Use HOT START |
When power-failure handling is enabled, hot start is performed
when the controller is turned ON.
|
$SEMIPOWERFL
|
I/O power fail recovery |
This item specifies how the recovery of I/O is performed when
hot start is valid. This also specifies how the recovery of simulated
I/O is performed when hot start is invalid. There are four modes in
hot start:
NOT RECOVER
RECOVER SIM
UNSIMULATE
RECOVER ALL
|
$PWF_IO |
NOT RECOVER
|
Recovery of Input/Output signals cannot be performed regardless
of the setting for hot start. All outputs are turned off and simulated
mode is released.
|
$PWF_IO = 1
|
RECOVER SIM
|
Simulated mode is recovered regardless of the setting for hot
start. However, all real output signals and simulated Input/Output
signals are turned off.
|
$PWF_IO = 2
|
UNSIMULATE
|
Output signals are recovered when hot start is valid, but all
simulated modes are released. Since output signals are not recovered
when hot start is invalid, this causes the same result as NOT RECOVER.
|
$PWF_IO = 3
|
RECOVER ALL
|
Input/Output signals are recovered when hot start is valid.
Output signals and simulated mode are in the same state as they were
when the controller was turned off. Since output signals are not recovered
when hot start is invalid, this causes the same result as RECOVER
SIM. |
$PWF_IO = 4
|
Autoexec program for Cold start |
This item specifies the program name that is executed automatically
when you turn on the controller and HOT START is invalid. The specified
program is executed just after turning on the controller.
|
$PWR_NORMAL
|
Autoexec program for Hot start |
This item specifies the name of the program that is activated
automatically when the controller is turned on and when power-failure
handling is enabled. The specified program is executed immediately
after the power is turned on. If the specified program is not executed
after 15 seconds have elapsed, this program is aborted.
Note
Since the program activated automatically when
the controller is turned on is executed before the power is applied
to the servo motors, that program cannot operate the robot. Therefore,
specify only a program designed specifically for system setup or for
initializing I/O devices. Also, specify the attributes for the program
on the detail program screen, as follows:
Group Mask : [ *,*,*,*,*
]
Ignore pause : [ TRUE ]
|
$PWR_SEMI
|
HOT START done signal |
This completion signal for power-failure handling specifies
the digital output signal (DO), issued when power-failure handling
(hot start) has been completed. When power-failure handling is not
done, this signal is off. When 0 is specified for this signal, this
signal is not output.
|
$SEMIPWFDO
|
Restore selected program |
This item specifies whether the program that was selected when
the controller was turned off after a Cold start, is selected again
after the controller is turned back on. When this item is enabled,
the program selected when the power was turned off is selected when
the power is turned back on. When this item is disabled, no program
is selected when the power is turned on again. |
$DEFPROG_ENB
|
Enable UI signals |
UOP I/O signals are enabled or disabled. When disabled, peripheral
unit input signals (UI[1] to UI[18]) are ignored. |
$OPWORK.$uop_disable
|
START for CONTINUE only |
When this external start signal is set to enable (TRUE), the
external activation signal (START) activates only the suspended programs.
|
$SHELL_CFG.$cont_only
|
CSTOPI for ABORT |
When CSTOPI forces a program to terminate, program termination
by CSTOPI is enabled, the CSTOPI input immediately terminates the
program that is currently being forcibly executed. |
$SHELL_CFG.$use_abort
|
Abort all programs by CSTOPI
|
This item selects whether the CSTOPI signal aborts all programs
in a multi-tasking environment. When TRUE is specified for this item,
the CSTOPI input signal functions as follows:
Aborts all programs if RSR is selected
for RSR/PNS.
Aborts the selected program if PNS is
selected for RSR/PNS.
If no program is selected, however,
all programs are aborted.
|
$SHELL_CFG.$cstopi_all
|
|
When FALSE is specified for "Abort all programs by CSTOPI,"
the CSTOPI input signal aborts only a selected program (in the same
way as the conventional specifications). When using the CSTOPI input
signal in the same way as for a conventional system, specify FALSE
(default setting).
|
PROD_START depend on PNSTROBE |
When the PROD_START input (enabled with the confirmation signal)
is enabled, the PROD_START input is effective only when the PNSTROBE
input is on. Enabling this item prevents the program indicated on
the teach pendant, which is not to be activated, from being activated
erroneously by noise or an incorrect sequence. |
$SHELL_CFG.$prodstartyp
|
Detect FAULT_RESET signal
|
The detection of RESET input at a rising or falling edge specifies
whether the signal is detected at a rising or falling edge. After
this item has been set or modified, turn off the controller, then
turn it on again to enable the setting. Cold start is automatically
performed for this operation.
|
$SCR.$resetinvert
|
Use PPABN signal |
Abnormal-pressure (*PPABN) detection enable or disable is specified
for each motion group. Position the cursor on this item and press
the ENTER key to display the screen for setting detection enable or
disable for each group. When the *PPABN signal is not used, set this
item to disable. After this item has been set or modified, turn off
the controller, then turn it on again to enable the setting. Cold
start is automatically performed for this operation.
|
$PARAM_GROUP.$ppabn_enbl
|
WAIT timeout
|
This item specifies the time limit for conditional wait instructions,
WAIT..., Timeout, LBL[...]
|
$WAITTMOUT
|
RECEIVE timeout |
This item specifies the time limit for register receive instructions,
RCV R[...], Timeout, LBL[...] The time limit can be taught only when
the optional sensor interface is specified. |
$RCVTMOUT
|
Return to top of program |
After a program has terminated, this item specifies whether
the cursor is positioned at the start of the program upon termination
of that program. When this item is disabled, the cursor remains positioned
at the end of the program (not positioned at the start of the program)
upon termination of the program.
|
$PNS_END_CUR
|
Original program name (F1-F5) |
This item specifies the words displayed for the soft keys on
the program creation screen. It is convenient to specify words that
are frequently used for program names.
|
$PGINP_WORD[1] to [5]
|
Default logical command |
This item displays the screen used to set the default logical
instruction function keys, or hot keys . First you must define the function key name and then you can assign
instructions to it.
You can define a set of 0-4 instructions
on softkeys F2, F3, and F4 of the INST menu. You can also set a label
for the softkey. The entries on the screen refer to softkey F2, F3,
and F4 on the [INST] menu, which are blank by default. Installing
a name such as time in the Name field causes the function key to have
that label. The Lines item allows you to set 0-4 lines that will
display the user-selected program instructions. With the NAME field
highlighted, press ENTER to edit the softkey label. When you are
finished, press ENTER again. Highlight the Lines item, and type the
number of instructions that you want to display when the softkey is
pressed. To add the instructions, select an existing program,
or create a new program. The function key items that you set up will
be displayed in the editor. Press the newly-defined function key and
a popup window with the instructions will be displayed. Initially
there will be no instructions available. To insert instructions, press
the ED_DEF key. Press the INST key to insert the instructions associated
to the Default logical command. When you are finished with installing
program instructions, press the F5, DONE key. |
|
Maximum of ACC instruction |
This item specifies the maximum for the override specified with
an acceleration or deceleration override instruction, ACC.
|
$ACC_MINLMT
|
Minimum of ACC instruction |
This item specifies the minimum for the override specified with
an acceleration or deceleration override instruction, ACC.
|
|
WJNT for default motion |
This function adds a Wjnt motion option to the default motion
instruction such as linear or circular, or deletes it at the same
time.-When F4, [ADD], is pressed, the Wjnt additional instruction
is added to every default linear or circular motion instruction. Then,
the display on the system configuration screen switches from DELETE
(or ******) to ADD. In the prompt line, "Added WJNT to default motion"
appears.-When F5, [DELETE], is pressed, the Wjnt additional instruction
is deleted from every default linear or circular motion instruction.
Then, the display on the system configuration screen switches from
ADD (or ******) to DELETE. In the prompt line, "Deleted WJNT from
default motion" appears.
|
|
Auto display of alarm menu |
This item selects whether the alarm screen is displayed automatically.
When TRUE is specified for this item, the alarm screen is displayed
automatically. The default setting is FALSE. When this item has been
set or modified, turn off the controller, then turn it on again to
enable the setting.
|
$ER_AUTO_ENB
|
Force Message |
When the teach pendant MESSAGE instruction is executed, the
USER screen is displayed automatically, by default (Force Message
= ENABLE). If you set Force Message to DISABLE, the message is written
to the USER screen, but the screen does not change to the USER screen
automatically. If you set Force Message to ENBL (TP OFF), then the
user page is displayed automatically only if the teach pendant ENABLE
(ON/OFF) keyswitch is set to OFF.
|
|
Reset CHAIN FAILURE Detection |
This item resets the chain failure detection fault and requires
you to press RESET to clear the alarm. This item works the same
as pressing F4 "RES_1CH" in the Active Alarm screen.
|
|
Allow Force I/O in AUTO mode |
This item can be set to either TRUE or FALSE. When the controller
is in AUTO mode, and this item is set to TRUE, you can change the
status of any I/O port and simulate or unsimulate I/O at the desired
port. |
$AUTOMODE_DO
|
Allow Chg. Ovrd in AUTO mode |
If this is set to TRUE, it is possible to change speed override
while the controller is in AUTO mode. Otherwise, this is not permitted.
|
$AUTOMODE_OV
|
Signal to set in AUTO Mode |
If this is non-zero, this is the number of a digital output
signal which is to be automatically set TRUE when the controller is
in AUTO mode. Otherwise, it is set to FALSE. |
|
Signal to set in T1 mode |
If this is non-zero, this is the number of a digital output
signal which is to be automatically set TRUE when the controller is
in T1 mode. Otherwise, it is set to FALSE.
|
|
Signal to set in T2 mode |
If this is non-zero, this is the number of a digital output
signal which is to be automatically set TRUE when the controller is
in T2 mode. Otherwise, it is set to FALSE.
|
|
Signal to set if E-Stop |
If this is non-zero, this is the number of a digital output
signal which is to be automatically set TRUE when one of the emergency
stop conditions is asserted. Otherwise, it is set to FALSE.
|
|
Set if INPUT SIMULATED |
This input allows you to use an output to monitor whether any
input is simulated. You must set this item to the index number of
the output that will be turned on when the digital, group, robot,
or analog input is simulated. You must turn off the controller and
turn it on again to activate this output.
|
$INPT_SIM_DO |
Set if OUTPUT SIMULATED |
Monitors to see if an output signal set as a simulated
one exists and outputs it as an output signal. For this item, set
the number of the output signal that will turn on when a digital,
group, robot, or analog input signal is set as a simulated one. When
the setting has been changed, the power must be turned off then back
on. |
|
Sim. Input Wait Delay
|
This item is used by
the Simulated Input Skip feature. It is the time in seconds that a
WAIT instruction will delay before continuing when Simulated Input
Skip is enabled. Valid settings are from 0 to 99.99. |
$SIMWAITTIM
|
Set if Sim. Skip Enabled
|
This item is used by
the Simulated Input Skip feature. It is the index of a digital output
that will be turned on to indicate that Simulated Input Skip is enabled.
Valid numbers for this item are 0 through 32766. |
$SIMWAITOUT
|
Set when prompt displayed
|
This item provides a digital
output signal from the controller that indicates that a prompt box
is being displayed on the teach pendant. This feature is used to
provide an indicator to an operator that an action must be taken at
the user interface. The output
signal is turned on when the prompt box is displayed and turned off
when the prompt box is acknowledged and removed.
Valid numbers for this item are from 0 through
32766. After setting this item, you must cycle controller power for
the change to take effect. |
None
|
Output when WAIT on input
|
This item displays the screen used to set up the Output
when waiting on Input feature.
Output when waiting on
Input provides a way to turn on a digital output that indicates that
a WAIT instruction in a teach pendant program has been waiting on
a specified digital or group input for longer than a specified time.
The feature allows you to define a range of inputs to be monitored,
a timeout value and a digital output that will be turned on to indicate
that a timeout has occurred. Separate settings are provided for digital
and group inputs.
With this feature enabled, if a teach
pendant program is run and that program executes a WAIT instruction,
the instruction will be checked for condition clauses that include
a digital or group input that has an index within the range to be
monitored. If the condition clauses containing those inputs are not
satisfied within the timeout period and the overall WAIT has not been
satisfied, the specified digital output will turn on.
The following condition clauses are valid and may be combined within
a single WAIT instruction: DI[]=ON, DI[]=OFF, DI[]=ON+, DI[]=OFF-,
GI[]=constant, GI[]<>constant, GI[]<constant, GI[]<=constant,
GI[]>constant, GI[]>=constant.
|
None |
Signal if OVERRIDE =
100 |
If this is non-zero,
this is the number of a digital output signal which is to be automatically
set TRUE when the OVERRIDE equals 100. Otherwise, it is set to FALSE.
|
None |
Hand Broken
|
If this is set to ENABLED, a Hand Broken circuit must be connected
to the robot. Then, when a Hand Broken signal is received, a Hand
Broken error is posted.
If this is set to DISABLED, there is
no need to connect a Hand Broken circuit to the robot. If a circuit
is connected, an error is posted indicating that the setting is incorrect.
Hand Broken must be set for each motion group configured on
the robot. |
$SCR_GRP[ ].$HBK_ENBL
|
Remote/Local Setup |
This item specifies the state of the SI[2:Remote] input or designates
another signal that controls this input. When SI[2:Remote] is OFF,
the Cycle Start switch on the operator's panel can be used to initiate
program execution. If SI[2:Remote] is ON, a remote signal such as
from UOP can start a program.
The possible selections are:
Remote: The SI[2:Remote] signal is always ON Local: The SI[2:Remote]
signal is always OFF
External I/O: The SI[2:Remote] signal is
controlled by an external I/O port (defined below) |
$REMOTE_CFG.$REMOTE _TYPE
|
External I/O (ON:Remote) |
When Remote/Local Setup is set to External I/O, this setting
determines what I/O port controls the Remote/Local input SI[2:Remote].
The possible selections are:
DI, DO, RO, RO, UI, UO
|
$REMOTE_CFG. $REMOTE_IOTYP
$REMOTE_CFG. $REMOTE_IOIDX
|
UOP Auto Assignment |
The possible settings are None, Full, Full (Slave), Full (CRM79),
Simple, Simple (Slave), Simple (CRM79), and Simple (CRM81). Full (Slave),
Full (CRM79), Simple (Slave), Simple (CRM79), and Simple (CRM81) are
used only on a Mate Controller.
None indicates that no UOP signals
are being mapped. Full indicates that all UOP signals are being mapped.
Simple maps RESET and CSTOPI signals to the same input. Simple also
maps the PNSTROBE and Start signals to the same input. PNSTROB occurs
on the rising edge and Start occurs on the falling edge of this signal.
Simple(CRM79) maps UOP signals to the CRM79 port on the Mate
CPU This is the 50 Pin Honda connector. Simple (CRM81) maps UOP signals
to the CRM81 port on the Mate CPU. This is the 20 Pin Amp connector
with lock tabs.
Full(Slave) and Simple(Slave) assign UOP to
an I/O link slave (Rack 32, Slot 1) in Mate controllers only. In
other robot controllers, "Simple" and "Simple(Slave)" map to the same
I/O points. In robot controllers, "Full" and "Full(Slave)" map the
same I/O points.
|
|
Multiple-program selection
(Multi Program Selection) |
This setting is used to switch the program
selection method between single task mode and multitask mode. If this setting
is enabled, multitask mode is selected. This means that you can select
and view/edit program X while program Y is running or paused. If
it is disabled, single task mode is selected. This means that you
can only select and view/edit the currently running or paused program.
If the R651 standard settings are ordered, the setting is disabled
by default, and if the R650 North America only settings are ordered,
it is enabled by default. When the setting is changed, the change
is immediately applied. |
|
Wait at Taught Position |
This item is the setting for wait position of the Robot
when WAIT instruction is executed after motion instruction with CNT.
Setting this item as TRUE has the same effect as teaching a BREAK
motion option on a previous motion instruction.
|
|
Brake Control ECO Mode |
Enables or disables Brake control ECO mode. When the
ECO mode is enabled (TRUE), the time to brake automatically in AUTO
mode is shortened (the default is 5s). When the ECO mode is disabled
(FALSE) or T1/T2 mode, the normal brake control time is applied. The
default setting is disabled (FALSE). When the ECO mode is enabled,
cycle time may be increased compared to the normal brake control because
the frequency of brake release is increased. On the axis that has
no brake or the brake control is disabled, this setting has no effect.
Turn the power off and back on again for the changed settings to take
effect. |
|
J7, J8 Jog Key Setup |
This item is used to customize the J7 and J8 jog keys.
Normally, J7 and J8 are used to jog the extended axes in a group.
However, if the setting is changed, it is possible to jog any axis
using the J7 and J8 keys. It is also possible to disable J7 and J8.
|
|
Collection name (F1-F5) |
This item specifies the words displayed for the soft
keys on the program creation screen when the program type is Collection.
It is convenient to specify words that are frequently used for collection
names. |
$PGINP_WORD[6] to [10] |
Confirmation of TOUCHUP |
When set to TRUE, this item displays a confirmation when
you press F5, [TOUCHUP] on the program EDIT screen. |
|
No motion PR operate mode |
When this item set to TRUE, position register instructions
can be executed in a non-motion group program. (About the detail of
this function, refer to 4.5.4 Position Register Instructions in Non-Motion
Group Programs.) |
|
Use No-display Sub-Program |
This item is used to enable/disable the “No-Display
Sub-Program” feature. This feature allows you to make a teach
pendant program not display its contents while the program is CALLED
as a sub-program or as a macro. When this feature is enabled, a new
item appears in the SELECT/DETAIL screen so you can set a program
as "NoDisp Sub-Prog". |
$INVISTP_ENB |