YASKAWA NX100 Operator's Manual

for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. 1 of 435

Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website, blog, cloud storage site or any other means of storing or distributing online content. Printed in the United States of America First Printing, 2015 Yaskawa America, Inc. Motoman Robotics Division 100 Automation Way Miamisburg, OH 45342 Phone: 937-847-6200 www.motoman.com 2 of 435

this manual carefully and be sure to understand its contents before handling the NX100. • General items related to safety are listed in Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instruction before reading this manual. • Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product. • The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. • YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty. MANDATORY CAUTION 3 of 435

Robots and Robot Systems (ANSI/RIA R15.06-2012). You can obtain this document from the Robotic Industries Association (RIA) at the following address: Robotic Industries Association 900 Victors Way P.O. Box 3724 Ann Arbor, Michigan 48106 TEL: (734) 994-6088 FAX: (734) 994-3338 www.roboticsonline.com Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result from improper operation of the equipment. The customer is responsible for providing adequately trained personnel to operate, program, and maintain the equipment. NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. 4 of 435

v 155223-1CD RE-CSO-A036 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. Indicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel. Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel. Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices. Always be sure to follow explicitly the items listed under this heading. Must never be performed. To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION”, “WARNING” and “DANGER.” DANGER WARNING CAUTION MANDATORY PROHIBITED NOTE 5 of 435

vi 155223-1CD RE-CSO-A036 • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function. Emergency Stop Button • Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON. Injury may result from unintentional or unexpected manipulator motion. Release of Emergency Stop • Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator : - Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding. - View the manipulator from the front whenever possible. - Always follow the predetermined operating procedure. - Keep in mind the emergency response measures against the manipulator’s unexpected motion toward you. - Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury. • Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before: - Turning ON the NX100 power - Moving the manipulator with the programming pendant - Running the system in the check mode - Performing automatic operations Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant. WARNING Turn 6 of 435

vii 155223-1CD RE-CSO-A036 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables. In this manual, the equipment is designated as follows: • Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. -Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. • Always return the programming pendant to the hook on the NX100 cabinet after use. The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator, on the floor, or near fixtures. • Read and understand the Explanation of Warning Labels in the NX100 Instructions before operating the manipulator. Equipment Manual Designation NX100 Controller NX100 NX100 Programming Pendant Programming Pendant Cable between the manipulator and the controller Manipulator cable CAUTION 7 of 435

viii 155223-1CD RE-CSO-A036 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Description of the Operation Procedure In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed, or that the item is directly selected by touching the screen. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted. Equipment Manual Designation Programming Pendant Character Keys The keys which have characters printed on them are denoted with [ ]. ex. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture. ex. page key The cursor key is an exception, and a picture is not shown. Axis Keys Numeric Keys “Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and number input. Keys pressed simultaneously When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD] Displays The menu displayed in the programming pendant is denoted with { }. ex. {JOB} PAGE GO BACK 8 of 435

ix 155223-1CD RE-CSO-A036 Customer Support Information If you need assistance with any aspect of your NX100 Painting system, please contact Motoman Customer Support at the following 24-hour telephone number: For routine technical inquiries, you can also contact Motoman Customer Support at the following e- mail address: When using e-mail to contact Motoman Customer Support, please provide a detailed description of your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a response to your inquiry. Please have the following information ready before you call Customer Support: [email protected] Please use e-mail for routine inquiries only. If you have an urgent or emergency need for service, replacement parts, or information, you must contact Motoman Customer Support at the telephone number shown above. • System NX100 Painting • Robots ___________________________ • Primary Application ___________________________ • Controller NX100 • Software Version Access this information on the Programming Pendant’s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} - {VERSION} • Robot Serial Number Located on the robot data plate • Robot Sales Order Number Located on the NX100 controller data plate (937) 847-3200 NOTE 9 of 435

x 155223-1CD RE-CSO-A036 Table of Contents 1 Introduction 1.1 NX100 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 1.2 Programming Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 1.2.1 Programming Pendant Overview . . . . . . . . . . . . . . . . . . . . . . . 1-2 1.2.2 Key Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3  Character Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3  Symbol Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3  Axis Keys and Numeric Keys . . . . . . . . . . . . . . . . . . . . . . . . 1-3  Keys Pressed Simultaneously . . . . . . . . . . . . . . . . . . . . . . . 1-3 1.2.3 Programming Pendant Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1.2.4 Programming Pendant Display . . . . . . . . . . . . . . . . . . . . . . . . 1-10  The Five Display Areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10  General-purpose Display Area . . . . . . . . . . . . . . . . . . . . . . 1-11  Main Menu Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12  Status Display Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12  Human Interface Display Area . . . . . . . . . . . . . . . . . . . . . . 1-14  Menu Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14 1.2.5 Screen Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14  Denotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14  Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15 1.2.6 Character Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15  Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16  Alphanumeric Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17  Symbol Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17 1.3 Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-18 1.3.1 Teach Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18 1.3.2 Play Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18 1.3.3 Remote Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18 1.3.4 Teach Mode Priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18 1.4 About the Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . .1-19 1.4.1 Types of Security Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19 1.4.2 Switching Security Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24 2 Manipulator Coordinate Systems and Operations 2.1 Control Groups and Coordinate Systems . . . . . . . . . . .2-1 2.1.1 Control Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.1.2 Types of Coordinate Systems. . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 10 of 435

xi 155223-1CD RE-CSO-A036 2.2 General Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3  Check Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3  Select Teach Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3  Select Control Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3  Select Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . .2-3  Select Manual Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3  Servo ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4  Axis Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4  HIGH SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4 2.3 Coordinate Systems and Axis Operation . . . . . . . . . . . 2-5 2.3.1 Joint Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5 2.3.2 Cartesian Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6 2.3.3 Cylindrical Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7 2.3.4 Tool Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8  Selecting the Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9 2.3.5 User Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10  Selecting User Coordinates. . . . . . . . . . . . . . . . . . . . . . . . .2-11  Examples of User Coordinate Utilization. . . . . . . . . . . . . . .2-12 2.3.6 External Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12 2.3.7 Control Point Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-13 2.3.8 Control Point Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-15 3 Teaching 3.1 Preparation for Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.1.1 Checking Emergency Stop Buttons. . . . . . . . . . . . . . . . . . . . . .3-1 3.1.2 Setting the Teach Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1 3.1.3 Registering a Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2  Registering Job Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2  Registering Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3  Registering Control Groups. . . . . . . . . . . . . . . . . . . . . . . . . .3-3  Switching to the Teaching Window . . . . . . . . . . . . . . . . . . . .3-3 3.2 Teaching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 3.2.1 The Teaching Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4 3.2.2 Interpolation Type and Play Speed . . . . . . . . . . . . . . . . . . . . . .3-5  Joint Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5  Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6  Circular Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7  Spline Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8 3.2.3 Teaching Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9  Registering Move Instructions . . . . . . . . . . . . . . . . . . . . . . . .3-9  Registering Reference Point Instructions . . . . . . . . . . . . . .3-15  Registering Timer Instructions. . . . . . . . . . . . . . . . . . . . . . .3-16 3.2.4 Overlapping the First and Last Steps . . . . . . . . . . . . . . . . . . .3-18 11 of 435

xii 155223-1CD RE-CSO-A036 3.3 Checking Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19 3.3.1 FWD/BWD Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19  Precautions When Using FWD / BWD Operations. . . . . . . 3-19  Selecting Manual Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21  Moving to Reference Point . . . . . . . . . . . . . . . . . . . . . . . . . 3-22  Test Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22 3.4 Modifying Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-23 3.4.1 Displaying the JOB CONTENT Window for Editing . . . . . . . . 3-27  Currently Called Up Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27  Calling Up Other Jobs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27 3.4.2 Inserting Move Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28 3.4.3 Deleting Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29 3.4.4 Modifying Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30  Modifying Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30  Modifying Interpolation Type. . . . . . . . . . . . . . . . . . . . . . . . 3-30 3.4.5 Undo Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31 3.4.6 Modifying Reference Point Instructions . . . . . . . . . . . . . . . . . 3-31  Deleting Reference Point Instructions . . . . . . . . . . . . . . . . 3-31  Modifying Reference Point Instructions . . . . . . . . . . . . . . . 3-32 3.4.7 Modifying Timer Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . 3-32  Deleting Timer Instructions. . . . . . . . . . . . . . . . . . . . . . . . . 3-32  Modifying Timer Instructions. . . . . . . . . . . . . . . . . . . . . . . . 3-33 3.5 Modifying Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-34 3.5.1 Calling Up a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34 3.5.2 Windows Related to Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34  JOB HEADER Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34  JOB CONTENT Window. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36  COMMAND POSITION Window. . . . . . . . . . . . . . . . . . . . . 3-37  JOB CAPACITY Window . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38 3.6 Editing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-39 3.6.1 Instruction Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39 3.6.2 Inserting Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41 3.6.3 Deleting Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44 3.6.4 Modifying Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44 3.6.5 Modifying Additional Numeric Data. . . . . . . . . . . . . . . . . . . . . 3-47 3.6.6 Modifying Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48 3.6.7 Inserting Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49 3.6.8 Deleting Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50 3.7 Editing Jobs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-51 3.7.1 Selecting the Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53 3.7.2 Copying. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54 3.7.3 Cutting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54 3.7.4 Pasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-55 3.7.5 Reverse Pasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56 3.8 Test Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-57 12 of 435

xiii 155223-1CD RE-CSO-A036 3.9 Other Job-editing Functions . . . . . . . . . . . . . . . . . . . . . . 3-58 3.9.1 Editing Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-58  Modification of Speed Type. . . . . . . . . . . . . . . . . . . . . . . . .3-58  Relative Modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-58  Modification by TRT (Traverse Time) . . . . . . . . . . . . . . . . .3-60 3.9.2 Editing Interpolation Type . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-62 3.9.3 Editing Condition Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-63 3.9.4 User Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-64  Setting Byte, Integer, Double Precision Integer, and Real Type Variables. . . . . . . . . . . . . . . . . . . . . . . . . . .3-66  Setting Character Type Variables . . . . . . . . . . . . . . . . . . . .3-67  Registering Variable Name . . . . . . . . . . . . . . . . . . . . . . . . .3-68  Displaying Position Variables . . . . . . . . . . . . . . . . . . . . . . .3-69  Setting Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . .3-70  Setting Position Variables Using the Numeric Keys . . . . . .3-71  Setting Position Variables Using the Axis Keys . . . . . . . . .3-73  Deleting Data Set of Position Variables . . . . . . . . . . . . . . .3-74  Checking Positions by Position Variables . . . . . . . . . . . . . .3-75  Manipulator Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-76 3.9.5 Editing Local Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-80  Setting the Number of Local Variables . . . . . . . . . . . . . . . .3-82 3.9.6 Searching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-83  Line Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-84  Step Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-84  Label Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-85  Instruction Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-86  Tag Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-87 4 Playback 4.1 Preparation for Playback . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 4.1.1 Selecting a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1  Calling a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1  Registering the Master Job . . . . . . . . . . . . . . . . . . . . . . . . . .4-2  Calling the Master Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3 4.1.2 The PLAYBACK Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5  Display of Cycle Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6  Operation Cycle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 4.2 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 4.2.1 Playback Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8  Selecting the Start Device . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8  Servo On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-9  Start Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-9 13 of 435

xiv 155223-1CD RE-CSO-A036 4.2.2 Special Playback Operations . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9  Low Speed Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10  Limited Speed Operations . . . . . . . . . . . . . . . . . . . . . . . . . 4-10  Dry-run Speed Operations . . . . . . . . . . . . . . . . . . . . . . . . . 4-11  Machine Lock Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11  Check Mode Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12  Weaving Prohibit Setting during Check Mode Operation . . 4-12  Cancel All Special Operations . . . . . . . . . . . . . . . . . . . . . . 4-12 4.3 Stop and Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-13 4.3.1 Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13  Using the Programming Pendant . . . . . . . . . . . . . . . . . . . . 4-13  Using an External Input Signal (System Input). . . . . . . . . . 4-13 4.3.2 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14  Restart After Emergency Stop . . . . . . . . . . . . . . . . . . . . . . 4-15 4.3.3 Stop by Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16 4.3.4 Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17  Temporary Stop by Mode Change . . . . . . . . . . . . . . . . . . . 4-17  Temporary Stop by the PAUSE Instruction . . . . . . . . . . . . 4-17 4.4 Modifying Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-18 4.4.1 Speed Override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18  Setting Speed Overrides. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20  Modifying Play Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21  Releasing Speed Override Settings . . . . . . . . . . . . . . . . . . 4-21 4.5 Playback with Reserved Start . . . . . . . . . . . . . . . . . . . . .4-22 4.5.1 Preparation for Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . 4-22  Enabling Reserved Start. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23  Registering Reserved Start I/O Signal . . . . . . . . . . . . . . . . 4-24  Registering Jobs to Stations. . . . . . . . . . . . . . . . . . . . . . . . 4-25  Deleting Registered Jobs from Stations . . . . . . . . . . . . . . . 4-26 4.5.2 Playback from Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . 4-27  Start Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27  Checking Job Reservation Status. . . . . . . . . . . . . . . . . . . . 4-28  Resetting Job Reservation . . . . . . . . . . . . . . . . . . . . . . . . . 4-29 4.5.3 Hold Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30  [HOLD] on the Programming Pendant . . . . . . . . . . . . . . . . 4-30  Hold by External Input Signal (System Input). . . . . . . . . . . 4-30  Hold at the Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31 4.6 Displaying Job Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-32 5 Editing Jobs 5.1 Copying Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2 5.1.1 Copying Jobs on the JOB CONTENT Window. . . . . . . . . . . . . 5-2 5.1.2 Copying Jobs on the JOB LIST Window. . . . . . . . . . . . . . . . . . 5-4 14 of 435

xv 155223-1CD RE-CSO-A036 5.2 Deleting Jobs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6 5.2.1 Deleting Jobs on the JOB CONTENT Window . . . . . . . . . . . . .5-6 5.2.2 Deleting Jobs on the JOB LIST Window . . . . . . . . . . . . . . . . . .5-7 5.3 Modifying Job Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8 5.3.1 Modifying Job Names on the JOB CONTENT Window. . . . . . .5-8 5.3.2 Modifying Job Names on the JOB LIST Window. . . . . . . . . . .5-10 5.4 Editing Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 5.5 Setting Edit Lock on Individual Job Units. . . . . . . . . . 5-12 5.6 Enabling the Modification of Position Data Only . . . 5-13 6 Convenient Functions 6.1 One-touch Operation “Direct Open” . . . . . . . . . . . . . . . . 6-1 6.2 Parallel Shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 6.2.1 Function Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3 6.2.2 Setting the Shift Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5  Registering Position Variables . . . . . . . . . . . . . . . . . . . . . . .6-5  Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5  Setting the Shift Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6 6.2.3 Registering Shift Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . .6-7  SFTON Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-8  SFTOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10  MSHIFT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10 6.2.4 Continuation of the Parallel Shift Function . . . . . . . . . . . . . . .6-13 6.2.5 Examples of Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-14  Example of Use of Shift Addition/Subtraction . . . . . . . . . . .6-14  Example of Use of MSHIFT Instruction . . . . . . . . . . . . . . . .6-15 6.3 Parallel Shift Job Conversion Function. . . . . . . . . . . . 6-16 6.3.1 Function Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-16 6.3.2 Coordinate Systems for Conversion . . . . . . . . . . . . . . . . . . . .6-17 6.3.3 Executing the Parallel Shift Job Conversion . . . . . . . . . . . . . .6-22  Window Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-22  Parallel Shift Job Conversion Operation . . . . . . . . . . . . . . .6-23 6.3.4 Specifying the Shift Value by Position Variables. . . . . . . . . . .6-28  Window Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-28  Jobs Targeted for Conversion . . . . . . . . . . . . . . . . . . . . . . .6-29  Conversion of Coordinated Jobs . . . . . . . . . . . . . . . . . . . . .6-30  Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33 6.4 PAM Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-34 6.4.1 Function Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-34  Input Ranges for Adjustment Data . . . . . . . . . . . . . . . . . . .6-34 6.4.2 Operating Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-36  Setting Adjustment Data . . . . . . . . . . . . . . . . . . . . . . . . . . .6-36  Executing the Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . .6-38  Editing Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-39 15 of 435

xvi 155223-1CD RE-CSO-A036 6.5 Mirror Shift Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-42 6.5.1 Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42 6.5.2 Pulse Mirror-shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42  Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42  Object Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43  Group Axes Specification . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43  Position Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43 6.5.3 Robot-coordinates Mirror-shift Function . . . . . . . . . . . . . . . . . 6-43  Object Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43  Group Axes Specification . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43  Position Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44 6.5.4 User-coordinates Mirror-shift Function . . . . . . . . . . . . . . . . . . 6-44  Object Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44  Group Axes Specification . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44  Position Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44 6.5.5 Notes on the Mirror Shift Function . . . . . . . . . . . . . . . . . . . . . 6-45 6.5.6 Operation Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46  Calling Up the JOB CONTENT Window. . . . . . . . . . . . . . . 6-46  Mirror Shift Conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46  Explanation of the Mirror Shift Window. . . . . . . . . . . . . . . . 6-47 7 External Memory Devices 7.1 Memory Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1 7.1.1 Compact Flash (CF Cards). . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2  Recommended Compact Flash Cards . . . . . . . . . . . . . . . . . 7-2  Notes on handling Compact Flash . . . . . . . . . . . . . . . . . . . . 7-3  Inserting a Compact Flash . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 7.2 Handling Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5 7.2.1 Normal Mode Data Classification . . . . . . . . . . . . . . . . . . . . . . . 7-5 7.2.2 Collective Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8  CMOS.BIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8  CMOSBK.BIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8  CMOSxx.HEX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8  ALCMSxx.HEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8 7.2.3 File Existence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9  Saving by Overwriting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 7.3 Operation Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-10  Operating a Folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11  Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15  Loading Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27  Verifying Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-38  Deleting Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41  Job Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-43 16 of 435

xvii 155223-1CD RE-CSO-A036 8 Parameter 8.1 Parameter Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 8.2 Motion Speed Setting Parameters . . . . . . . . . . . . . . . . . 8-2  S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED .8-2  S1CxG001: DRY-RUN SPEED . . . . . . . . . . . . . . . . . . . . . . .8-2  S1CxG002 to S1CxG009: JOINT SPEED FOR REGISTRATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2  S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2  S1CxG018 to S1CxG025: POSITION ANGLE SPEED. . . . .8-3  S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE VALUE SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3  S1CxG030 to S1CxG032: INCHING MOVE AMOUNT. . . . .8-3  S1CxG033 to S1CxG040: POSITIONING ZONE . . . . . . . . .8-3  S1CxG044: LOW-SPEED START . . . . . . . . . . . . . . . . . . . .8-4  S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED.8-4  S1CxG056: WORK HOME POSITION RETURN SPEED. . .8-4  S1CxG057: SEARCH MAX. SPEED. . . . . . . . . . . . . . . . . . .8-5  S2C153: POSTURE CONTROL AT CARTESIAN OPERATION OF JOG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5  S2C154: OPERATION IN USER COORDINATE SYSTEM (WHEN EXTERNAL REFERENCE POINT CONTROL FUNCTION USED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5  S2C238: CONTROLLED GROUP JOB TEACHING POSITION CHANGE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5  S2C324, S2C325: OPERATION AFTER RESET FROM PATH DEVIATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6  S2C326: DEVIATED POSITION . . . . . . . . . . . . . . . . . . . . . .8-7  S2C327: CIRCULAR INTERPOLATION TOOL POSITION CONTROL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-8  S2C515: EMERGENCY STOP CURSOR ADVANCE CONTROL FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-8  S2C516: EMERGENCY STOP CURSOR ADVANCE CONTROL FUNCTION CONT PROCESS COMPLETION POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-9  S2C517: EMERGENCY STOP ADVANCE CONTROL FUNCTION WORK START INSTRUCTION STEP MOTION COMPLETION DELAY TIME. . . . . . . . . . . . . . . . .8-9  S2C560: BASE AXIS OPERATION KEY ALLOCATION SETTING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-9  S3C806 to S3C808: POSITION CORRECTING FUNCTION DURING PLAYBACK. . . . . . . . . . . . . . . . . . . .8-10 8.3 Mode Operation Setting Parameters . . . . . . . . . . . . . . 8-11  S2C147: SECURITY MODE WHEN CONTROL POWER SUPPLY IS TURNED ON. . . . . . . . . . . . . . . . . . .8-11  S2C148: SELECTION OF CARTESIAN/CYLINDRICAL. . .8-11  S2C149: COORDINATE SWITCHING PROHIBITED. . . . .8-11  S2C150: EXECUTION UNITS AT “FORWARD” OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-12 17 of 435

xviii 155223-1CD RE-CSO-A036  S2C151: INSTRUCTION (EXCEPT FOR MOVE) EXECUTION AT “FORWARD” OPERATION. . . . . . . . . . . 8-12  S2C155: CHANGING STEP ONLY . . . . . . . . . . . . . . . . . . 8-12  S2C156: MANUAL SPEED STORING FOR EACH COORDINATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12  S2C158: ADDITIONAL STEP POSITION. . . . . . . . . . . . . . 8-13  S2C159: MASTER JOB CHANGING OPERATION . . . . . . 8-13  S2C160: CHECK AND MACHINE-LOCK KEY OPERATION IN PLAY MODE . . . . . . . . . . . . . . . . . . . . . . 8-14  S2C161: RESERVED WORK JOB CHANGING OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14  S2C162: MASTER OR SUBMASTER CALL OPERATION IN PLAY MODE . . . . . . . . . . . . . . . . . . . . . . 8-14  S2C163: LANGUAGE LEVEL. . . . . . . . . . . . . . . . . . . . . . . 8-14  S2C166: INSTRUCTION INPUT LEARNING FUNCTION . 8-15  S2C167: ADDRESS SETTING WHEN CONTROL POWER IS TURNED ON . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15  S2C168: JOB LIST DISPLAY METHOD AT JOB SELECTION . 8-15  S2C169: INITIAL OPERATION OF MANIPULATOR . . . . . 8-15  S2C170: PLAYBACK EXECUTION AT CYCLE MODE “1- STEP” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16  S2C171: EXTERNAL START. . . . . . . . . . . . . . . . . . . . . . . 8-16  S2C172: PROGRAMMING PENDANT START . . . . . . . . . 8-16  S2C173: SPEED DATA INPUT FORM. . . . . . . . . . . . . . . . 8-16  S2C174: RESERVED START . . . . . . . . . . . . . . . . . . . . . . 8-17  S2C176: JOB SELECTION AT REMOTE FUNCTION (PLAY MODE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17  S2C177: EXTERNAL MODE SWITCH. . . . . . . . . . . . . . . . 8-17  S2C179: EXTERNAL CYCLE SWITCHING . . . . . . . . . . . . 8-17  S2C180: PROGRAMMING PENDANT CYCLE SWITCHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17  S2C181: SERVO ON FROM EXTERNAL PP PROHIBITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17  S2C182: PROGRAMMING PENDANT OPERATION WHEN “IO” IS SELECTED FOR REMOTE MODE . . . . . . 8-18  S2C186: STEP REGISTRATION AT TOOL NO. CHANGE 8-18  S2C211: REMOTE FIRST CYCLE MODE . . . . . . . . . . . . . 8-19  S2C212: LOCAL FIRST CYCLE MODE. . . . . . . . . . . . . . . 8-19  S2C230: POWER ON FIRST CYCLE MODE. . . . . . . . . . . 8-19  S2C231: TEACH MODE FIRST CYCLE MODE. . . . . . . . . 8-19  S2C232: PLAY MODE FIRST CYCLE MODE . . . . . . . . . . 8-19  S2C297: SIGNAL NAME ALIAS FUNCTION . . . . . . . . . . . 8-20  S2C298: VARIABLE NAME ALIAS FUNCTION. . . . . . . . . 8-21  S2C299: I/O VARIABLE CUSTOMIZE FUNCTION . . . . . . 8-22  S2C317 to S2C321: TIME RESET . . . . . . . . . . . . . . . . . . . 8-23  S2C333: TOOL NO. SWITCHING . . . . . . . . . . . . . . . . . . . 8-23  S2C335: POSITION TEACHING BUZZER. . . . . . . . . . . . . 8-23  S2C336: JOB LINKING DESIGNATION (When Twin Synchronous Function Used) . . . . . . . . . . . . . . . . . . . . . . . 8-24 18 of 435

xix 155223-1CD RE-CSO-A036  S2C339: PLAYBACK OPERATION CONTINUATION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25 8.4 Parameters according to Interference Area . . . . . . . 8-26  S1CxG200 to S1CxG215: PULSE SOFT LIMIT . . . . . . . . .8-26  S2C001: CUBE SOFT LIMIT CHECK . . . . . . . . . . . . . . . . .8-27  S2C002: S-AXIS INTERFERENCE CHECK . . . . . . . . . . . .8-27  S2C003 to S2C050: CUBE/AXIS INTERFERENCE CHECK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-28  S2C051 to S2C114: CUBE USING METHOD. . . . . . . . . . .8-30  S2C188 to S2C193: ROBOT INTERFERENCE CHECK . .8-32  S3C000 to S3C023: CUBE SOFT LIMIT. . . . . . . . . . . . . . .8-32  S3C024 to S3C031: S-AXIS INTERFERENCE AREA . . . .8-33  S3C032 to S3C543: CUBIC INTERFERENCE AREA. . . . .8-33  S3C801 to S3C804: ROBOT INTERFERENCE AREA. . . .8-33  S3C805: A SIDE LENGTH OF WORK-HOME-POSITION CUBE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-33 8.5 Parameters according to Status I/O . . . . . . . . . . . . . . . 8-34  S2C187: USER OUTPUT RELAY WHEN CONTROL POWER IS ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-34  S4C000 to S4C007: PARITY OF USER INPUT GROUPS .8-35  S4C008 to S4C015: PARITY OF USER OUTPUT GROUPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-36  S4C016 to S4C023: DATA OF USER INPUT GROUPS. . .8-37  S4C024 to S4C031: DATA OF USER OUTPUT GROUPS.8-38  S4C032 to S4C039: USER OUTPUT GROUP TO BE INITIALIZED AT SWITCHING MODE. . . . . . . . . . . . . . . . .8-39  S4C126: USER OUTPUT NO. WHEN MANIPULATOR DROP ALLOWABLE RANGE ERROR OCCURS. . . . . . . .8-39 8.6 Parameters according to Coordinated or Synchronized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40  S2C164: +MOV or +SMOV INSTRUCTION SPEED INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40  S2C165: +MOV INSTRUCTION INTERPOLATION INPUT8-40  S2C183: OPERATION METHOD AT FWD/BWD OPERATION OR TEST RUN BY INDEPENDENT CONTROL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41  S2C184: JOB AT CALLING MASTER OF SUBTASK 1, 2, 3, 4, 5, 6, 7 BY INDEPENDENT CONTROL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41  S2C194: STATION AXIS CURRENT VALUE DISPLAY FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41  S2C195 to S2C206: STATION AXIS DISPLAYED UNIT . .8-42  S2C322: POSTURE CONTROL OF SYNCHRONIZED MANIPULATOR (When Twin Synchronous Function Used) . . . . . . . . . . . . .8-42  S2C323: POSTURE CONTROL OF MANIPULATOR IN MULTI-JOB (When Twin Synchronous Function Used) . . .8-43  S2C549: OPERATION OF JOB WITHOUT CONTROL GROUP SPECIFICATION. . . . . . . . . . . . . . . . . . . . . . . . . .8-43  S2C550: EXECUTION OF “BWD” OPERATION. . . . . . . . .8-43 19 of 435

xx 155223-1CD RE-CSO-A036  S3C809: MAXIMUM DEVIATION ANGLE OF CURRENT STATION POSITION (When Twin Synchronous Function Used) 8-44 8.7 Parameters for Other Functions or Applications . . .8-45  S1CxG049 to S1CxG051: SMALL CIRCLE CUTTING. . . . 8-45  S1CxG052 to S1CxG053: SMALL CIRCLE CUTTING DIRECTION LIMIT VALUE. . . . . . . . . . . . . . . . . . . . . . . . . 8-45  S1CxG054 to S1CxG055: SMALL CIRCLE CUTTING OVERLAP VALUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-45  S1CxG063, S1CxG064: PATTERN CUTTING DIMENSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-45  S1CxG065: MIRROR SHIFT SIGN INVERSION . . . . . . . . 8-45  S2C332: RELATIVE JOB OPERATION METHOD. . . . . . . 8-46  S3C819 to S3C898: ANALOG OUTPUT FILTER CONSTANT (When analog output corresponding to speed function is used). . . . . . . . . . . . . . . . . . . . . . . . . . 8-46  S3C899: CUT WIDTH CORRECTION VALUE (When form cutting function is used) . . . . . . . . . . . . . . . . . 8-46 8.8 Hardware Control Parameters . . . . . . . . . . . . . . . . . . . . .8-47  S2C508: ANTICIPATOR FUNCTION. . . . . . . . . . . . . . . . . 8-47  S2C646 to S2C648: COOLING FAN ALARM DETECTION8-48  S4C181 to S4C212: SETTING OF OPERATING RELAY NO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48  S4C213 to S4C244: OPERATING METHOD OF RELAYS 8-48  S2C649 to S2C651: COOLING FAN ALARM 1 OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48  S2C652 to S2C654: COOLING FAN ALARM 2 OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48  S2C655 to S2C657: COOLING FAN ALARM 3 OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49  S2C658 to S2C660: FAN ALARM 1 POWER SOURCE STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49  S2C661 to S2C663: FAN ALARM 2 POWER SOURCE STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49  S2C664 to S2C666: FAN ALARM 3 POWER SOURCE STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49 8.9 TRANSMISSION PARAMETERS . . . . . . . . . . . . . . . . .8-50  RS000: COMMUNICATION PROTOCOL . . . . . . . . . . . . . 8-50 8.9.1 Basic Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50  RS030: NUMBER OF DATA BITS . . . . . . . . . . . . . . . . . . . 8-50  RS031: NUMBER OF STOP BITS . . . . . . . . . . . . . . . . . . . 8-50  RS032: PARITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50  RS033: TRANSMISSION SPEED . . . . . . . . . . . . . . . . . . . 8-50  RS034: RESPONSE WAITING TIMER (TIMER A) . . . . . . 8-50  RS035: TEXT TERMINATION MONITORING TIMER (TIMER B). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50  RS036: NUMBER OF ENQ RE-TRANSMISSION RETRIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50  RS037: NUMBER OF DATA RE-TRANSMISSION RETRIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50 20 of 435

xxi 155223-1CD RE-CSO-A036  RS038: BLOCK CHECK METHOD . . . . . . . . . . . . . . . . . . .8-50 8.9.2 FC1 Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51  RS050: NUMBER OF DATA BITS . . . . . . . . . . . . . . . . . . .8-51  RS051: NUMBER OF STOP BITS . . . . . . . . . . . . . . . . . . .8-51  RS052: PARITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51  RS053: TRANSMISSION SPEED. . . . . . . . . . . . . . . . . . . .8-51  RS054: RESPONSE WAITING TIMER (TIMER A). . . . . . .8-51  RS055: TEXT TERMINATION MONITORING TIMER (TIMER B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51  RS056: NUMBER OF ENQ RE-TRANSMISSION RETRIES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51  RS057: NUMBER OF DATA RE-TRANSMISSION RETRIES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51  RS058: FC2 FORMAT SPECIFICATION . . . . . . . . . . . . . .8-51  RS059: EXTERNAL MEMORY FILE OVERWRITE SPECIFICATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51 8.10 Application Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 8-52 8.10.1 Arc Welding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-52  AxP000: APPLICATION . . . . . . . . . . . . . . . . . . . . . . . . . . .8-52  AxP003: WELDING ASSIGNMENT OF WELDING START CONDITION FILE. . . . . . . . . . . . . . . . . . . . . . . . . .8-52  AxP004: WELDING ASSIGNMENT OF WELDING END CONDITION FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-52  AxP005: WELDING SPEED PRIORITY . . . . . . . . . . . . . . .8-52  AxP009: WORK CONTINUING. . . . . . . . . . . . . . . . . . . . . .8-52  AxP010: WELDING INSTRUCTION OUTPUT . . . . . . . . . .8-52  AxP011, AxP012: MANUAL WIRE OPERATION SPEED. .8-53  AxP013, AxP014: WELDING CONTROL TIME . . . . . . . . .8-53  AxP015 to AxP017: NUMBER OF WELDING CONTROL .8-53  AxP026 to AxP029: TOOL ON/OFF USER OUTPUT NO. (Jigless system). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53 8.10.2 Handling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53  AxP002, AxP004: f1 KEY FUNCTION . . . . . . . . . . . . . . . .8-53  AxP003, AxP005: f2 KEY FUNCTION . . . . . . . . . . . . . . . .8-53 8.10.3 Spot Welding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53  AxP003: MAXIMUM NUMBERS OF CONNECTED POWER SOURCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53  AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL . .8-53  AxP005: STROKE CHANGE ANSWER TIME LIMIT . . . . .8-54  AxP006: PARITY SPECIFICATION FOR WELDING CONDITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-54  AxP007: ANTICIPATE TIME . . . . . . . . . . . . . . . . . . . . . . . .8-54  AxP015: WELDING ERROR RESET OUTPUT TIME. . . . .8-54  AxP016, AxP017: ELECTRODE WEAR AMOUNT ALARM VALUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-54 8.10.4 General-purpose Application. . . . . . . . . . . . . . . . . . . . . . . . .8-54  AxP009: WORK CONTINUE PROHIBIT. . . . . . . . . . . . . . .8-54 21 of 435

xxii 155223-1CD RE-CSO-A036 9 Painting Application 9.1 Function Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1 9.2 Outline of Operations and Painting Functions. . . . . . .9-3 9.2.1 Example of Painting System Configuration . . . . . . . . . . . . . . . 9-3 9.2.2 Settings for Panting System When Using a Spray Gun . . . . . . 9-4 9.2.3 Settings for Painting System When Using a Bell Gun . . . . . . . 9-4 9.3 Teaching for Painting Operations. . . . . . . . . . . . . . . . . . .9-5 9.4 Anticipation Output Function . . . . . . . . . . . . . . . . . . . . . . .9-7 9.4.1 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 9.4.2 Notes on Anticipation Output Function . . . . . . . . . . . . . . . . . . . 9-8 9.5 Registering Work Instructions . . . . . . . . . . . . . . . . . . . . . .9-9 9.5.1 SPYON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9  Registering the SPYON Instruction . . . . . . . . . . . . . . . . . . . 9-9  Registering the SPYON Instruction in a One-touch Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13 9.5.2 Notes on the SPYON Instruction . . . . . . . . . . . . . . . . . . . . . . 9-14 9.5.3 SPYOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15  Registering the SPYOF Instruction. . . . . . . . . . . . . . . . . . . 9-15  Registering the SPYOF Instruction in a One-touch Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19 9.5.4 Notes on the SPYOF Instruction. . . . . . . . . . . . . . . . . . . . . . . 9-20 9.5.5 PAINTSET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21  Registering the PAINSET Instruction . . . . . . . . . . . . . . . . . 9-21 9.5.6 CALL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27  What Is the Job Registration Table?. . . . . . . . . . . . . . . . . . 9-27  Registering the Job Registration Table. . . . . . . . . . . . . . . . 9-28  Registering the CALL Instruction (JET) . . . . . . . . . . . . . . . 9-30 9.6 Painting Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-36 9.7 Managing Painting Condition Files . . . . . . . . . . . . . . . .9-37 9.8 Editing Painting Condition Files. . . . . . . . . . . . . . . . . . . .9-39 9.8.1 Calling Up Painting Condition Files . . . . . . . . . . . . . . . . . . . . 9-39 9.8.2 Registering Painting Condition Files. . . . . . . . . . . . . . . . . . . . 9-40 9.9 Painting System Setting File. . . . . . . . . . . . . . . . . . . . . . .9-42 9.9.1 Calling Up Painting System Setting Files . . . . . . . . . . . . . . . . 9-44 9.9.2 Editing Painting System Setting Files . . . . . . . . . . . . . . . . . . . 9-45 9.10 Painting System Characteristics Setting File . . . . .9-47 9.10.1 Editing Painting System Characteristics Setting Files . . . . . 9-49 9.10.2 ON Timing of the Work Start Instruction for the SPYON Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-51 9.10.3 OFF Timing of the Work Start Instruction for the SPYOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-51 9.10.4 Notes on the ON/OFF Timing of the Work Start Instruction . 9-52 9.11 Work Instruction List . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-54 22 of 435

xxiii 155223-1CD RE-CSO-A036 10 Table of Basic Instructions 10.1 Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1 10.2 I/O Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5 10.3 Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8 10.4 Shift Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11 10.5 Operating Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . 10-12 11 Error 11.1 Error Message List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1 11.1.1 System and General Operation. . . . . . . . . . . . . . . . . . . . . . .11-2 11.1.2 Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5 11.1.3 Job Defined Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5 11.1.4 External Memory Equipment. . . . . . . . . . . . . . . . . . . . . . . . .11-9 11.1.5 Concurrent I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-15 11.1.6 Maintenance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-16 23 of 435

1-1 155223-1CD RE-CSO-A036 1 Introduction 1.1 NX100 Overview The main power switch and the door lock are located on the front of the NX100 controller. The emergency stop button is installed in the upper right corner of the cabinet door and the programming pendant hangs from a hook below the button. For information on setup, installation, and connection of the NX100 system, refer to the “NX100 INSTRUCTIONS.” NX100 Front View Main power switch Door lock Door lock 24 of 435

1-2 155223-1CD RE-CSO-A036 1.2 Programming Pendant 1.2.1 Programming Pendant Overview The programming pendant is equipped with the keys and buttons used to conduct manipulator teaching operations and to edit jobs. HOLD START PLAY TEACH REMOTE T- Z- T+ Z+ B+ Y+ R+ X+ B- Y- R- X- . . HIGH SPEED FAST SLOW MANUAL SPEED U- Z- U+ Z+ L+ Y+ S+ X+ L- Y- S- X- SERVO ON M O T O M A N SELECT SERVO ON READY MAIN MENU SHORT CUT GO BACK PAGE AREA LAYOUT Multi CANCEL COORD DIRECT OPEN INFORM LIST BACK SPACE SHIFT INTER LOCK ROBOT EX.AXIS MOTION TYPE TEST START BWD INSERT MODIFY ENTER FWD DELETE SHIFT 7 4 2 3 . - 5. 6 0 8 1 9 JOB UTILITY EDIT DISPLAY Main Menu Short Cut JOB CONTENT JOB NAME: TEST01 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ=80.00 0004 MOVJ VJ=80.00 0005 DOUT OGH#(13) B002 0006 DOUT OT#(41) ON 0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662 0008 DOUT OT#(44) ON 0009 TIMER T=3.0 0010 MOVL V=880.0 0011 MOVL V=880.0 0012 MOVL V=880.0 0013 MOVL V=880.0 Turn on servo power Menu area Mode switch General-purpose display area Cursor key Enable switch Located on the back of the programming pendant. When you lightly squeeze it, the power turns ON. When you firmly squeeze it, the power turns OFF. Motion Type key Numeric keys / Function keys Press to input numbers. These keys are also used as function keys to input instructions, etc. Key’s function is automatically switched when function keys are available. Page key Select key Manual speed keys Axis keys Enable switch (option) Enter key Insertion slot for Compact Flash Start button Hold button Emergency stop button ASSIST !? TOOL: 00 CONTROL GROUP: R1 STEP NO: 0003 25 of 435

1-3 155223-1CD RE-CSO-A036 1.2.2 Key Description  Character Keys The keys which have characters printed on them are denoted with [ ]. For example, is shown as [ENTER]. The Numeric keys have additional functions along with their number values. Dual function keys are used in the context of the operation being performed. For example: may be described in the text as [1] or [TIMER].  Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture, with the exception of the cursor key, which is not shown with a picture.  Axis Keys and Numeric Keys The keys pictured in the following are referred to as the axis keys and Numeric keys when described.  Keys Pressed Simultaneously When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, such as [SHIFT]+[COORD]. Cursor Emergency Stop button Direct Open key Page key ENTER 1 TIMER DIRECT OPEN PAGE GO BACK Axis Keys Num eric Keys Ｓ+ Ｘ- L- Y- U- Z- Ｓ+ Ｘ+ L+ Y+ U+ Z+ R- Ｘ- B-Y- T-Z- R+ Ｘ+ B+Y+ T+ Z+ ･ ･ 7 8 9 4 6 1 2 3 ･ - 0 5 26 of 435

1-4 155223-1CD RE-CSO-A036 1.2.3 Programming Pendant Keys E.STOP Button Turns OFF the servo power. When the servo power is turned OFF, the SERVO ON LED on the programing pendant will extinguish. An emergency stop message is displayed on the screen. Enable Switch Turns ON the servo power. When the Enable switch is lightly squeezed while the SERVO ON LED is blinking and the Mode Switch is set to “TEACH”, the power is turned ON. And when this switch is released or firmly squeezed while the power is turned ON, the power turns OFF. Cursor Moves the cursor in the direction of the arrow. The size of the cursor and the range/place where the cursor can move will vary depending on the window. If the UP cursor button is pressed when the cursor is on the first line, the cursor will move to the last line of the job. Conversely, if the cursor is on the last line of the job and the DOWN cursor button is pressed, the cursor will jump to the first line of the job. • [SHIFT] + UP Scrolls the screen upward. • [SHIFT] + DOWN Scrolls the screen downward. • [SHIFT] + RIGHT Scrolls the screen to the right. • [SHIFT] + LEFT Scrolls the screen to the left. [SELECT] Selects menu items such as main menu, pull-down menu, etc. [MAIN MENU] Displays the main menu. When pressed while the main menu is displayed, the main menu disappears. S E L E C T MAIN MENU 27 of 435

1-5 155223-1CD RE-CSO-A036 [AREA] Moves the cursor between “Menu Area” and “General Purpose Display Area.” When [SHIFT] is pressed simultaneously: • [SHIFT] + [AREA] The language can be switched when the bilingual function is valid. (Bilingual function is optional.) • DOWN cursor button + [AREA] Moves the cursor to the operation button on the screen if displayed. • UP cursor button + [AREA] Moves the cursor to the general-purpose display area when the cursor is on the operation button. [PAGE] Displays the next page. [SHIFT] + [PAGE] The previous page is displayed. The page can be changed when appears in the status area on the screen. [DIRECT OPEN] Displays the content related to the current line. To display the content of a CALL job or condition file, move the cursor to the next line and press [DIRECT OPEN]. The file will be displayed for the selected line. Display content will vary depending on the type of instruction used in the job. Example: For a CALL instruction, the content of the called job will be displayed. For a work instruction, the content of the condition file will be displayed. For Input/output instructions, the input/output condition will be displayed. [COORD] Select the operation coordinate system when the manipulator is operated manually. Five coordinate systems (joint, cartesian, cylindrical, tool and user) can be used. Each time this key is pressed, the coordinate system is switched in the following order: "JOINT""WLD/CYL""TOOL""USER" The selected coordinate system is displayed on the status display area. [SHIFT] + [COORD] The coordinate number can be changed when the “TOOL” or “USER” coordinate system is selected. MANUAL SPEED keys Sets the speed for manual operation. This speed is also valid for operations with [FWD] and [BWD]. There are four speed levels (slow, medium, fast, and inching). Each time [FAST] is pressed, manual speed changes in the following order: "INCH"" SLOW""MED""FST" Each time [SLOW] is pressed, manual speed changes in the following order: "FST""MED""SLOW""INCH" The selected speed is displayed on the status area. [HIGH SPEED] Changes the speed of axis operation when the axis button is pressed. The speed of the manipulator will change to high regardless of the programmed speed while this key is pressed. The speed for [HIGH SPEED] is specified in advance. AREA PAGE GO BACK DIRECT OPEN COORD TOOL SEL FAST MANUAL SPEED SLOW HIGH SPEED 28 of 435

1-6 155223-1CD RE-CSO-A036 [MOTION TYPE] Selects the interpolation type for playback operation. The selected interpolation type is shown in the status display area on the screen. Each time this key is pressed, the interpolation type changes in the following order: "MOVJ"" MOVL""MOVC""MOVS" [SHIFT] + [MOTION TYPE] The interpolation mode changes in the following order: "STANDARD"" EXTERNAL REFERENCE POINT"*" CONVEYOR"* Interpolation type can be changed in any mode. *: These modes are purchased options. [ROBOT] Enables the robot axis operation. [ROBOT] is active for the system where multiple manipulators are controlled by one NX100 or the system with external axes. [EX.AXIS] Enables the external axis (base axis or station axis) operation. [EX.AXIS] is active for the system with external axes. Axis Key Moves specified axes on manipulator. The manipulator axes only move while the key is held down. Multiple axes can be operated simultaneously by pressing two or more keys at the same time. The manipulator operates in the selected coordinate system at the selected manual speed. Make sure that the selected coordinate system and the manual speed are the desired ones before starting the axis operation. [TEST START] Moves the manipulator through taught steps in a continuous motion when [TEST START] and [INTERLOCK] are simultaneously pressed. The manipulator can be moved to check the path of taught steps. The manipulator operates according to the currently selected operation cycle: "AUTO," "1CYCLE," or "STEP." The manipulator operates at the taught speed. However, if the taught speed exceeds the maximum teaching speed, the operation proceeds at the maximum teaching speed. Operation stops immediately when this key is released. MOTION TYPE ROBOT EX.AXIS TEST START 29 of 435

1-7 155223-1CD RE-CSO-A036 [FWD] Moves the manipulator through the taught steps while this key is pressed. Only move instructions are executed (one instruction at a time, no welding instructions). [INTERLOCK] + [FWD] All instructions are executed. [REFP] + [FWD] Moves to the reference point of the cursor line. See “ " Moving to Reference Point "” in " 3.3.1 FWD/BWD Key Operations ". The manipulator operates at the selected manual speed. Make sure that the selected manual speed is the desired one before starting operation. [BWD] Moves the manipulator through the taught steps in the reverse direction while this key is pressed. Only move instructions are executed (no weld commands). [INFORM LIST] Displays instruction lists of commands available for job editing. [CANCEL] Cancels data input and resets errors. [DELETE] Deletes registered instructions and data. Deletion completes when [ENTER] is pressed while this key lamp is lit. [INSERT] Inserts new instructions or data. Insertion completes when [ENTER] is pressed while this key lamp is lit. [MODIFY] Modifies taught position data, instructions, and data. Modification completes when [ENTER] is pressed while this key lamp is lit. [ENTER] Registers instructions, data, current position of the manipulator, etc. When [ENTER] is pressed, the instruction or data displayed in the input buffer line moves to the cursor position to complete a registration, insertion, or modification. FWD BWD INFORM LIST CANCEL DELETE INSERT MODIFY ENTER 30 of 435

1-8 155223-1CD RE-CSO-A036 [SHIFT] Changes the functions of other keys by pressing together. Can be used with [MAIN MENU], [COORD], [MOTION TYPE], cursor key, Numeric key, page key to access alternate functions. Refer to the description of each key for the alternate [SHIFT] functions. [INTERLOCK] Changes the functions of other keys by pressing together. Can be used with [TEST START], [FWD], Numeric key (Numeric key customize function). Refer to the description of each key for the alternate [INTERLOCK] functions. Numeric Key Enters the number or symbol when the ">" prompt appears on the input line. “.” is the decimal point. “-” is a minus sign or hyphen. The Numeric keys are also used as function keys. Refer to the explanation of each function for details. [START] Starts the manipulator motion in playback operation. The lamp on this button is lit during the playback operation. The lamp also lights when the playback operation is started by the system input START signal. The lamp turns OFF when the playback operation is stopped by alarm occurrence, HOLD signal, or mode change. [HOLD] Holds the manipulator motion. This button is enabled in any mode. The lamp on this button is lit only while the button is being pressed. Although the lamp turns OFF when the button is released, the manipulator stays stopped until a START command is input. The HOLD lamp automatically lights in the following cases to indicate that the system is in HOLD status. The start and axis operations are disabled while the lamp is lit. • The HOLD signal of system input is ON. • The HOLD request is being sent from an external device in remote mode. • In HOLD status caused by an error occurred in working process such as wire sticking at arc welding Mode Switch Selects the Play mode, Teach mode, or Remote mode. PLAY: Play Mode The playback of taught job is enabled. The START signal from an external device is disabled. TEACH: Teach Mode The axis operation and edition from the programming pendant are enabled. The START signal from an external device is disabled. REMOTE: Remote Mode The operation by external signals is enabled. [START] is invalid during the remote mode. SHIFT PAGE GO BACK INTER LOCK 7 8 9 4 6 1 2 3 ･ - 0 5 START HOLD REMOTE TEACH PLAY 31 of 435

1-9 155223-1CD RE-CSO-A036 [MAIN MENU] Displays the main menu. If this button is pressed while the main menu is displayed, the main menu disappears. [SHIFT] + [MAIN MENU] While a window opens, the window is switched in the following order: Window → Sub-menu → Main menu [SERVO ON READY] Enables the servo power supply to be turned ON. Press this button to enable the servo power supply to be turned ON if the servo power supply is shut OFF by the emergency stop or overrun signal. When this button is pressed: • In the play mode, the servo power supply is turned ON if the safeguard- ing is securely closed. • In the teach mode, the SERVO ON lamp flashes and the servo power supply is turned ON when the Enable switch is ON. • The SERVO ON lamp is lit while the servo power is ON. [ASSIST] Displays the menu to assist the operation for the currently displayed window. Pressing this button with [SHIFT] or [INTERLOCK] displays the help guidance for the operation. • [SHIFT] + [ASSIST] The function list of key combinations with [SHIFT] appears. • [INTERLOCK] + [ASSIST] The function list of key combinations with [INTERLOCK] appears. [BACK SPACE] Deletes the last character while typing characters. MAIN MENU SERVO ON READY ASSIST !? BACK SPACE 32 of 435

1-10 155223-1CD RE-CSO-A036 1.2.4 Programming Pendant Display  The Five Display Areas The programming pendant display is a 6.5 inch color display. Alphanumeric characters can be used. The general display area, menu area, human interface display area, and main menu area among the following five areas can be moved by pressing [AREA], or can be selected by directly touching the screen. Each window displayed during operations is provided with its name on the upper left of the general display area. T Short CUt Main Menu Turn on servo power JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFO CF FD/CF SETUP PARAMETER SPOT WELDING CURR POS (PLS) POSITION DIAGNOSIS 3 CURR POS (XYZ) SEG. PLUSE S L U R B T 7 8 0 X 0 Y 0 Z 0 Rx 0 Ry 0 Rz 0 0 0.000 S L U R B T 7 8 0.000 0.000 0.00 0.00 0.00 0 0 0 0 0 0 0 0 AXIS 0000_0000 TYPE 0000_0000 TOOL 0 F/B PULSE MOTOR POS RESET S 0 S 0 1 0 JOB EDIT DISPLAY UTILITY Menu area Status display area Main menu area Human interface display area Main menu area Short Cut Main Menu JOB CONTENT 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ=80.00 0004 MOVJ VJ=80.00 0005 DOUT OGH#(13) B002 0006 DOUT OT#(41) ON 0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662 0008 DOUT OT#(44) ON 0009 TIMER T=3.0 0010 MOVL V=880.0 0011 MOVL V=880.0 0012 MOVL V=880.0 0013 MOVL V=880.0 JOB NAME:TEST01 TOOL : 00 CONTROL GROUP: R1 STEP NO. : 0003 Turn on servo power JOB EDIT DISPLAY UTILITY 33 of 435

1-11 155223-1CD RE-CSO-A036  General-purpose Display Area On the general-purpose display area, various settings and contents such as jobs and characteristics files can be displayed and edited. The operation buttons are also displayed at the bottom of the window according to the window contents. • To move the cursor to the operation button, press [AREA] + DOWN cursor key. • To move the cursor to the general-purpose display area, press [AREA] + UP cursor key or press [CANCEL]. • To move the cursor between the operation buttons, use the RIGHT or LEFT cursor key. • To execute the operation button, move the cursor to the button and press [SELECT]. EXECUTE: Continues operation with the displayed contents. CANCEL: Cancels the displayed contents and returns to the previous window. COMPLETE: Completes the setting operation displayed on the general-purpose display area. STOP: Stops operation when loading, saving, or verifying with an external memory device. RELEASE: Releases the overrun and shock sensor function. RESET: Resets an alarm. (Cannot reset major alarms.) DIRECT PAGE: Jumps to the appropriate page if the page can be switched. • When the page can be switched by specifying the page number, the fol- lowing input box appears when “DIRECT PAGE” is selected. Directly type the desired page number and press [ENTER]. • When the page can be switched by selecting an item, the following selec- tion list appears when “DIRECT PAGE” is selected. Select a desired item using the UP and DOWN cursor key and press [ENTER]. JUMP TO: PAGE Operation buttons General-purpose display area PAGE 34 of 435

1-12 155223-1CD RE-CSO-A036  Main Menu Area Each menu and submenu are displayed in the main menu area. Press [MAIN MENU] or touch {Main Menu} on the left bottom of the window to display the main menu.  Status Display Area The Status Display area shows controller status. The displayed information will vary depending on the controller mode (Play/Teach). Control Group Displays the active control group for systems equipped with station axes or several robot axes. to : Robot Axes to : Base Axes to : Station Axes Operation Coordinate System Displays the selected coordinate system. Switched by pressing [COORD]. : Joint Coordinates : Cartesian Coordinates : Cylindrical Coordinates : Tool Coordinates : User Coordinates Short Cut Main Menu JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFO CF FD/CF SETUP PARAMETER SPOT WELDING Group operation axis Operation coordinate system Manual speed Mode State under execution Operation cycle Security mode T Page Weak battery 35 of 435

1-13 155223-1CD RE-CSO-A036 Manual Speed Displays the selected speed. For details, refer to “ " Select Manual Speed ".” : Inching : Low Speed : Medium Speed : High Speed Security Mode : Operation Mode : Edit Mode : Management Mode Operation Cycle Displays the present operation cycle. : Step : Cycle : Continuous State Under Execution Displays the present system status (STOP, HOLD, E-STOP, ALARM, or RUN). : Stop Status : Hold Status : Emergency Stop Status : Alarm Status : Operating Status Mode (NS3.00 or later) : Teach mode : Play mode Page : Displayed when the page can be switched. Weak Battery of Memory : Displayed when the battery of memory is weak. T P 36 of 435

1-14 155223-1CD RE-CSO-A036  Human Interface Display Area When two or more errors or messages are displayed, appears in the human interface display area. To view the list of current errors or messages, activate the human interface display area and press [SELECT]. To close the error list, press [CANCEL]. When two or more errors occur, appears in the message display area. Activate the message display area and press [SELECT] to view the list of current errors. To close the error list, select “CLOSE” or press [CANCEL].  Menu Area The menu area is used to edit a job, manage jobs, and execute various utilities. 1.2.5 Screen Descriptions  Denotation The menu displayed in the programming pendant is denoted with { }. The above menu items are denoted with {DATA}, {EDIT}, {DISPLAY}, AND {UTILITY}. The pull-down menu commands are denoted in the same manner. Turn on servo power HELP CLOSE 5 / 9 Cannot load macro job at current security mode Cannot insert/modify/delete for group axis detachment Cannot insert/modify/delete for axis detachment DATA EDIT DISPLAY UTILITY DATA EDIT DISPLAY UTILITY Short Cut Main Menu Turn on servo power JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFO CF ARC WELDING Aa DATA EDIT DISPLAY UTILITY JOB SELECT JOB CREATE NEW JOB MASTER JOB JOB CAPACITY DOUT MOVE END 37 of 435

1-15 155223-1CD RE-CSO-A036  Screen The window can be displayed according to the view desired. Full Window View Upper Window View Middle Window View Lower Window View 1.2.6 Character Input To input characters, display the software keypad on the programming pendant display. Move the cursor to the data for which characters are to be input, and press [SELECT] to display the software keypad. There are three types of software keypads: the alphanumeric keypads each for upper-case and lower- case characters and the symbol keypad. To switch between the alphanumeric keypads and the symbol keypad, touch the button tab on the screen or press [PAGE]. To switch the alphanumeric keypads between upper-case and lower-case characters, touch “CapsLock OFF” or “CapsLock ON.” Short Cut Main Menu DATA EDIT DISPLAY UTILITY DATA EDIT DISPLAY UTILITY Short Cut Main Menu 38 of 435

1-16 155223-1CD RE-CSO-A036  Operation Keypad Button on the Programming Pendant Explanation Cursor Moves the cursor (focus). [SELECT] Selects a character. [CANCEL] Clears all the characters being typed. Pressing this second time cancels the software keypad. [BACK SPACE] Deletes the last one character. [ENTER] Enters the input characters. Button Tab Switches the keypads displayed on the programming pendant. Closes the software keypad. Numeric Keys to Enters numbers. S E L E C T CANCEL BACK SPACE ENTER PAGE GO BACK MAIN MENU 0 9 39 of 435

1-17 155223-1CD RE-CSO-A036  Alphanumeric Input Number input is performed with the Numeric keys or on the following alphanumeric input window. Numbers include 0 to 9, the decimal point (.), and the minus sign/hyphen (-). Note however, that the decimal point cannot be used in job names. Press the page key to display the alphanumeric input window. Move the cursor to the desired letter and press [SELECT] to enter the letter.  Symbol Input Press the page key to display the symbol input window. Move the cursor to the desired symbol and press [SELECT] to enter the symbol. Note that only some symbols are available for naming jobs. For Numbers and Upper-case Characters For Numbers and Lower-case Characters SP: Space PAGE GO BACK Short Cut Main Menu [RESULT] Back Space Cancel CapsLock OFF Enter Space 1 2 3 4 5 6 7 8 9 0 Q W E R T Y U I O P A S D F G H J K L Z X C V B N M SYMBOL KEYBOARD JOB EDIT DISPLAY UTILITY Short Cut Main Menu [RESULT] Back Space Cancel CapsLock ON Enter Space 1 2 3 4 5 6 7 8 9 0 q w e r t y u i o p a s d f g h j k l z x c v b n m SYMBOL KEYBOARD JOB EDIT DISPLAY UTILITY PAGE GO BACK Short Cut Main Menu JOB EDIT DISPLAY UTILITY [RESULT] Back Space Cancel Caps Lock Enter KEYBOARD SYMBOL " ! % , & . ’ / @ $ SP ( ) _ < + > − = ? : ; 40 of 435

• Teach Mode • Play Mode • Remote Mode 1.3.1 Teach Mode In the teach mode, the following can be done. • Preparation and teaching of a job • Modification of a registered job • Setting of various characteristic files and parameters 1.3.2 Play Mode In the play mode, the following can be done. • Playback of a taught job • Setting, modification, or deletion of various condition files 1.3.3 Remote Mode In the remote mode, the operations such as Servo ON Ready, Start, Cycle Change, Call Master Job can be commanded by external input signals. The operations by external input signals become enabled in the remote mode, while [START] on the programming pendant becomes disabled. The data transmission function (optional function) is also available in the remote mode. The following table shows how each operation is input in each mode. Note: “PP” indicates the programming pendant. 1.3.4 Teach Mode Priority In the teach mode, following operations are disabled: 1) Playback using [START]. 2) Playback from external input signals. Teach Mode Play Mode Remote Mode Servo ON Ready PP PP External input signal Start Invalid PP External input signal Cycle Change PP PP External input signal Call Master Job PP PP External input signal 41 of 435

1-19 155223-1CD RE-CSO-A036 1.4 About the Security Mode 1.4.1 Types of Security Modes The following three types of security modes are available for NX100. Any operations in the edit mode and the management mode require a password. The password must contain between 4 and 8 letters, numbers, or symbols. • Operation Mode The operator can monitor the line operation and start and stop the manipulator. Repairs, etc. can be performed if any abnormalities are detected. • Edit Mode Teaching, robot jog operations, and editing of jobs and various condition files can be per- formed in addition to the operations enabled in the operation mode. • Management Mode The operator who performs setup and maintenance for the system can set the machine control parameter, set the time, change the password, etc. in addition to the operations enabled in the edit mode. 42 of 435

1-20 155223-1CD RE-CSO-A036 *1 Displayed in the teach mode only. *2 Displayed in the play mode only. Menu & Security Mode Main Menu Sub Menu Security Mode DISPLAY EDIT JOB JOB Operation Edit SELECT JOB Operation Operation CREATE NEW JOB*1 Edit Edit MASTER JOB Operation Edit JOB CAPACITY Operation - RES. START(JOB)*1 Edit Edit RES. STATUS*2 Operation - CYCLE Operation Operation VARIABLE BYTE Operation Edit INTEGER Operation Edit DOUBLE Operation Edit REAL Operation Edit STRING Operation Edit POSITION(ROBOT) Operation Edit POSITION(BASE) Operation Edit POSITION(ST) Operation Edit LOCAL VARIABLE Operation - IN/OUT EXTERNAL INPUT Operation - EXTERNAL OUTPUT Operation - UNIVERSAL INPUT Operation - UNIVERSAL OUTPUT Operation Edit SPECIFIC INPUT Operation - SPECIFIC OUTPUT Operation - RIN Operation - CPRIN Operation - REGISTER Operation - AUXILIARY RELAY Operation - CONTROL INPUT Operation - PSEUDO INPUT SIG Operation Management NETWORK INPUT Operation - NETWORK OUTPUT Operation - ANALOG OUTPUT Operation - SV POWER STATUS Operation - LADDER PROGRAM Management Management I/O ALARM Management Management I/O MESSAGE Management Management 43 of 435

1-21 155223-1CD RE-CSO-A036 Menu & Security Mode Main Menu Sub Menu Security Mode DISPLAY EDIT ROBOT CURRENT POSITION Operation - COMMAND POSITION Operation - SERVO MONITOR Management - WORK HOME POS Operation Edit SECOND HOME POS Operation Edit DROP AMOUNT Management Management POWER ON/OFF POS Operation - TOOL Edit Edit INTERFERENCE Management Management SHOCK SENS LEVEL Operation Management USER COORDINATE Edit Edit HOME POSITION Management Management MANIPULATOR TYPE Management - ROBOT CALIB Edit Edit ANALOG MONITOR Management Management OVERRUN&S-SENSOR*1 Edit Edit LIMIT RELEASE*1 Edit Management ARM CONTROL*1 Management Management SHIFT VALUE Operation - SYSTEM INFO VERSION Operation - MONITORING TIME Operation Management ALARM HISTORY Operation Management I/O MSG HISTORY Operation Management SECURITY Operation Operation FD/CF LOAD Edit - SAVE Operation - VERIFY Operation - DELETE Operation - DEVICE Operation Operation FOLDER Edit Edit FORMAT*5 Operation Operation *1 Displayed in the teach mode only. *5 For FC1/FC2 Floppy disk 44 of 435

1-22 155223-1CD RE-CSO-A036 PARAMETER S1CxG Management Management S2C Management Management S3C Management Management S4C Management Management A1P Management Management A2P Management Management A3P Management Management A4P Management Management RS Management Management S1E Management Management S2E Management Management S3E Management Management S4E Management Management SETUP TEACHING COND Edit Edit OPERATE COND Management Management DATE/TIME Management Management GRP COMBINATION Management Management RESERVE JOB NAME Edit Edit USER ID Edit Edit SET SPEED Management Management KEY ALLOCATION*1 Management Management RES. START(CNCT) Management Management AUTO BACKUP SET*3 Management Management WRONG DATA LOG*4 Operation Management ARC WELDING ARC START COND. Operation Edit ARC END COND. Operation Edit ARC AUX COND. Operation Edit POWER SOURCE COND. Operation Edit ARC WELD DIAG. Operation Edit WEAVING Operation Edit ARC MONITOR Operation - HANDLING HANDLING DIAG. Operation Edit SPOT WELDING WELD DIAGNOSIS Operation Edit I/O ALLOCATION Management Management GUN CONDITION Management Management SPOT POWER SOURCE COND. Management Management Menu & Security Mode Main Menu Sub Menu Security Mode DISPLAY EDIT *1 Displayed in the teach mode only. *3 From NS3.20 *4 From NS3.21 45 of 435

1-23 155223-1CD RE-CSO-A036 SPOT WELDING (MOTOR GUN) WELD DIAGNOSIS Operation Edit GUN PRESSURE Edit Edit PRESSURE Edit Edit I/O ALLOCATION Management Management GUN CONDITION Management Management CLEARANCE SETTING Operation Edit SPOT POWER SOURCE COND. Management Management GENERAL WEAVING Operation Edit GENERAL DIAGNOSIS Operation Edit ALL COMMON APPLICATION I/O-VARIABLE CUSTOMIZE Operation Operation Menu & Security Mode Main Menu Sub Menu Security Mode DISPLAY EDIT 46 of 435

1-24 155223-1CD RE-CSO-A036 1.4.2 Switching Security Modes Operation Explanation 1 Select {SYSTEM INFO} under the main menu. The sub menu appears. 2 Select {SECURITY}. The security mode can be selected from operation mode, edit mode, or management mode. Security Mode Selection Dialog Box 3 Select the desired security mode. When the selected security mode is higher than the currently set mode, the user ID input status window appears. Turn on servo power JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFO CF FD/CF SETUP DISPLAY SETUP Aa ARC WELDING Short Cut Main Menu PARAMETER MONITORING TIME ALARM HISTORY I/O MESSAGE HISTORY VERSION SECURITY DATA EDIT DISPLAY UTILITY Turn on servo power JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFOR CF FD/CF SETUP ARC WELDING Short Cut Main Menu PARAMETER SECURITY MODE SECURITY MODE EDIT MODE DATA EDIT DISPLAY UTILITY Turn on servo power JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFO CF FD/CF SETUP ARC WELDING Short Cut Main Menu PARAMETER SECURITY MODE SECURITY MODE DATA EDIT DISPLAY UTILITY OPERATION MODE EDIT MODE MANAGEMENT MODE 47 of 435

1-25 155223-1CD RE-CSO-A036 4 Input user ID as required. At the factory, the user ID number is preset as follows: • Edit Mode: [00000000] • Management Mode: [99999999] 5 Press [ENTER]. The selected security mode’s input ID is checked. If the correct user ID is input, the security mode is changed. Operation Explanation 48 of 435

2.1 Control Groups and Coordinate Systems 2-1 155223-1CD RE-CSO-A036 2 Manipulator Coordinate Systems and Operations 2.1 Control Groups and Coordinate Systems 2.1.1 Control Group For the NX100, a group of axes to be controlled at a time is called “Control Group”, and the group is classified into three units: “ROBOT” as a manipulator itself, “BASE” that moves the manipulator in parallel, and “STATION” as jigs or tools other than “ROBOT” and “BASE”. BASE and STATION are also called external axes. Robot Base Station This is the axis for the manipulator itself. This is any axis other than the ro- bot and base. It indicates the tilt or rotating axis of the fixture. This is the axis that moves the entire manipulator. It corresponds to the servo track. It controls the path of traveling manipulators. 49 of 435

2.1 Control Groups and Coordinate Systems 2-2 155223-1CD RE-CSO-A036 2.1.2 Types of Coordinate Systems The following coordinate systems can be used to operate the manipulator: • Joint Coordinates Each axis of the manipulator moves independently. • Cartesian Coordinates The tool tip of the manipulator moves parallel to any of the X-, Y-, and Z-axes. • Cylindrical Coordinates The θ axis moves around the S-axis. The R-axis moves parallel to the L-axis arm. For vertical motion, the tool tip of the manipulator moves parallel to the Z-axis. • Tool Coordinates The effective direction of the tool mounted in the wrist flange of the manipulator is defined as the Z-axis. This axis controls the coordinates of the end point of the tool. • User Coordinates The XYZ-cartesian coordinates are defined at any point and angle. The tool tip of the manipulator moves parallel to the axes of them. Cartesian Coordinates Cylindrical Coordinates Tool Coordinates User Coordinates Y - a x i s X - a x i s Z - a x i s Z - a x i s θ - a x i s r - a x i s r - a x i s Y- a x i s X- a x i s Z- a x i s Z- a x i s Y - a x i s X - a x i s 50 of 435

2.2 General Operations 2-3 155223-1CD RE-CSO-A036 2.2 General Operations  Check Safety Before any operation of NX100, read Section 1 “Safety” of “NX100 INSTRUCTIONS” again and keep safe around robot system or peripherals.  Select Teach Mode Set the mode switch on the programming pendant to “teach”.  Select Control Group If NX100 has several Control Groups or Coordinate Control Systems (optional function), select control group first. If two or more ROBOT, BASE, STATION are registered, switch control group by pressing [SHIFT] + [ROBOT] or [SHIFT] + [EX. AXIS]. After selecting a job, a control group registered in the selected job is enabled. A control group registered in the edit job can be switched by pressing [ROBOT] or [EX. AXIS]. Check selected control group at status display area on the programming pendant.  Select Coordinate System Select coordinate system by pressing [COORD] button. It switches; JointCartesian (Cylindrical)ToolUser in every pressing. Check the selected coordinate on the status display area on the programming pendant.  Select Manual Speed Select manual speed of operation by pressing [FAST] or [SLOW]. The selected speed is effective not only for axis operation but [FWD] or [BWD] operation. • Every press of [FAST] switches; “INCH”“SLOW”“MED”“FAST”. • Every press of [SLOW] switches; “FAST”“MED”“SLOW”“INCH”. Check selected manual speed on the status area of Programming Pendant. In operating the manipulator manually by the programming pendant, the maximum speed of center point is limited at 250 mm/s. INCH SLW MED FST FST MED SLW INCH NOTE FAST MANUAL SPEED SLOW MANUAL SPEED 51 of 435

2.2 General Operations 2-4 155223-1CD RE-CSO-A036  Servo ON Press [SERVO ON READY], then SERVO ON LED starts blinking. Squeeze the Enable switch, then SERVO ON LED starts lighting.  Axis Operation Make sure of safety around the manipulator. Press axis key, then axis moves according to the selected control group, coordinates, and manual speed. See " 2.3 Coordinate Systems and Axis Operation " for details.  HIGH SPEED Pressing of [HIGH SPEED] with axis keys pressed allows the manipulator to move faster than usual speed. The [HIGH SPEED] key is disabled when “INCH” is selected for manual speed. SUPPLE -MENT 52 of 435

2.3 Coordinate Systems and Axis Operation 2-5 155223-1CD RE-CSO-A036 2.3 Coordinate Systems and Axis Operation 2.3.1 Joint Coordinates When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of the manipulator move independently. The motion of each axis is described in the table below. Axis Motion in Joint Coordinates Axis Name Axis Operation Key Motion Major Axes S-axis Main unit rotates right and left. L-axis Lower arm moves forward and backward. U-axis Upper arm moves up and down. Wrist Axes R-axis Wrist rolls right and left. B-axis Wrist moves up and down. T-axis Wrist turns right and left. • When two or more axis keys are pressed at the same time, the manipulator will perform a compound movement. However, if two different directional keys for the same axis are pressed at the same time (such as [S-] + [S+]), none of the axes operate. • When using a manipulator of 7 axes or 8 axes, the C-axis (7th axis) is moved by pressing [SHIFT] + [S-] or [SHIFT] + [S+]; the W-axis (8th axis) by pressing [SHIFT] + [L-] or [SHIFT] + [L+]. X- S- X+ S+ Y- L- Y+ L+ Z- U- Z+ U+ X- R- X+ R+ Y- B- Y+ B+ Z- T- Z+ T+ SUPPLE -MENT U-axis R-axis B-axis T-axis L-axis S-axis Y- L- Y+ L+ X- S- X+ S+ Z- U- Z+ U+ Y- B- Y+ B+ X- R- X+ R+ Z- T- Z+ T+ 53 of 435

2.3 Coordinate Systems and Axis Operation 2-6 155223-1CD RE-CSO-A036 2.3.2 Cartesian Coordinates In the cartesian coordinates, the manipulator moves parallel to the X-, Y-, or Z-axes. The motion of each axis is described in the following table: Axis Motion in Cartesian Coordinates Axis Name Axis Operation Key Motion Basic Axes X-axis Moves parallel to X-axis. Y-axis Moves parallel to Y-axis. Z-axis Moves parallel to Z-axis. Wrist Axes Motion about TCP is executed. See section 2.3.7 "Control Point Operation" and section 2.3.8 "Control Point Change". When two or more axis keys are pressed at the same time, the manipulator will perform compound movement. However, if two different directional keys for the same axis are pressed at the same time (such as [X-] + [X+]), none of the axes operate. Moves parallel to X- or Y-axis Moves parallel to Z-axis X- S- X+ S+ Y- L- Y+ L+ Z- U- Z+ U+ SUPPLE -MENT Z -ax is Y-ax is X -ax is Y-axis X-axis Y- L- Y+ L+ X- S- X+ S+ Z-axis Z- U- Z+ U+ 54 of 435

2.3 Coordinate Systems and Axis Operation 2-7 155223-1CD RE-CSO-A036 2.3.3 Cylindrical Coordinates In the cylindrical coordinates, the manipulator moves as follows. The motion of each axis is described in the following table. Axis Motion in Cylindrical Coordinates Axis Name Axis Operation Key Motion Basic Axes θ-axis Main unit rolls around S-axis. r-axis Moves perpendicular to Z-axis. Z-axis Moves parallel to Z-axis. Wrist Axes Motion about TCP is executed. See section 2.3.7 "Control Point Operation" and section 2.3.8 "Control Point Change". When two or more axis keys are pressed at the same time, the manipulator will perform compound movement. However, if two different directional keys for the same axis are pressed at the same time (such as [Z-] + [Z+]), none of the axes operate. Rolls around θ-axis Moves perpendicular to r-axis X- S- X+ S+ Y- L- Y+ L+ Z- U- Z+ U+ SUPPLE -MENT Z - a x i s θ - a x i s r - a x i s r - a x i s X- S- X+ S+ r-axis r-axis Y- L- Y- L- Y+ L+ Y+ L+ 55 of 435

2.3 Coordinate Systems and Axis Operation 2-8 155223-1CD RE-CSO-A036 2.3.4 Tool Coordinates In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-axes, which are defined at the tip of the tool. The motion of each axis is shown in the following table: The tool coordinates are defined at the tip of the tool, assuming that the effective direction of the tool mounted on the manipulator wrist flange is the Z-axis. Therefore, the tool coordinates axis direction moves with the wrist. In tool coordinates motion, the manipulator can be moved using the effective tool direction as a reference regardless of the manipulator position or orientation. These motions are best suited when the manipulator is required to move parallel while maintaining the tool orientation with the workpieces. Axis Motion in Tool Coordinates Axis Name Axis Operation Key Motion Basic Axes X- axis Moves parallel to X-axis. Y- axis Moves parallel to Y-axis. Z- axis Moves parallel to Z-axis. Wrist Axes Motion about TCP is executed. See section 2.3.7 "Control Point Operation" and section 2.3.8 "Control Point Change". When two or more axis keys are pressed at the same time, the manipulator will perform compound movement. However, if two different directional keys for the same axis are pressed at the same time (such as [X-] + [X+]), none of the axes operate. X- S- X+ S+ Y- L- Y+ L+ Z- U- Z+ U+ SUPPLE -MENT Y - a x i s Z - a x i s Y - a x i s X - a x i s Z - a x i s Y - a x i s X - a x i s Z - a x i s X - a x i s 56 of 435

2.3 Coordinate Systems and Axis Operation 2-9 155223-1CD RE-CSO-A036  Selecting the Tool Tool numbers are used to specify a tool when more than one tool is used on the system. You may select from registered tool files when you switch tools on the manipulator. For tool coordinates, the tool file should be registered in advance. For further details, refer to section 8.3 “Tool Data Setting” of coordinates in the “NX100 INSTRUCTIONS”. This operation can be performed only when numbers of the tool is more than one. To use several tool files with one manipulator, set the following parameter. S2C333: Tool number switch specifying parameter 1: Can be switched 0: Cannot be switched Operation Explanation 1 Press the [COORD] key and select the tool coordinates . Every pressing of the [COORD] key changes coordinate system; JointCartesian (Cylindrical)ToolUser. Check the change on the status display area. 2 Press [SHIFT] + [COORD]. The TOOL NO. SELECT window appears. 3 Move the cursor to the tool to use. The TOOL NO. SELECT window above shows an example; “TOOL NO. 0 TORCH MT-3501” is selected. 4 Press [SHIFT] + [COORD]. The window goes back to the previous window. X- S- X+ S+ Z- U- Z+ U+ SUPPLE -MENT SUPPLE -MENT Short Cut Main Menu TOOL NO. SELECT 0 1 2 3 4 5 6 7 8 9 10 11 : : : : : : : : : : : : TORCH MT-3501 TORCH MT-3502 TOOL 02 TOOL 03 DATA EDIT DISPLAY UTILITY 57 of 435

2.3 Coordinate Systems and Axis Operation 2-10 155223-1CD RE-CSO-A036 2.3.5 User Coordinates In the user coordinates, the manipulator moves parallel to each axis of the coordinates which are set by the user. Up to 24 coordinate types can be registered. Each coordinate has a user number and is called a user coordinate file. The motion of each axis is described in the following table: The figure and the table below describe the motion of each axis when the axis key is pressed. Axis Motion in User Coordinates Axis Name Axis Key Motion Basic Axes X- axis Moves parallel to X-axis. Y- axis Moves parallel to Y-axis. Z- axis Moves parallel to Z-axis. Wrist Axes Motion about TCP is executed. See section 2.3.7 "Control Point Operation" and section 2.3.8 "Control Point Change". When two or more axis keys are pressed at the same time, the manipulator will perform compound movement. However, if two different directional keys for the same axis are pressed at the same time (such as [X-] + [X+]), none of the axes operate. Moves parallel to X or Y-axis Moves parallel to Z-axis X- S- X+ S+ Y- L- Y+ L+ Z- U- Z+ U+ SUPPLE -MENT Y-axis X-axis Y- L- Y+ L+ X- S- X+ S+ Station Z-axis X-axis Y-axis Z-axis X-axis Y-axis Z-axis Y-axis Z- U- Z+ U+ 58 of 435

2.3 Coordinate Systems and Axis Operation 2-11 155223-1CD RE-CSO-A036  Selecting User Coordinates Follow these procedures to select the desired coordinate system from among the registered user coordinates. Operation Explanation 1 Press [COORD] to select the user coordinates . Every pressing of the [COORD] key changes coordinate system; JointCartesian (Cylindrical)ToolUser. Check the change on the status display area. 2 Press [SHIFT] + [COORD]. The USER COORD SELECT window appears. 3 Select the desired user number. Short Cut Main Menu USER COORD SELECT NO. NAME 00 01 02 03 04 05 06 07 DATA EDIT DISPLAY UTILITY For more information on registration of the user coordinates, refer to section 8.8 “User Coordinate Setting” of the “NX100 INSTRUCTIONS”. SUPPLE -MENT 59 of 435

2.3 Coordinate Systems and Axis Operation 2-12 155223-1CD RE-CSO-A036  Examples of User Coordinate Utilization The user coordinate settings allow easy teaching in various situations. For example: • When multiple positioners are used, manual operation can be simplified by setting the user coordinates for each fixture. • When performing arranging or stacking operations, the incremental value for shift can be easily programmed by setting user coordinates on a pallet. • When performing conveyor tracking operations, the moving direction of the conveyor is specified. 2.3.6 External Axis External axis is enabled to operate in selecting “BASE” or “STATION” for control group. Axis Name Axis Operation Key Motion BASE or STATION 1st axis The 1st axis moves. 2nd axis The 2nd axis moves. 3rd axis The 3rd axis moves. User coordinates Fixture Fixture Fixture User coordinates Conveyor X- S- X+ S+ Y- L- Y+ L+ Z- U- Z+ U+ 60 of 435

2.3 Coordinate Systems and Axis Operation 2-13 155223-1CD RE-CSO-A036 2.3.7 Control Point Operation Motion about TCP (Tool Center Point) can only change the wrist orientaion at a fixed TCP position in all coordinate systems except the joint coordinates. The motion of each axis is described in the following table. Turning of each wrist axis differs in each coordinate system. Axis Motion in Motion about TCP Axis Name Axis Key Motion Basic Axes TCP moves. These movements differ depending on cartesian, cylindrical, tool and user coordinates. Wrist Axes Wrist axes move with the TCP fixed. These movements differ depending on cartesian, cylindrical, tool and user coordinates. When two or more axis keys are pressed at the same time, the manipulator will perform compound movement. However, if two different directional keys for the same axis are pressed at the same time (such as [X-] + [X+]), none of the axes operate. Torch Welding Gun Spot Welding X- S- X+ S+ Y- L- Y+ L+ Z- U- Z+ U+ X- R- X+ R+ Y- B- Y+ B+ Z- T- Z+ T+ SUPPLE -MENT TCP 61 of 435

2.3 Coordinate Systems and Axis Operation 2-14 155223-1CD RE-CSO-A036 • In cartesian or cylindrical coordinates, wrist axis rotations are based on the X-, Y-, or Z- axis. • In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the tool coordi- nates. • In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the user coordi- nates. Z -ax is + + + − − − Y-ax is X -ax is Z -ax is Y-ax is X -ax is Z - a x i s Y - a x i s X - a x i s + + + − − − Z-axis X-axis Y-axis Z-axis X-axis Y-axis + + + − − − 62 of 435

2.3 Coordinate Systems and Axis Operation 2-15 155223-1CD RE-CSO-A036 2.3.8 Control Point Change The tool tip position (TCP) is the target point of axis operations and is set as the distance from the flange face. The control point change operation is an axis operation that involves selecting the tool from a list of registered tools (Refer to “Selecting the Tool” in section 2.3.4 "Tool Coordinates"), and then manipulating the axes while changing the TCP. This can be performed with all coordinates except the joint coordinates. The axis operation is the same as that of the motion about TCP. TCP Change Operation with Multiple Tools The TCPs for Tool 1 and Tool 2 are taken as P1 and P2, respectively. When Tool 1 is selected to perform axis operation, P1 (Tool 1’s TCP) is the target point of the operation. Tool 2 follows Tool 1 and is not controlled by axis operation. On the other hand, Tool 2 is selected to perform axis operation, P2 (Tool 2’s TCP) is the target point of axis operation. In this case, Tool 1 follows Tool 2. TCP Change Operation with a Single Tool The two corners of the workpiece that the tool is holding are taken as TCPs P1 and P2 respectively. By selecting two TCPs alternately, the workpieces can be moved as shown below: Selection of Tool 1 and axis operations with con- trolling P1 Selection of Tool 2 and axis operations with con- trolling P2 Motion about TCP with P1 selected Motion about TCP with P2 selected For registration of the tool file, refer to section 8.3 “Tool Data Setting” of the “NX100 INSTRUCTIONS”. Tool 1 P2 P2 P1 P1 Tool 2 Workpiece Workpiece P1 P2 P2 P1 Workpiece Workpiece SUPPLE -MENT 63 of 435

3-1 155223-1CD RE-CSO-A036 3 Teaching 3.1 Preparation for Teaching To ensure safety, the following operations should always be performed before teaching: • Check the emergency stop buttons to be sure they function properly. • Set the mode switch to “TEACH”. Then, • Register a job. 3.1.1 Checking Emergency Stop Buttons The Servo ON button on the programming pendant should be lit while the power is ON for the servo system. Perform the following operation to ensure that the emergency stop buttons on both the NX100 and the programming pendant are functioning correctly before operating the manipulator. 3.1.2 Setting the Teach Lock For safety purposes, always set the mode switch to “TEACH” before beginning to teach. While the teach lock is set, the mode of operation is tied to the teach mode and the machines cannot be played back using either [START] or external input. Operation Explanation 1 Press E. STOP button. Press the emergency stop button on the NX100 or the programming pendant. 2 Confirm the servo power is turned OFF. The SERVO ON button on the programming pendant lights while servo supply is turned ON. When the emergency stop button is pressed and the servo power is turned OFF, the SERVO ON lamp will turn OFF. 3 Press [SERVO ON READY]. After confirming correct operation, press [SERVO ON READY]. The servo power will be ready to turn ON. The servo power can be turned ON with the Enable switch while the SERVO ON button lamp blinks. 64 of 435

3-2 155223-1CD RE-CSO-A036 3.1.3 Registering a Job Specify the name, comments (as required), and control group to register a job.  Registering Job Names Job names can use up to 8 alphanumeric and symbol characters. These different types of characters can coexist within the same job name. The following rules apply to the designation of names for reserved jobs: A maximum of six characters can be used for a reserved job name. When a reserved job name is used, additional characters are added by the system. Operation Explanation 1 Select {JOB} under the main menu. The sub-menu appears. 2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears. 3 Input job name. Move the cursor to JOB NAME, and press [SELECT]. Input job names using the character input operation. For information on character input operation, refer to section 1.2.6 "Character Input". 4 Press [ENTER]. 0 0 1 WORK - A JOB - 1 Short Cut Main Menu JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFO CF FD/CF ARC WELDING SETUP DISPLAY SETUP Aa JOB EDIT DISPLAY UTILITY JOB SELECT JOB CREATE NEW JOB MASTER JOB JOB CAPACITY DOUT MOVE END CYCLE Short Cut Main Menu NEW JOB CREATE JOB NAME COMMENT GROUP SET R1 JOB EDIT DISPLAY UTILITY EXECUTE CANCEL 65 of 435

3-3 155223-1CD RE-CSO-A036  Registering Comments Register a comment using up to 32 alphanumeric and symbol characters as required.  Registering Control Groups Select the control group that has been registered in advance. If external axes (BASE or STATION) or multiple robot systems are not used, the registration of control groups is not required.  Switching to the Teaching Window After the name, comments (can be omitted), and the control groups have been registered, switch the window to the teaching window as follows: Operation Explanation 1 In the NEW JOB CREATE window, move the cursor to the comment and press [SELECT]. 2 Enter the comment. For information on character input operation, refer to section 1.2.6 "Character Input" 3 Press [ENTER]. Operation Explanation 1 In the NEW JOB CREATE window, press [ENTER] or select “EXECUTE.” Job name, comments, and control groups are all registered. Then, the JOB CONTENT window appears. NOP and END instructions are automatically registered. Short Cut Main Menu 0000 NOP 0001 END JOB CONTENT JOB NAME : TEST 01 TOOL : 00 CONTROL GROUP : R1 STEP NO. : 0000 Turn on servo power DATA EDIT DISPLAY UTILITY 66 of 435

3-4 155223-1CD RE-CSO-A036 3.2 Teaching Operation 3.2.1 The Teaching Window Teaching is conducted in the JOB CONTENT window. The JOB CONTENT window contains the following items: Line Numbers The number of the job line is automatically displayed. Line numbers are automatically regenerated if lines are inserted or deleted. Cursor The cursor for manipulator control. For the FWD, BWD, and test operation, the manipulator motion starts from the line this cursor points. Instructions, Additional Items, Comments, Etc. Instructions: These are instructions needed to process or perform an operation. In the case of MOVE instructions, the instruction corresponding to the interpolation type is automatically displayed at the time position is taught. Additional items: Speed and time are set depending on the type of instruction. Numerical or character data is added when needed to the tags which set conditions. 0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ=80.00 0004 MOVJ VJ=80.00 0005 DOUT OGH#(13) B002 0006 DOUT OT#(41) ON 0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662 0008 DOUT OT#(44) ON 0009 TIMER T=3.0 0010 MOVL V=880.0 0011 MOVL V=880.0 0012 MOVL V=880.0 JOB CONTENT JOB NAME : TEST01 CONTROL GROUP : R1 TOOL : 00 STEP NO. : 0003 JOB EDIT DISPLAY UTILITY Line numbers Instruction, additional items, comments, etc. Cursor MOVJ VJ = 50.00 Tag Numerical Data Instruction Additional Item 67 of 435

3-5 155223-1CD RE-CSO-A036 3.2.2 Interpolation Type and Play Speed Interpolation type determines the path along which the manipulator moves between playback steps. Play speed is the rate at which the manipulator moves. Normally the three elements of position data, Interpolation type, and play speed are registered for the robot axes steps at one time. If the interpolation type or play speed settings are omitted during teaching, the data used from the previously taught step is automatically used.  Joint Interpolation The joint interpolation is used when the manipulator does not need to move in a specific path toward the next step position. When the joint interpolation is used for teaching a robot axis, the move instruction is MOVJ. For safety purposes, use the joint interpolation to teach the first step. When [MOTION TYPE] is pressed, the move instruction on the input buffer line changes. Play Speed Setting Window • Speeds are indicated as percentages of the maximum rate. • Setting “0:Speed Omit” sets the same speed as the previous determination. Operation Explanation 1 Move the cursor to the play speed. 2 Set the play speed by pressing [SHIFT] + the cursor key. The joint speed value increases or decreases. MOVJ VJ= 0.78 Fast 100.00 50.00 25.00 12.50 6.25 3.12 1.56 Slow 0.78 (%) 68 of 435

3-6 155223-1CD RE-CSO-A036  Linear Interpolation The manipulator moves in a linear path from one taught step to the next. When the linear interpolation is used to teach a robot axis, the move instruction is MOVL. Linear interpolation is used for work such as welding. The manipulator moves automatically changing the wrist position as shown in the figure below. Play Speed Setting Window (same for circular and spline interpolation) There are two types of displays, and they can be switched depending on the application. Operation Explanation 1 Move the cursor to the play speed. 2 Set the play speed by pressing [SHIFT] + the cursor key. The play speed value increases or decreases. MOVL V= 660 Fast 1500.0 750.0 375.0 187.0 93.0 46.0 23.0 Slow 11 (mm/s) Fast 9000 4500 2250 1122 558 276 138 Slow 66 (cm/min) 69 of 435

3-7 155223-1CD RE-CSO-A036  Circular Interpolation The manipulator moves in an arc that passes through three points. When circular interpolation is used for teaching a robot axis, the move instruction is MOVC. Single Circular Arc When a single circular movement is required, teach the circular interpolation for three points, P1 to P3, as shown in the following figure. If joint or linear interpolation is taught at P0, the point before starting the circular operation, the manipulator moves from P0 to P1 in a straight line. Continuous Circular Arcs When continuous circular movement is required, the two arcs must be separated from each other by a joint or linear interpolation step. This step must be inserted between two steps at an identical point. The step at the end point of the preceding circular move must coincide with the beginning point of the following circular move. Play Speed The play speed set display is identical to that for the linear interpolation. The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is applied from P2 to P3. If a circular operation is taught at high speed, the actual arc path has a shorter radius than that taught. P2 P3 P4 P0 P1 Automatically becomes a straight line. Interpolation Type for Single Circular Arc Interpolation Type Instruction P0 Joint or Linear MOVJ MOVL P1 P2 P3 Circular MOVC P4 Joint or Linear MOVJ MOVL P0 P1 P7 P8 P2 P3 P4 P5 P6 Joint or linear motion type Interpolation Type for Continuous Circular Arc Point Interpolation Type Instruction P0 Joint or Linear MOVJ MOVL P1 P2 P3 Circular MOVC P4 Joint or Linear MOVJ MOVL P5 P6 P7 Circular MOVC P8 Joint or Linear MOVJ MOVL 70 of 435

3-8 155223-1CD RE-CSO-A036  Spline Interpolation When performing operations such as welding, cutting, and applying primer, using the spline interpolation makes teaching for workpieces with irregular shapes easier. The path of motion is a parabola passing through three points. When spline interpolation is used for teaching a robot axis, the move instruction is MOVS. Single Spline Curve When a single spline curve movement is required, teach the spline interpolation for three points, P1 to P3, as shown in the figure below. If joint or linear interpolation is taught at point P0, the point before starting the spline interpolation, the manipulator moves from P0 to P1 in a straight line. Continuous Spline Curves The manipulator moves through a path created by combining parabolic curves. This differs from the circular interpolation in that steps with identical points are not required at the junction between two spline curves. When the parabolas overlap, a composite motion path is created. P2 P3 P4 P0 P1 Automatically becomes a straight line. Interpolation Type for a Single Spline Curve Point Interpolation Type Instruction P0 Joint or Linear MOVJ MOVL P1 P2 P3 Spline MOVS P4 Joint or Linear MOVJ MOVL P0 P1 P5 P6 P2 P3 P4 Identical-point step not required Interpolation Type for Continuous Spline Curves Point Interpolation Type Instruction P0 Joint or Linear MOVJ MOVL P1 to P5 Spline MOVS P6 Joint or Linear MOVJ MOVL Start path End path 71 of 435

3-9 155223-1CD RE-CSO-A036 Play Speed The play speed setting window is identical to that for the linear interpolation. As with the circular interpolation, the speed taught at P2 is applied from P1 to P2, and the speed taught at P3 is applied from P2 to P3. 3.2.3 Teaching Steps  Registering Move Instructions Whenever one step is taught, one move instruction is registered. There are two ways to teach a step. Steps can be taught in sequence as shown in the following left figure "Registering Move Instructions" or they can be done by inserting steps between already registered steps, as shown in the right figure "Inserting Move Instructions." This paragraph explains the teaching of "Registering Move Instructions," the operations involved in registering new steps. Teaching of "Inserting Move Instructions" is called “Inserting move instruction,” to distinguish it from the method shown in "Registering Move Instructions." For more details on this operation, see section 3.4.2 "Inserting Move Instructions". The basic operations for registration and insertion are the same. The only difference is pressing [INSERT] in the case of insertion. For registration ("Registering Move Instructions"), the instruction is always registered before the END instruction. Therefore, it is not necessary to press [INSERT]. For insertion ("Inserting Move Instructions"), [INSERT] must be pressed. Teach points so that the distances between the three points are roughly equal. If there is any significant difference, an error will occur on playback and the manipulator may operate in an unexpected, dangerous manner. Ensure that the ratio of distances between steps m:n is within the range of 0.25 to 0.75. Registering Move Instructions Inserting Move Instructions NOTE P2 P3 P1 n m Step 1 Step 2 Step 3 Step 2 Step Insertion Step 3 P1 Step 1 72 of 435

3-10 155223-1CD RE-CSO-A036 Setting the Position Data Operation Explanation 1 Select {JOB} under the main menu. The sub-menu appears. 2 Select {JOB}. The contents of the currently-selected job is displayed. 3 Move the cursor on the line immediately before the position where a move instruction to be registered. 4 Grip the Enable switch. Grip the Enable switch to turn the servo power ON. 5 Move the manipulator to the desired position using the axis key. Use the axis operation key to move the manipulator to the desired position. Short Cut Main Menu JOB DOUT MOVE END VARIABLE B001 IN/OUT In Out ROBOT SYSTEM INFO CF FD/CF ARC WELDING SETUP DISPLAY SETUP Aa JOB EDIT DISPLAY UTILITY JOB CONTENT SELECT JOB CREATE NEW JOB MASTER JOB JOB CAPACITY DOUT MOVE END 0000 NOP 0001 MOVJ VJ=25.00 0002 MOVJ VJ=25.00 0003 MOVJ VJ=12.50 0004 ARCON ASF#(1) 0005 MOVL V=66 0006 END 73 of 435

3-11 155223-1CD RE-CSO-A036 Selecting the Tool Number Setting the Interpolation Type Operation Explanation 1 Press [SHIFT] + [COORD]. When selecting the “JOINT,” “XYZ/CYLINDRICAL,” or “TOOL” coordinates, press [SHIFT] + [COORD] and the TOOL NO. SELECT window will be shown. 2 Select desired tool number. The contents of the currently-selected job is displayed. 3 Press [SHIFT] + [COORD]. The JOB CONTENT window appears. Using Multiple Tools with One Manipulator When multiple tools are to be used with one manipulator, set parameter S2C333 to 1. See "Selecting the Tool" for details on this operation. Operation Explanation 1 Press [MOTION TYPE]. When [MOTION TYPE] is pressed, MOVJ  MOVL  MOVC  MOVS are displayed in order in the input buffer line. 2 Select the desired interpolation type. Short Cut Main Menu TOOL NO. SELECT NO. NAME 00 01 02 03 04 05 06 07 TORCH MT-3501 TORCH MTY-3501 TORCH MT-3502 DATA EDIT DISPLAY UTILITY 0000 NOP 0001 MOVJ VJ=25.00 0002 MOVJ VJ=25.00 0003 MOVJ VJ=12.50 0004 ARCON ASF#(1) 0005 MOVL V=66 0006 END SUPPLE -MENT 74 of 435

3-12 155223-1CD RE-CSO-A036 Setting the Play Speed Follow the above instructions when conducting teaching. (Tool number, interpolation type, or play speed does not need to be set if it is same as the previous step.) Setting Position Level The position level is the degree of approximation of the manipulator to a taught position. The position level can be added to move instructions MOVJ (joint interpolation) and MOVL (linear interpolation). If the position level is not set, the precision depends on the operation speed. Setting an appropriate level moves the manipulator in a path suitable to circumferential conditions and the workpiece. The relationship between path and accuracy for position levels is as shown below. Operation Explanation 1 Move the cursor to the instruction. 2 Press [SELECT]. The cursor moves to the input buffer line. 3 Move the cursor to the play speed to be set. 4 Press [SHIFT] + the cursor key [↑] or [↓] simultaneously. The joint speed moves up and down. 5 Press [ENTER]. The MOV instruction is registered. • The position level can be set at the same time that the move instruction is registered. • To make the setting so that the play speed tag is not displayed as a default, select {EDIT} from the menu and then select “ENABLE PLAY SPEED TAG” to delete “∗.” To display the position level tag as a default, select {EDIT} from the menu and then select “ENABLE POS LEVEL TAG.” 0001 MOVJ=50.00 MOVJ VJ=50.00 MOVJ VJ=50.00 0000 NOP 0001 MOVJ VJ=50.00 0002 END Move instruction is registered. SUPPLE -MENT SUPPLE -MENT P2 P1 P3 Position level 0 Positioning level 1 Positioning level 2 Positioning level 3 Positioning level 4 Positioning level 5 Position Levels Accuracy 0 Teaching position 1 to 10 Fine | Rough 75 of 435

3-13 155223-1CD RE-CSO-A036 Operation Explanation 1 Select move instruction. The DETAIL EDIT window appears. 2 Select the position level “UNUSED.” The selection dialog box appears. 3 Select “PL.” The position level is displayed. The position initial value is 1. Short Cut Main Menu JOINT SPEED� VJ= 50.00 POS LEVEL� UNUSED NWAIT� UNUSED DETAIL EDIT MOVJ JOB EDIT DISPLAY UTILITY Short Cut Main Menu JOB EDIT DISPLAY UTILITY DETAIL EDIT MOVJ JOINT SPEED� VJ= 50.00 POS LEVEL� PL= 1 NWAIT� UNUSED PL UNUSED Short Cut Main Menu DETAIL EDIT MOVJ JOINT SPEED� VJ= 50.00 POS LEVEL� PL= 1 NWAIT� UNUSED JOB EDIT DISPLAY UTILITY 76 of 435

3-14 155223-1CD RE-CSO-A036 To perform the movement steps shown below, set as follows: Steps P2, P4, and P5 are simple passing points, and do not require accurate positioning. Adding PL=1 to 8 to the move instructions of these steps moves the manipulator around the inner corners, thereby reducing the cycle time. If complete positioning is necessary as P3 or P6, add PL=0. Passing points P2, P4, and P5: MOVL V=138 PL=3 Positioning point P3 and P6: MOVL V=138 PL=0 4 Press [ENTER]. To change the position level, select the level in the input buffer line, type the value using the Numeric keys, and press [ENTER]. The position levels move instruction is registered. 5 Press [ENTER]. Operation Explanation Short Cut Main Menu JOB CONTENT JOB NAME : TEST01 CONTROL GROUP : R1 TOOL : 00 STEP NO. : 0003 0000 0001 0002 NOP MOVJ END VJ=50.00 PL=1 MOVJ VJ=50.00 PL=1 JOB EDIT DISPLAY UTILITY Move instruction is registered. P1 P2 P4 P3 P5 P6 77 of 435

3-15 155223-1CD RE-CSO-A036  Registering Reference Point Instructions Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving. Reference point Nos. 1 to 8 are assigned for each application. Follow these procedures to register reference point instructions. Operation Explanation 1 Select {JOB} under the main menu. 2 Select {JOB}. 3 Move the cursor. Move the cursor to the line immediately before the position where the reference point to be registered. 4 Grip the Enable switch. The servo power is turned ON. 5 Press the axis operation key. Move the manipulator to the position to be registered as the reference point. 6 Press [REFP] or select “REFP” from the inform list. The reference point instruction is displayed in the input buffer line. 7 Change the reference point number in one of the following ways. 1: Move the cursor to the reference point number, and press [SHIFT] + the cursor key to change the reference point number; or 2: Press [SELECT] when the cursor is on the reference point number. Then, the data input buffer line appears. Input the number and press [ENTER]. 8 Press [INSERT]. The [INSERT] key lamp lights. When registering before the END instruction, pressing [INSERT] is not needed. 9 Press [ENTER]. The REFP instruction is registered. The programming pendant does not have the [REFP] key for the application of spot welding, general purposes (= material handling, assembling, cutting) or motor gun. 0003 MOVL V=558 0004 CALL JOB: TEST 0005 MOVL V=138 Place immediately before where reference point is to be registered. REFP 1 REFP 2 REFP Ref-point No.= 0003 MOVL V=558 0004 CALL JOB: TEST 0005 REFP 1 0006 MOVL V=138 Reference point is registered. SUPPLE -MENT 78 of 435

3-16 155223-1CD RE-CSO-A036  Registering Timer Instructions The timer instruction stops the manipulator for a specified time. Follow these procedures to register timer instructions. Operation Explanation 1 Select {JOB} under the main menu. 2 Select {JOB}. 3 Move the cursor. Move the cursor to one line before the position where the timer instruction is to be registered. 4 Press [TIMER]. The TIMER instruction is displayed on the input buffer line. 5 Change the timer value. Move the cursor to the timer value and change it by pressing [SHIFT] + the cursor key. The timer unit of adjustment is 0.01 seconds. If you use the Numeric keys to input the timer value, press [SELECT] when the cursor is on the timer value. The data input line appears. Input the value and press [ENTER]. 6 Press [INSERT]. The [INSERT] key lamp lights. When registering before the END instruction, pressing [INSERT] is not needed. 7 Press [ENTER]. The TIMER instruction is registered. 0003 MOVJ VJ=50.00 0004 MOVL V=138 One line before where timer instruction is to be registered. TIMER T=1.00 TIMER T=2.00 TIMER T= Time = 0003 MOVJ VJ=50.00 0004 TIMER T=2.00 0005 MOVL V=138 Timer instruction is registered. 79 of 435

3-17 155223-1CD RE-CSO-A036 Changing Timer Value Operation Explanation 1 Press [TIMER]. 2 Press [SELECT]. The DETAIL EDIT window for the TIMER instruction appears. 3 Input the timer value on the instruction DETAIL EDIT window. When is selected, the items available to be changed are displayed in the dialog box. Select the particular item to be changed. When a number is to be changed, move the cursor to the number and press [SELECT]. Input the desired value using the Numeric keys, and press [ENTER]. 4 Press [ENTER]. The DETAIL EDIT window is closed and the JOB CONTENT window appears again. Modified content is displayed in the input buffer line. 5 Press [INSERT]. The [INSERT] key lamp lights. When registering before the END instruction, pressing [INSERT] is not needed. 6 Press [ENTER]. The TIMER instruction is registered. Short Cut Main Menu DETAIL EDIT TIMER TIME� T= 1.00 JOB EDIT DISPLAY UTILITY Short Cut Main Menu DETAIL EDIT TIMER TIME� T= 1.00 JOB EDIT DISPLAY UTILITY CONSTANT I I[ ] TIMER T= I = TIMER T=I003 0003 MOVJ VJ=50.00 0004 TIMER T=I003 0005 MOVL V=138 Timer instruction is registered. 80 of 435

3-18 155223-1CD RE-CSO-A036 3.2.4 Overlapping the First and Last Steps Why is overlapping the first and last step necessary? Assume that the job shown below is to be repeated. The manipulator moves from the last step (Step 6) to the first step (Step 1). If Step 6 and Step 1 are the same position, the manipulator moves directly from Step 5 to Step 1, thereby improving work efficiency. Operation Explanation 1 Move the cursor to the first step line. 2 Press [FWD]. The manipulator moves to the first step position. 3 Move the cursor to the last step line. The cursor starts blinking. When the cursor line position and the manipulator position are different in the JOB CONTENT window, the cursor blinks. 4 Press [MODIFY]. The key lamp lights. 5 Press [ENTER]. The position data for the first step is registered on the line of the last step. At this time, only the position data can be changed in the last step. Interpolation type and play speed do not change. SUPPLE -MENT Step 2 Step 3 Step 4 Step 5 The position of step 6 is changed to overlap with step 1. Step 6 Step 6 after change Step 1 81 of 435

3-19 155223-1CD RE-CSO-A036 3.3 Checking Steps 3.3.1 FWD/BWD Key Operations Check whether the position of the taught steps is appropriate using [FWD] or [BWD] on the programming pendant. Each time [FWD] or [BWD] is pressed, the manipulator moves by a single step.  Precautions When Using FWD / BWD Operations FWD Movements • The manipulator moves in step number sequence. Only move instructions are executed when [FWD] is pressed. To execute all instructions, press [INTERLOCK] + [FWD]. • The manipulator stops after playing a single cycle. It does not move after the END instruction is reached, even if [FWD] is pressed. However, at the end of a called job, the manipulator moves the instruction next to the CALL instruction. [FWD]: Moves the manipulator ahead in step number sequence. Only the move instruction is executed when [FWD] is pressed, but when [INTERLOCK] + [FWD] are pressed, all instructions are executed. [BWD]: Moves the manipulator backward a step at a time in reverse step number sequence. Only the move instruction is executed. For safety, set manual speed at or below. Operation Explanation 1 Move the cursor to the step to be checked. 2 Press [FWD] or [BWD]. The manipulator reaches the following / previous step and stops. NOTE Step 3 Step 4 Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Manipulator stops. Called Jobs Step 7 (END instruction) (RET instruction) (END instruction) (CALL instruction) 82 of 435

3-20 155223-1CD RE-CSO-A036 BWD Movements • The manipulator moves in reverse step number sequence. Only move instructions are executed. • The manipulator stops after playing a single cycle. It does not move after the first step is reached, even if [BWD] is pressed. However, at the beginning of a called job, the manipulator moves to the instruction immediately before the CALL instruction. Circular Movements with FWD/BWD Key Operations • The manipulator moves in a straight line to the first step of the circular interpolation. • There must be three circular interpolation steps in a row to move the manipulator in an arc. • If [FWD] or [BWD] operation is restarted after being stopped to move the cursor or to perform search, the manipulator moves in a straight line to the next step. • If [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown in the following, the manipulator moves in a straight line to P2, the next circular interpolation. Circular motion is restored from P2 and P3. Spline Curve Movements with FWD/BWD Operations • The manipulator moves in a straight line to the first step of spline interpolation. • There must be three spline curve motion steps in a row to perform a spline curve operation. • Depending on the position where the [FWD] / [BWD] operation is performed, the alarm “IRREGULAR DISTANCES BETWEEN TEACHING POINTS” may occur. Note that FWD/ BWD inching operations change the path of the manipulator and caution is therefore required. Performing these operations also increases the likelihood that the “IRREGULAR DISTANCES BETWEEN TEACHING POINTS” will occur. • If the [FWD] or [BWD] operation is restarted after being stopped to move the cursor or perform a search, the manipulator moves in a straight line to the next step. • If the [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown in the following, the manipulator moves in a straight line to P2, the next spline curve motion step. Spline curve motion is restored from P2 onward. However, the path followed between P2 and P3 is somewhat different from the path followed at playback. Step 2 Step 3 Step 1 Step 2 Step 3 Step 1 Manipulator stops. Step 4 Step 5 Called Jobs (CALL instruction) P2 P1 P3 : Motion path for FWD/BWD key operation : Motion using axis keys : Motion path during playback Moves with linear interpolation. 83 of 435

3-21 155223-1CD RE-CSO-A036 • If the manipulator is moved to P3 with [FWD], stopped, and then returned to P2 with [BWD], the path followed between P2 and P3 is different for each of the following: the first FWD operation, the BWD operation, and the consequent FWD operation.  Selecting Manual Speed When [FWD] or [BWD] is pressed, the manipulator moves at the manual speed selected at that time. Selected manual speed can be checked by the manual speed indication on the programming pendant. Manual speed is set with [FAST] and [SLOW]. FWD operation can be performed at a high speed by pressing [HIGH SPEED]. Follow these procedures to select a manual speed. • Each time [FAST] is pressed, the speed is changed to the next setting in the following sequence: INCH, SLW, MED, and FST. • Each time [SLOW] is pressed, the speed is changed to the next setting in the following sequence: FST, MED, SLW, and INCH. “INCH” “SLOW” “MED” “FST” “FST” “MED” “SLOW” “INCH” • FWD/BWD operation is performed with SLW speed even if INCH is selected. • [HIGH SPEED] is available only for the FWD operation but not for BWD operation. P2 P1 P3 Linear motion : Motion path for FWD/BWD key operation : Motion using axis keys : Motion path during playback P2 P1 P3 P4 JOB CONTENT DATA EDIT DISPLAY UTILITY FAST MANUAL SPEED SLOW MANUAL SPEED NOTE 84 of 435

3-22 155223-1CD RE-CSO-A036  Moving to Reference Point To check the position of a taught reference point, follow these procedures to move the manipulator to the reference point.  Test Operations Playback operations can be simulated in the teach mode with test operations. This function is convenient for checking continuous paths and operation instructions. Test operation differs in the following ways from actual playback in the play mode. Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety purposes, these keys will only function while the keys are held down. Operation Explanation 1 Move the cursor to the reference point instruction line to be checked. 2 Press [REFP] + [FWD]. The manipulator moves to the reference point of the cursor line. • Operation speeds greater than the maximum teaching speed are reduced to the maximum teaching speed. • Only machine lock is available among special operations for playback in the play mode. • Work instruction output, such as arc output, is not executed. Always check safety conditions before pressing [INTERLOCK] + [TEST START] to start the manipulator in motion. Operation Explanation 1 Select {JOB} under the main menu. 2 Press {JOB}. The test operation JOB CONTENT window appears. 3 Press [INTERLOCK] + [TEST START]. The manipulator starts the test cycle operation. However, after the operation starts, the motion continues even if [INTERLOCK] is released. The manipulator moves only while these keys are held down. The manipulator stops immediately when [TEST START] is released. NOTE NOTE 85 of 435

3-23 155223-1CD RE-CSO-A036 3.4 Modifying Steps Begin move instruction insertion. Move step cursor to location where you want to insert the instruction. Perform axis operations. Set interpolation type. Set play speed. Set position level when necessary. Press [ENTER]. Insertion completed. Begin move instruction deletion. Move cursor to location of instruction to be deleted. Press [DELETE]. Deletion completed. Press [ENTER]. Press [INSERT]. 86 of 435

3-24 155223-1CD RE-CSO-A036 It is not possible to change a move instruction to a reference point instruction and vice versa. Begin Move instruction modification. Move step cursor to step to be modified. Move to position to be modified using the axis operation keys. Press [MODIFY]. Press [ENTER]. Modification completed. Modifying position data Modifying interpolation type Perform axis operations to position to be modified. Delete MOV instruction. Press [MOTION TYPE] and select motion type. Insert MOV Instruction. Modification completed. NOTE 87 of 435

3-25 155223-1CD RE-CSO-A036 Begin REFP instruction modification. Move step cursor to the REFP instruction to be modified. Press [DELETE]. Move step cursor to the REFP instruction to be deleted,and move the manipulator to the position. Press [ENTER]. Deletion completed. Deletions Modifications Perform axis operations. Press [REFP]. Press [ENTER]. Modification completed. Press [MODIFY]. 88 of 435

3-26 155223-1CD RE-CSO-A036 Begin TIMER Instruction Modification. Move edit cursor to the TIMER instruction to be modified. Press [DELETE]. Press [ENTER]. Deletion completed. Deletions Modification Press [TIMER]. Enter timer value. Press [MODIFY]. Press [ENTER]. Modification completed. Move edit cursor to the TIMER instruction to be deleted. 89 of 435

3-27 155223-1CD RE-CSO-A036 3.4.1 Displaying the JOB CONTENT Window for Editing  Currently Called Up Job  Calling Up Other Jobs Operation Explanation 1 Select {JOB} under the main menu. 2 Select {JOB}. The JOB CONTENT window appears. In any other than the teach mode, set the mode switch to “TEACH.” Operation Explanation 1 Select {JOB} under the main menu. 2 Select {SELECT JOB}. The JOB LIST window appears. 3 Select the job name to be called. NOTE Main Menu Short Cut JOB LIST TEST03 TEST TEST3A TEST01 TEST3A-! TEST02 JOB EDIT DISPLAY UTILITY 90 of 435

3-28 155223-1CD RE-CSO-A036 3.4.2 Inserting Move Instructions Move instructions cannot be inserted when the servo power is OFF. Operation Explanation 1 Move the cursor to the line immediately before the insert position. 2 Press the axis operation key. Turn ON the servo power and press the axis operation key to move the manipulator to the position to be inserted. 3 Press [INSERT]. The key lamp will light. 4 Press [ENTER]. The move instruction is inserted after the cursor line. When a move instruction is inserted in the following job, it is placed on different lines according to the setting in the TEACHING CONDITION window. NOTE Step where move instruction is to be inserted Path before insertion Path after insertion 0006 MOVL V=276 0007 TIMER T=1.00 0008 DOUT OT#(1) ON 0009 MOVJ VJ=100.0 The line immediately before where the move instruction is to be added. Confirm the move instruction on the input buffer line and set desired interpolation type and play speed. NOTE When the inserting position is immediately before the END instruction, pressing [INSERT] is not needed. NOTE 0006 MOVL V=276 0007 TIMER T=1.00 0008 DOUT OT#(1) ON 0009 MOVL V=558 0010 MOVJ VJ=100.0 The move instruction is added. 0006 MOVL V=276 0007 TIMER T=1.00 0008 DOUT OT#(1) ON 0009 MOVL V=558 0010 MOVJ VJ=100.0 Added instruction 0006 MOVL V=276 0007 MOVL V=558 0008 TIMER T=1.00 0009 DOUT OT#(1) ON 0010 MOVJ VJ=100.0 Added instruction Before inserting the move instruction After the insertion: when inserting before the next step After the insertion: when inserting after the cursor line 0006 MOVL V=276 0007 TIMER T=1.00 0008 DOUT OT#(1) ON 0009 MOVJ VJ=100.0 Cursor line 91 of 435

3-29 155223-1CD RE-CSO-A036 3.4.3 Deleting Move Instructions Positions where the move instructions are inserted. The default location for insertions is for “before the next step,” but it is also possible to insert “after the cursor line.” This setting is made in the “Move Instruction Register Method” in the TEACHING CONDITION window. Operation Explanation 1 Move the cursor to the move instruction to be deleted. 2 Press [DELETE]. The key lamp will blink. 3 Press [ENTER]. The step indicated by cursor line is deleted. NOTE Step where move instruction is to be deleted Path after deletion Path before deletion 0003 MOVL V=138 0004 MOVL V=558 0005 MOVJ VJ=50.00 Move instruction to be deleted If the manipulator position differs from the cursor position on the window, the cursor blinks. Stop the blinking by either of the following procedures. • Press [FWD] and move the manipulator to the position where the move instruction is to be deleted. • Press [MODIFY] [ENTER] to change the position data of the blinking cursor position to the current manipulator position. NOTE 0003 MOVL V=138 0004 MOVJ VJ=50.00 92 of 435

3-30 155223-1CD RE-CSO-A036 3.4.4 Modifying Move Instructions  Modifying Position Data  Modifying Interpolation Type Operation Explanation 1 Move the cursor to the MOV instruction to be modified. Display the JOB CONTENT window and move the cursor to the move instruction to be changed. 2 Press the axis operation key. Turn ON the servo power and press the axis operation key to move the manipulator to the desired position. 3 Press [MODIFY]. The key lamp will blink. 4 Press [ENTER]. The position data in the present position is registered. Modifying only interpolation type is impossible. The interpolation type can be modified as a choice for modifying the position data. Operation Explanation 1 Move the cursor to the move instruction to be modified. Display the JOB CONTENT window, and move the cursor to the move instruction for which interpolation type is to be changed. 2 Press [FWD]. Turn ON the servo power and press [FWD] to move the manipulator to the position of the move instruction. 3 Press [DELETE]. The key lamp will blink. 4 Press [ENTER]. The cursor line step is deleted. 5 Press [MOTION TYPE]. Press [MOTION TYPE] to change the interpolation type. Each time [MOTION TYPE] is pressed, the input buffer line instruction alternates. 6 Press [INSERT]. 7 Press [ENTER]. The interpolation type and position data are changed at the same time. For MOV instructions for which position variables have been set, the position variables will not be changed. SUPPLE -MENT NOTE 93 of 435

3-31 155223-1CD RE-CSO-A036 3.4.5 Undo Operation After inserting, deleting, or modifying an instruction, the operation can be undone. The UNDO operation becomes enabled by selecting {EDIT}{ENABLE UNDO}, and becomes disabled by selecting {EDIT}{∗ENABLE UNDO} while editing a job. 3.4.6 Modifying Reference Point Instructions  Deleting Reference Point Instructions The undo operation can be performed even after the manipulator is moved by the FWD or BWD operation or test operation after inserting, deleting, or modifying a move instruction. However, the undo operation cannot be performed if other instructions are edited or a job is executed in the play mode after editing the move instruction. The undo operation works only for the last five edited instructions only. Operation Explanation 1 Press [ASSIST]. The assist menu appears. 2 Select {UNDO}. The last operation is undone. 3 Select {REDO}. The last UNDO operation is undone. If the manipulator position differs from the cursor position, an error message is displayed. If this occurs, follow either of the procedures below. • Press [REFP] + [FWD] to move the manipulator to the position to be deleted. • Press [MODIFY] then [ENTER] to change the reference point position data to the current position of the manipulator. Operation Explanation 1 Move the cursor to the reference point instruction to be deleted. 2 Press [DELETE]. The key lamp will blink. 3 Press [ENTER]. The reference point instruction at the cursor line is deleted. NOTE UNDO REDO NOTE 94 of 435

3-32 155223-1CD RE-CSO-A036  Modifying Reference Point Instructions 3.4.7 Modifying Timer Instructions  Deleting Timer Instructions Operation Explanation 1 Move the cursor to the reference point instruction to be modified. 2 Move the manipulator with the axis operation keys. Turn ON the servo power and use the axis operation keys to move the manipulator to the desired position. 3 Press [REFP]. 4 Press [MODIFY]. The key lamp will light. 5 Press [ENTER]. The reference point instruction at the cursor line is changed. Operation Explanation 1 Move the cursor to the timer instruction to be deleted. 2 Press [DELETE]. The key lamp will light. 3 Press [ENTER]. The timer instruction at the cursor line is deleted. 0003 MOVJ VJ=50.00 0004 TIMER T=0.50 0005 MOVL V=138 Timer instruction to be deleted 0003 MOVJ VJ=50.00 0004 MOVL V=138 95 of 435

3-33 155223-1CD RE-CSO-A036  Modifying Timer Instructions Operation Explanation 1 Move the cursor to the timer instruction to be modified. 2 Press [TIMER]. 3 Move the cursor to the input buffer line timer value. Move the cursor to the input buffer line timer value and press [SHIFT] + the cursor key to set the data. To use the Numeric keys to input data, move the cursor to the input buffer line timer value and press [SELECT]. 4 Change the timer value. 5 Press [MODIFY]. This key lamp will light. 6 Press [ENTER]. The timer instruction at the cursor line is changed. 0003 MOVJ VJ=50.00 0004 TIMER T=0.50 0005 MOVL VJ=138 0006 MOVL VJ=138 0003 MOVJ VJ=50.00 0004 TIMER T=0.50 0005 MOVL VJ=138 0006 MOVL VJ=138 TIMER T=0.50 0003 MOVJ VJ=50.00 0004 TIMER T=1.00 0005 MOVL VJ=138 0006 MOVL VJ=138 96 of 435

3-34 155223-1CD RE-CSO-A036 3.5 Modifying Jobs 3.5.1 Calling Up a Job 3.5.2 Windows Related to Job There are five types of job windows. Jobs can be checked and edited in these windows. • JOB HEADER Window Comments, data and time of registration, edit prohibit status, and so on are displayed and edited. • JOB CONTENT Window The content of the registered job can be displayed and edited. • COMMAND POSITION Window The taught data is displayed. • JOB LIST Window The registered job is sorted alphabetically, then displayed, and the job is selected. • JOB CAPACITY Window The number of registered jobs, amount of memory, number of steps used, etc. is shown.  JOB HEADER Window Operation Explanation 1 Select {JOB} under the main menu. 2 Select {SELECT JOB}. The JOB LIST window appears. 3 Select the desired job. Operation Explanation 1 Select {JOB} under the main menu. 2 Select {JOB}. Main Menu Turn on servo power Short Cut JOB LIST TEST03 TEST TEST3A TEST01 TEST3A-! TEST02 JOB EDIT DISPLAY UTILITY 97 of 435

3-35 155223-1CD RE-CSO-A036 3 Select {DISPLAY} under the menu. 4 Select {JOB HEADER}. The JOB HEADER window appears. Scroll the window using the cursor. JOB NAME Displays the name of the current job. COMMENT Displays the comments attached to the current job. This can be edited in this window. DATE Displays the date and time of the last editing of the job. CAPACITY Displays the amount of memory that is being used to reg- ister this job. LINES Displays the total number of instructions registered in this job. STEPS Displays the total number of move instructions registered in this job. EDIT LOCK Displays whether the edit prohibit setting for this job is at ON or OFF. This can be changed in this window. TO SAVE TO FD Displays “DONE” if the contents of the job are saved to a floppy disk since the date and time of the last editing oper- ation, and displays “NOT DONE” if they are not saved. The job is marked as “DONE” only if it is saved as an independent job or as a related job. If it is saved in a CMOS batch operation, it is not marked as “DONE.” CONTROL GROUP Displays the control group that this job controls. If the master axis is specified, the master axis is highlighted. Operation Explanation Main Menu Short Cut COMMENT DATE CAPACITY LINES STEPS EDIT LOCK TO SAVE TO FD CONTROL GROUP : This is test job : 2003/05/20 12:00 : 1024 BYTE : 30 LINE : 20 STEP : OFF : NOT DONE : R1 JOB HEADER JOB NAME :TEST01 JOB EDIT DISPLAY UTILITY          To return to the JOB CONTENT window from the JOB HEADER window, select {DISPLAY} from the menu and then select {JOB CONTENT}. SUPPLE -MENT 98 of 435

3-36 155223-1CD RE-CSO-A036  JOB CONTENT Window Operation Explanation 1 Select {JOB} under the main menu. 2 Select {JOB}. The JOB CONTENT window appears.  (Left) : The cursor is moved to the address area.  (Right): The cursor is moved to the instruction area. Address Area Displays line numbers. Instruction Area Displays instructions, additional items, and comments. Line editing is possible. Short Cut Main Menu Turn on servo power JOB CONTENT JOB NAME :TEST01 CONTROL GROUP :R1 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 NOP SET B000 0 SET B001 1 MOVJ VJ=80.00 MOVJ VJ=80.00 DOUT OGH#(13) B002 DOUT OT#(41) ON MOVL C00002 V=880.0 CV#(1) CTP=0.662 DOUT OT#(44) ON TIMER T=3.0 MOVL V=880.0 MOVL V=880.0 MOVL V=880.0 TOOL : 00 STEP NO. : 0003 MOVJ VJ=80.00 JOB EDIT DISPLAY UTILITY   99 of 435

3-37 155223-1CD RE-CSO-A036  COMMAND POSITION Window Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {COMMAND POSITION}. Edit operations cannot be conducted from this window, but the taught play speed and position data can be viewed on this window. Interpolation Displays the interpolation type. Speed Displays the play speed. Command Position Displays the tool file number and position data that has been taught for this job. Steps which have no position data, such as move instructions which use position vari- ables, are marked with an asterisk (*). Current Data Displays the current tool file number and position of the manipulator. Short Cut Main Menu S L U R B T R1: S L U R B T R1: 0 0 0 0 0 0 COMMAND POSITION INTR: SPD: 558 cm/min [CMD] TOOL : [CURR] TOOL : DATA EDIT DISPLAY UTILITY     ∗∗∗∗∗∗∗∗∗ ∗∗ ∗∗ 100 of 435