1.  SYSTEM/CONFIG SCREEN

The system configuration menu contains items that must be set when the system is installed. Table 1, " System Configuration Setup Screen Items " contains the screen items from the System Configuration Setting screen, a detailed description of each item, and any related system variable information.

Table 1.  System Configuration Setup Screen Items

Screen Item Description Related System Variable

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