Okura Yusoki A Series User manual

GEN5(E)-SEQ-SUPPLEMENTAL
Robot Manual
Robot Sequence commands
- Supplemental Edition-
Okura Yusoki Co.
,
Ltd.

2
History
Version
(Date) Content Page
01 (2012.10.30) First edition

Introduction
Thank you for purchasing a model from the Okura Robot Palletizer A series.
This manual is a guidebook to help you safely and correctly use your A Series Robot
Palletizer. It should be useful not only to beginners who are using an Okura Palletizer
for the first time, but also to experienced users, who can use this Manual to reconfirm
their knowledge. Please read this Manual carefully and use the Palletizer with a clear
understanding of its content.
NOTE
Unauthorized reproduction of part or all of the content of this manual is forbidden.
The content of this manual is subject to future change without prior notice.
Safety Instructions
Each A Series Robotic Palletizer is equipped with a variety of protective features.
However, an increased level of safety results when these safety precautions are
constantly reviewed and consistently followed with a separate manual of “Safetey”.
IMPORTANT The safety instructions with left sign of IMPORTANT
throughout this manual are enforcement or warning that if
not correctly operated or handled, you may be seriously
injured or killed.
Be sure to follow those safety instructions.
IMPORTANT
Only AUTHORIZED PERSONNELcan operate, maintain the robot or work on
programming.
The definition of “AUTHORIZED PERSON” is that the only personnel who can
operate the robot and/or robot system, are those who have enough knowledge or
experience of robot operation and have also been trained to operate the robot.
They must also have been authorized by the employer.
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ROBOT SEQUENCE
1. Sequence commands which are changed / improved partially
AMSPS: Check height + rotation (including AMSSC to be abolished)
HMOV: Format HMOV 1. HMOV D1000
WTAOC: (2)-Argues are possible (example) WTAOC X0 | X2
WTTMR: Format WTTMR 10, WTTMR D1000
WTMSP: Format WTMSP 10, WTMSP D1000
2. Newly developed commands
(1) CLOOP
Descriptions: Repeat it in the number of times which is defined in data memory.
Format: CLOOP Dn (Dn: repeating number of times)
Example: Repeat five times
D1000=5
CLOOP D1000
| D1000 is used for counting in the command (Automatically subtracted)
| Execute D1000=0 to force to end it.
ENDLP
(2) IFCNT
Descriptions: IF sentence for stacking counting
Format: IFCNT A & B (each value is from ‘1’ - .
A: Either one of figure, EVN, or ODD.
B: Either one of figure, EVN, or ODD
Example: Execute only fifth product on even layer
IFCINT ENV & 5
|
ENDIF
(3) IFRDT
Descriptions: Execute it if [Data 1] of step auxiliary data is equal to argue (or value of data
memory designated by the argue).
Format: IFRDT n or IFRDT Dn (Dn: data memory No.)
Example: Slow down speed to a half if [data 1] is ‘1’.
IFRDT1
SPD 50
ENDIF
(4) SPSET
Descriptions: Change step parameters, auxiliary flag of only MOV command that is going to
be executed next.
Format: SPSET Dn
Dn: type (0: internal speed, 1:overlapping, 2: drop high)
Dn+1: at internal speed: speed to be set is 1 – 10.
At overlapping; 3: FUL, 2:HLF 1:QRT 0:ZRO 4: SPC
At drop high; 0: don’t , 1: do
(Drop high is effective only at step 7)
Cleared at WTARM

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(5) IFJPL
Descriptions: Conditional jump
Format: IFJPL relay label
Example: jump to label 1 if X0 is ON.
IFJPLX01
(6) RTOFT
Descriptions: Command to turn a specified relay ON for designated period of time (unrelated
to motor power and operation. Mainly for hand jog open)
Format: RTOFT M ‘Y) constant (mS unit: 10ms)
(7) MOVRT
Descriptions: Move to position specified by step No. (It works only for R and T)
Format: MOVRT step No. (WTARM is required.)
(8) MOVX
Descriptions: Horizontally move until specified AX (move only in AX direction)
Format: MOVX step No. (WTARM is required.)
Or
MOVX Dn
Dn: Operation base step No. (Refer to speed or acc/dec time)
Dn+1: AX data (x 10mm)
(9) MOVZ
Descriptions: Vertically go up to specified height. (Only in Z direction) It won’t go down if it
is specified by step No. It can move in whichever direction if specified by data memory.
Format: MOVZ step No. (WTARM is required.)
Or
MOVZDn
Dn: Operation base step No. (Refer to speed or acc/dec time)
Dn+1: Height data (x 10mm)
Sequence program of program 0
MOVZ 1 Å- It won’t go down though it used to go down.
WTARM (When current position is higher than step 1 in height)
MOV 1 instruct like MOVZ D1000 if you do want to move it down.
WTARM
(10) MVHZU
Descriptions: Move horizontally to the position specified by step No. at the height specified
by the step if it is higher than current height or just at the current height if it is lower.
Format: MVHZU step No. (WTARM is required.)
In multi-stacking, you don’t need to worry about the height control at program switching
over if ‘MVHZU 1’ is inserted to the upfront of the program.
(11) CLRSB
Descriptions: Force to end subroutine
Format: CLRSB

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In subroutine with AMSPS, when robot moves only to lower position in height than setup
value, the subroutine stops where it is. In order to solve this problem, for instance,
MOV 4
SUBP 1 LBL 1
| AMSPS
MOV 5 Station loading enable = 1
WTARM RET
Station loading enable = 1
CLRSB

2. Other parts that are changed / improved
(1) Process at R-axis reversing
If R-axis may possibly reverse when arm moves from one station to another in multi-station
layout.
Conventionally: Step 1 used to need to change overlapping to ZRO to protect R-axis gear
reducer from damaged.
In GenV: No problem with FUL overlapping.
Brief descriptions:
Conditions; Program switches over at PGS.
Previous MOV is not step 8. (Never wait when it switches at step 8)
Arm is moving.
MOV under operation is with FUL overlapping
The angle of R-axis reversing is over ‘1’ degree
If the above conditions are satisfied, it waits for the period of deceleration time of MOV
execute by PGSEL.
(2) SP1 command
Such position commands as SP1, SP2, SP3 and SP4 are added.
Each position command can be used just one time per a program.
Each calculation formula of HX, HY, HT or HZ is defined as [Calculation type], [Argue1] or
Argue2].
Example)
(13)
(9) (5)
(6)
(7)
100 mm
(12)
In the above movement, you used to work as follows: copied and horizontally shifted planar
positions of step 7 for step 12 and 13. It used to be needed to repeat the same things to step 12 and
13 if step 7 was changed in position.
In GenV controller, you can define the position using SP1 or SP2.
Step 12, step command SP1
HX: (7) + 100
HY: copy (7)
HT: copy (7)
HZ: copy (7)
7

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Step 13, step command SP2
HX: (7) + 100
HY: copy (7)
HT: copy (7)
HZ: copy (7)
Instructing like the above allows controller to automatically calculate position data of step 12 and 13.
In the background, the calculation is executed following the below data.
(step No. 1 - ) Calculation type
Argue1 Argue2
HX Addition 7 100
HY Copy 7
HT Copy 7
SP1
HZ Copy 7
HX Addition 7 100
HY Copy 7
HT Copy 7
SP2
HZ Copy 9
HX
HY
HT
SP3
HZ
HX
HY
HT
SP4
HZ
Calculation type: Copy, Average, Addition
Argue: When Copied = Argue1: Copy source step No. Argue2: not in use
Average of two = Argue1, 2 Step No.
Addition = Argue1: Copy source step No. Argue2: additional value (+, -)
It has no actual position data.
It cannot be changed on position data edition screen. Displaying only.

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CLOOP
[Functional Classification]
Loop Control
[ Outline of processing ]
It repeats processing until next ENDLP while value in data memory specified by argue is not
less than ‘1’. In case of less than ‘1’, it executes sequence on and after ENDLP.
[ Format ]
CLOOP Dn (Dn: Data memory No.)
[ Example ]
Repeats “Process” 5 times.
D1000 = 5
CLOOP D1000
“Processing”
ENDLP
[ Detail ]
JUMP cannot be used inside CLOOP.
You may be unable to operate POD while it is being executed in CLOOP unless there are
WTTMR or WTARM between CLOOP and ENDLP.
The max number of nesting for IF, IFCNT, IFRDT, ELSEIF, LOOP and CLOOP is ‘10’.
Set data memory ‘0’ within the loop to force to terminate the CLOOP.
[ Related Command ]
ENDLP
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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CLRSB
[ Functional Classification ]
System
[ Outline of processing ]
It forces to terminate subroutine specified by SUBP.
[ Format ]
CLRSB
[ Example ]
The signal of “Station loading enable” is wanted to be turned on inside subroutine. But it
may have to wait until AMSPS command comes in due to height too short. So, just in case,
subroutine is forced to be terminated when “Station loading enable” comes on after reached to step
5.
MOV 4
SUBP 1
WTARM
MOV 5
WTARM
CLRSB
M6008 = 1
.
.
LBL 1
AMSPS 200
M6008 = 1 Signal of Station loading enable ON
RET
[ Detail ]
[ Related Command ]
SUBP, AMSPS
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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IFCNT
[ Functional Classification ]
Conditional Branch
[ Outline of processing ]
Upon maturing the condition, perform through until end of commands grouped by either one
of ELSIF, ELSE or ENDIF.
If no maturing, operation will not be performed to such commands.
[ Format ]
IFCNT (Layer count) & (product count)
(Layer count), (product count) : number (1- ) or EVN(even number), ODD(odd number)
Possible operator is ‘&’ only.
[ Example ]
Slow down speed to a half at 1st product onto every even layer.
IFCNT ODD & 1
SPD 50
ENDIF
[ Detail ]
Maximum nest number of IF, IFCNT, IFRDT, ELSIF,LOOP, CLOOP command is 10.
[ Related Command ]
ELSE, ELSIF, ENDIF
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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IFRDT
[ Functional Classification ]
Condition Branch
[ Outline of processing ]
If [Data 1] in step auxiliary data is equal to argue (or data memory specified by argue),
perform through until end of commands grouped by either one of ELSIF, ELSE or ENDIF.
If not equal, operation will not be performed through until one of ELSIF, ELSE or ENDIF .
[ Format ]
IFRDT n
IFRDT Dn (Dn: data memory No.)
[ Example ]
Slow down speed to a half when [data 1] is ‘1’.
IFRDT 1
SPD 50
ENDIF
[ Detail ]
Maximum nest number of IF, IFCNT, IFRDT, ,ELSIF, LOOP, CLOOP command is 10.
[ Related Command ]
ELSE, ELSIF, ENDIF
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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IFJPL
[ Functional Classification ]
Condition Branch
[ Outline of processing ]
Upon maturing the condition, jump to label line specified by argue. Upon not maturing,
execute next commands.
[ Format ]
IFJPL (condition 1) n (n: label No.)
[ Example ]
Move to label 1 when input relay X0 is turned on.
IFJPL X0 1
.
.
.
LBL 1
[ Detail ]
[ Related Command ]
ELSE, ELSIF, ENDIF
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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MOVRT
[ Functional Classification ]
Arm Position Control
[ Outline of processing ]
Move arm (R, T axis only) to designated step positions
[ Format ]
MOVRT n (n: Step No..)
[ Example ]
Assuming there is a column between station and pallet. So, arm is shrunk first and then
rotates.
MOV 4
WTARM
D1000 = 1
D1001 = 15000
MOVX D1000 Arm shrinks to AX=1500mm
WTARM
MOVRT 5 Only R and T axes rotate
WTARM
MOV 5 Move to position at step 5
WTARM
[ Detail ]
WTARM command is necessary afterward.
[ Related Command ]
WTARM, MOVX
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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MOVX
[ Functional Classification ]
Arm Position Control
[ Outline of processing ]
Move arm (AX direction only) to designated step positions
[ Format ]
MOVX n (n: Step No..)
MOVX Dn (Dn: data memory No.)
Dn: Operational basic step No. (step that speed and time of acceleration,
deceleration are specified)
Dn+1: AX data (incremental unit: 0.1 mm)
[ Example ]
Assuming there is a column between station and pallet. So, arm is shrunk first and then
rotates.
MOV 4 Going up above station
WTARM
D1000 = 1
D1001 = 15000
MOVX D1000 Arm shrinks to AX=1500mm
WTARM
MOVRT 5 Only R and T axes rotate
WTARM
MOV 5 Move to position at step 5
WTARM
[ Detail ]
WTARM command is necessary afterward.
[ Related Command ]
WTARM, MOVRT
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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MOVZ
[ Functional Classification ]
Arm Position Control
[ Outline of processing ]
Move arm (AZ direction only) to designated step positions
[ Format ]
MOVZ n (n: Step No..)
MOVZ Dn (Dn: data memory No.)
Dn: Operational basic step No. (step that speed and time of acceleration,
deceleration are specified)
Dn+1: AZ data (incremental unit: 0.1 mm)
[ Example ]
Goes up to height at step 1 while it stays in plainer position and then moves to step 1.
(program 0 movement)
MOVZ 1
WTARM
MOV 1
WTARM
[ Detail ]
WTARM command is necessary afterward.
[ Related Command ]
WTARM
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]
PRGC
Gen3 Gen4
****** ******
D2=0 MOV Z 1
MOV1 WTARM
WTARM MOV1
D2=D2+1 WTARM
MOV1
WTARM

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MVHZU
[ Functional Classification ]
Arm Position Control
[ Outline of processing ]
Move arm to step specified. However, it moves horizontally (never goes down) if the
specified step is lower than the current.
[ Format ]
MVHZU n (n: step No.)
[ Example ]
In case of multi-stacking pallets, you don’t mind the height difference from step 8 of one
pallet to another if you insert it to the upfront of the program.
MVHZU 9
WTARM
[ Detail ]
WTARM command is necessary afterward.
[ Related Command ]
WTARM
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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RTOFT
[ Functional Classification ]
System
[ Outline of processing ]
Turn relay specified on and turn it off after the interval specified. (Same condition if
operation is turned off within the specified interval.) Sequence processing is executing next
commands discarding the interval.
[ Format ]
RTOFT Rn n {Rn: relay (Only M, Y possible), n: time [msec])
[ Example ]
After arrived at step 7, hand (Y1C) is opened for 200 msec. (jogging in opening).
MOV 7
WTARM
RTOFT Y1C 200 hand jog-opened
MOV 8
WTARM
Y1C = ! Hand fully opened
[ Detail ]
Conventional way:
Y1C = 1
WTTMR 200
Y1C = 0
If operation is shut down during WTTMR 200 for example, it immediately stops executing
sequence logic on half way and hand is fully opened.
[ Related Command ]
CALL, SUBP
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

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SPSET
[ Functional Classification ]
System
[ Outline of processing ]
Change step parameter of MOV to be executed next.
[ Format ]
SPSET Dn (Dn: data memory No.)
Dn: Sort (0: internal speed, 1: overlap, 2: drop high)
Dn+1: In case of internal speed, speed to be set up is ‘1 – 10’.
Overlap: 3: FUL, 2: HLF, 1: QRT, 0: ZRO, 4: SPC
Drop high: 0: no, 1: yes (It works only at step 7.)
[ Example ]
Normally overlapped with FULL, ZRO overlapped only at layer 10th , product 5th.
IFCNT 10 & 5
D1000 = 1
D1001 = 0
SPSET D1000
ENDIF
MOV 8
WTARM
[ Detail ]
It works only one time for MOV, SMOV, SMOV2, DMOV, MOVX, MOVZ, MVHZU, MVDWN or
MVPOS.
[ Related Command ]
ASPD
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]

20
Robot manual
Robot Sequence Command
- Supplemental Edition -
Version 01: 2012.10.30
<Caution>
Unauthorized reproduction of part or all of the content of this manual is forbidden.
The content of this manual is subject to future change without prior notice.
Okura Yusoki Co., Ltd.
900 Furuouchi, Noguchi-cho, Kakogawa,
Hyogo 675-8675 Japan