL ➨ABC ➨(name it) ➨ENTER ➨
ENTER
1. Press EDIT.
2. Press INSERT.
3. Press SEQUENCE.
4. Press JUMP.
5. Press LABEL.
6. Press ABC.
7. Insert name.
8. Press ENTER.
The buffer will read JUMP *XXXX.
9. Press ENTER.
L
abel
EDIT ➨INSERT ➨SEQUENCE ➨LABEL ➨
ABC ➨(Name It) ➨EXIT ➨ENTER
1. Press EDIT.
2. Press INSERT.
3. Press SEQUENCE.
4. Press LABEL.
5. Press ABC.
6. Insert name.
7. Press EXIT.
8. Press ENTER.

9
C
ommenting
(cursor to instruction) ➨EDIT ➨INSERT
➨ SEQUENCE ➨ (➪) ➨COMMENT ➨ ABC
➨ENTER
1. Move cursor to the instruction that needs
a comment line.
2. Press EDIT.
3. Press INSERT.
4. Press SEQUENCE.
5. Press right arrow.
6. Press COMMENT.
7. Insert comment line using alphabet.
8. Press ENTER
Timer Input from ERC
EDIT ➨INSERT ➨SEQUENCE ➨TIMER ➨
(insert amount of time) ➨ENTER
1. Press EDIT.
2. Press INSERT.
3. Press SEQUENCE.
4. Press TIMER.
5. Insert amount of time required.
6. Press ENTER.

10
D
OUT
EDIT ➨INSERT ➨IN/OUT ➨DOUT ➨OT#
➨(choose output #) ➨ENTER ➨ON/OFF
1. Press EDIT.
2. Press INSERT.
3. Press IN/OUT.
4. Press DOUT.
5. Press OT#.
6. Choose output #.
7. Press ENTER.
8. Press ON/OFF.
P
ULSE
EDIT ➨INSERT ➨IN/OUT ➨PULSE ➨
(enter device address to be pulsed) ➨
ENTER ➨TIME ➨(enter time to be
pulsed) ➨ENTER
1. Press EDIT.
2. Press INSERT.
3. Press IN/OUT.
4. Press PULSE.
5. Enter output # to be pulsed.
6. Press ENTER.
7. Press TIME.
8. Insert desired time.
9. Press ENTER.

11
WAIT
EDIT ➨INSERT ➨IN/OUT ➨WAIT ➨IN#
➨ON (=1) (or option of time) ➨ENTER
1. Press EDIT.
2. Press INSERT.
3. Press IN/OUT.
4. Press WAIT.
5. Insert IN#.
6. Press ON.
7. Press ENTER.

12
D
elete A Job
TEACH ➨OTHER JOB ➨EDIT ➨JOB
DELETE ➨(cursor to job) ➨ENTER ➨
EXECUTE
1. Press TEACH.
2. Press OTHER JOB.
3. Press EDIT.
4. Press JOB DELETE.
5. Move cursor to the job to be deleted.
6. Press ENTER.
7. Press EXECUTE.
J
ob Copy
TEACH ➨OTHER JOB ➨EDIT ➨JOB COPY
➨(cursor to job) ➨ENTER ➨ABC•ABC
➨CANCEL ➨(type new job name) ➨EXIT
➨ENTER ➨EXECUTE
1. Press TEACH.
2. Press OTHER JOB.
3. Press EDIT.
4. Press JOB COPY
5. Move cursor to the job to be copied.
6. Press ENTER.
7. Press ABC•ABC.
8. Press CANCEL.
9. Enter new job name.
10. Press EXIT.
11. Press ENTER.

13
12
.
Press
EXECUTE
.

14
B
acking Up Selected Jobs
OP1 ➨(Insert Disk) ➨FLOPPY ➨SAVE ➨
SELECT JOB ➨Cursor to job ➨SELECT ➨
EXIT ➨EXECUTE
1. Press OP1.
2. Insert disk.
3. Press FLOPPY.
4. Press SAVE.
5. Press SELECT JOB.
6. Move cursor to the job to be saved.
7 Press SELECT.
8. Repeat Steps 6 and 7 for each job to
be saved.
9. Press EXECUTE.
L
oading Jobs From Disk Onto
The ERC
OP1 ➨FLOPPY ➨(cursor to JOBS) ➨
LOAD ➨ALL JOB or SELECT JOB ➨
EXECUTE
1. Press OP1.
2. Press FLOPPY.
3. Move cursor to JOBS.
4. Press LOAD.
5. If all the jobs on disk are to be loaded
press ALL JOB.
6. If only a few select jobs are to be loaded,
press the SELECT JOB key and follow

15
the
same
procedure
as
before
(saving
select jobs).
7. Press EXECUTE.

16
C
hecking Specified Point
SERVO POWER ON ➨TEACH ➨OP1 ➨
SPEC. PNT. ➨MOVE/MODIFY ➨ENABLE
TP ➨FWD ➨(verify alignment) ➨
DISABLE TP ➨OP PANEL ➨CHECK
1. Turn on the servo motors.
2. Press TEACH MODE.
3. Press OP1.
4. Press SPECIFIED POINT.
5. Press MOVE/MODIFY.
6. Enable the teach pendant.
"SECOND HOME" will be displayed and
will be flashing.
7. Press FWD until the robot stops moving
and the message stops flashing.
8. Locate alignment marks on each robot
axis and verify alignment.
9. If alignment is correct, disable the teach
pendant and return to the operator's panel.
10. Press CHECK.
The CRT will display "Completed to
check specified point".

NOTES

NOTES

NOTES