User ManualTable of ContentsFOR YOUR SAFETY2PREFACE14CONTENTS16EXPRESSION STRUCTURE19Operator20COMMAND LIST21VARIABLE LIST26FUNCTION LIST28[ Variables ]31■ Free variables: #mv, #mkv, #nv, #nkv, #sv, #skv31■Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 432■ Output variables:33#sysOut1 to 15, #genOut1 to 18, #handOut1 to 433■ Down timer : #downTimer1 to 1033■ Point job starting height : #jobStartHight34■ Pallet : #palletflag (1 to 100), #palletCount (1 to 100)35■ Workpiece adjustment: #workAdj_X, #workAdj_Y,37#workAdj_Z, #workAdj_R, #workAdj_Rotation37■ Point coordinates: #point_X,#point_Y,#point_Z,39#point_R,#point_TagCode39■ Given point coordinates:40#P_X, #P_Y, #P_Z, #P_R, #P_TagCode40■ Given point coordinates in given programs:41#prog_P_X, #prog_P_Y, #prog_P_Z,41#prog_P_R, #prog_P_TagCode41[ Functions ]42■ Robot functions42■ Arithmetic functions43■ String functions44[ ON/OFF Output Control ]46■ Outputting to I/O: set, reset, pulse, invPulse46■ Outputting after X second: delaySet, delayReset49■ Sounding an alarm buzzer: onoffBZ50■ Blinking the LED (Green): onoffGLED51■ Blinking the LED (Red): onoffRLED52■ Outputting values from I/O: dataOut,dataOutBCD53[ If Branch, Wait Condition ]54■ if Branch: if, then, else, endIf54■ Wait Condition: waitCond,waitCondTime,timeUp,endWait56[ Condition ]58■ Condition Settings: ld, ldi, and, ani, or, ori, anb, orb58[ Delay, Data In, Wait Start ]61■ Time Delay: delay61■ Waiting for a start instruction: waitStart, waitStartBZ63■ Inputting from I/O: dataIn, dataInBCD65[ Pallet Control ]66■ Pallet Command: loopPallet, resPallet, incPallet66[ Execution Flow Control ]69■ Subroutine call of type setting job: callBase69■ Subroutine call of point job data: callJob71■ End of point job: returnJob73■ Subroutine call of Program: callProg74■ Calling points: callPoints78■ Ending a program: endProg79■ Assigning the returned value of a function: returnFunc80■ Jumping to a specified point:81goPoint, goRPoint, goCRPoint81■ Jumping to a specified command line: jump, Label83[ For, Do-loop ]84■ For, Do-loop: for, next, exitFor, do, loop, exitDo84[ Controlling Tool Movement ]86■ Moving the Z axis: upZ, downZ, movetoZ86■ Moving straight in CP drive:88lineMoveSpeed, lineMoveStopIf88■ Executing mechanical initialization by a point job: initMec90■ Position error detection: checkPos91[ LCD, 7SLED ]92■ Displaying the specified strings on the teaching pendant:92clrLCD, clrLineLCD, outLCD, eoutLCD92■ Displaying arbitrary numbers on the 7SLED:93sys7SLED, out7SLED93[ COM Input/Output ]94■ COM Input/Output: outCOM, eoutCOM, setCOM,94cmpCOM, ecmpCOM, clrCOM, shiftCOM94■ PC Communication: stopPC, startPC98[ Variables, Comments, System Control ]99■ Declaration and assignment of variable: declear, let99■ Comment insertion: rem,crem101■ Changing a program number using point job: setProgNo102■ Changing a sequencer program using point job:103setSeqNo103Henkel reserves the right to make changes in design and/or improvements to its equipment without obligation to include these changes in any equipment previously manufactured.104Size: 1.41 MBPages: 106Language: EnglishOpen manual