# Manual

level3:
PROGRAMMER'S MANUAL I PROGRAM DESIGN AND COMMANDS


level3:
VS-xxx SERIES INTRODUCTION GUIDE TO ROBOT


level3:
XYC-4G SERIES GENERAL INFORMATION ABOUT ROBOT


level3:
XYC-4G SERIES INSTALLATION & MAINTENANCE GUIDE


level3:
XR-G SERIES GENERAL INFORMATION ABOUT ROBOT


level3:
XR-G SERIES INSTALLATION & MAINTENANCE GUIDE


level3:
Conformity with Standards by Robot Model


level3:
Removing the Bellows of HM-G/HS-G Series


# SearchIndex

title:
Chapter 2  Configuration of the Robot System


title:
2.2 Names of Robot Unit Components and Motion Direction

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Names of Robot Unit Components and Motion Direction


title:
2.2.1 Robot Unit Components and Motion Direction

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Robot Unit Components and Motion Direction


title:
2.3 Names of the Robot Controller Components

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Names of the Robot Controller Components


title:
Chapter 3  Specifications of the Robot Unit


title:
3.2 Outer Dimensions and Workable Space of the Robot Unit

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Outer Dimensions and Workable Space of the Robot Unit


title:
3.5 Engineering-design Notes for Robot Hands

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Engineering-design Notes for Robot Hands


title:
3.6 Stopping Time and Distance (Angle) at an Emergency Stop

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Stopping Time and Distance (Angle) at an Emergency Stop


title:
Chapter 4  Robot Controller Specifications


title:
1.1 Preparing a Proper Environment for Installation

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Preparing a Proper Environment for Installation


title:
1.1.3 Connecting the Robot Unit and Robot Controller

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Connecting the Robot Unit and Robot Controller


title:
1.1.4 Installation Environment of the Robot Unit

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Installation Environment of the Robot Unit


title:
1.4 Electrical Wiring and Air Piping of the Robot Unit

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Electrical Wiring and Air Piping of the Robot Unit


title:
1.4.2 Making Stays for Wiring and Piping


title:
1.5 Engineering-design Notes for Robot Hands


title:
2.2 Modifying Software Motion Limits to Define New Motion Space

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Modifying Software Motion Limits to Define New Motion Space


title:
2.2.2 Software Motion Limits (Factory defaults)

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Software Motion Limits (Factory defaults)


title:
2.2.4 Precautions When Changing the Software Motion Limits

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Precautions When Changing the Software Motion Limits


title:
2.2.5 Procedure for Changing the Software Motion Limits

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Procedure for Changing the Software Motion Limits


title:
2.3 Changing Mechanical Ends to Define New Restricted Space

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Changing Mechanical Ends to Define New Restricted Space


title:
2.5 Setting Control Set of Motion Optimization

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Setting Control Set of Motion Optimization


title:
3.1 Maintenance & Inspection Intervals and Purposes

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Maintenance & Inspection Intervals and Purposes


title:
3.3.2 Cleaning the Cooling Fan Filters in the Robot Controller

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Cleaning the Cooling Fan Filters in the Robot Controller


title:
3.4.2 Replacing the Encoder Backup Battery


title:
3.4.3 Replacing the Memory Backup Battery


title:
3.4.4 Setting the Next Battery Replacement Date

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Setting the Next Battery Replacement Date


title:
3.8 Checking the Odometer and Trip Meter


title:
3.8.1 Displaying the Odometer and Trip Meter


title:
3.9 Checking the Controller ON-Time and the Robot Running Time and Resetting Their User Counters

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Checking the Controller ON-Time and the Robot Running Time and Resetting Their User Counters


title:
3.9.1 Displaying the Controller ON-time and the Robot Running Time

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Displaying the Controller ON-time and the Robot Running Time


title:
3.9.2 Resetting the User Counters of the Controller ON-Time and the Robot Running Time

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Resetting the User Counters of the Controller ON-Time and the Robot Running Time


title:
Chapter2  Configuration of the Robot System


title:
Chapter3  Specifications of the Robot Unit


title:
3.2 Outer Dimension and Workable Space of the Robot Unit

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Outer Dimension and Workable Space of the Robot Unit


title:
3.5 Electrical Wiring and Air Piping of the Robot Unit


title:
3.5.2 Specifications of Solenoid Valve (option)

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Specifications of Solenoid Valve (option)


title:
3.5.4 Original Thread Holes for Wiring and Piping

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Original Thread Holes for Wiring and Piping


title:
3.5.5 Notes for Signal Cabling and Air Piping


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3.5.6 Installing Hand Control Cabling Kit (Optional)

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Installing Hand Control Cabling Kit (Optional)


title:
3.6 Engineering-design Notes for Robot Hands


title:
3.7 Stopping Time and Distance (Angle) at an Emergency Stop


title:
6.2 Conformity with Standards by Robot Model

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Conformity with Standards by Robot Model


title:
1.2.4 Changing the Mounting Position of T-axis Unit

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Changing the Mounting Position of T-axis Unit


title:
1.6 Moving Each Axis with Motor Power OFF in Emergency Stop

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Moving Each Axis with Motor Power OFF in Emergency Stop


title:
2.3.1 Limiting the Motion Range of the 1st axis (X-axis)

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Limiting the Motion Range of the 1st axis (X-axis)


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2.3.2 2nd-axis (R-axis) Mechanical End Change


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2.3.3 Limiting the Motion Range of the 3rd axis (Z-axis)

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Limiting the Motion Range of the 3rd axis (Z-axis)


title:
2.3.4 For Robots with the Z-axis Stroke of 135 mm

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For Robots with the Z-axis Stroke of 135 mm


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2.3.5 For Robots with the Z-axis Stroke of 200 mm

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For Robots with the Z-axis Stroke of 200 mm


title:
3.5.2 Replacing the Encoder Backup Batteries


title:
3.5.3 Replacing the Memory Backup Battery


title:
3.5.4 Setting the Next Battery Replacement Date


title:
3.9 Checking the Odometer and Trip Meter


title:
3.9.1 Displaying the Odometer and Trip Meter


title:
3.10 Checking the Controller ON-Time and the Robot Running Time and Resetting Their User Counters


title:
3.10.1 Displaying the Controller ON-time and the Robot Running Time


title:
3.10.2 Resetting the User Counters of the Controller ON-Time and the Robot Running Time


title:
4.1 Stands for XR-G series (optional) drawing

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Stands for XR-G series (optional) drawing


title:
4.2.1 Drawings of the 1st axis (X-axis) Mechanical Stopper

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Drawings of the 1st axis (X-axis) Mechanical Stopper


title:
4.2.2 Drawings of the 3rd axis (Z-axis) Mechanical Stopper for Negative Direction                                                                                                  (Z-axis stroke: 135 mm)

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Drawings of the 3rd axis (Z-axis) Mechanical Stopper for Negative Direction                                                                                                  (Z-axis stroke: 135 mm)


title:
4.2.3 Drawings of the 3rd axis (Z-axis) Mechanical Stopper for Positive Direction                                                                       (Z-axis stroke: 135 mm or 200 mm)

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Drawings of the 3rd axis (Z-axis) Mechanical Stopper for Positive Direction                                                                       (Z-axis stroke: 135 mm or 200 mm)


title:
4.2.4 Drawings of the Lower End Fixture for the Extension Plate (Z-axis stroke: 200 mm)

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Drawings of the Lower End Fixture for the Extension Plate (Z-axis stroke: 200 mm)


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4.2.5 Drawings of the Upper End Fixture for the Extension Plate (Z-axis stroke: 200 mm)

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Drawings of the Upper End Fixture for the Extension Plate (Z-axis stroke: 200 mm)


title:
2.2.1 Robot Unit Components and Rotation Direction

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Robot Unit Components and Rotation Direction


title:
3.5 Precautions When Designing the End-effectors

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Precautions When Designing the End-effectors


title:
Chapter 4  Specifications of the Robot Controller


title:
6.1 Conformity with Standards by Robot Model


title:
3.4 Air Piping, Signal Wiring, and Solenoid Valve Specifications

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Air Piping, Signal Wiring, and Solenoid Valve Specifications


title:
3.4.2 Instructions for Using Splash-proof Connector Sets

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Instructions for Using Splash-proof Connector Sets


title:
3.4.3 Solenoid Valve Specifications (VM-G series)

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Solenoid Valve Specifications (VM-G series)


title:
3.4.4 Original Thread Holes for Wiring and Piping (VM-G series)

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Original Thread Holes for Wiring and Piping (VM-G series)


title:
1.4 Precautions When Designing the End-effectors


title:
2.2.2 Factory Defaults of Software Motion Limits

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Factory Defaults of Software Motion Limits


title:
2.3.2 2nd-axis and 3rd-axis Mechanical Ends Change

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2nd-axis and 3rd-axis Mechanical Ends Change


title:
2.4.2 Precautions about CALSET for the VM-G Series

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Precautions about CALSET for the VM-G Series


title:
2.6 Setting Robot Installation Conditions


title:
3.1.1 Precautions for installation and maintenance of robots for cleanroom use

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Precautions for installation and maintenance of robots for cleanroom use


title:
3.4.1 Battery Replacement and Belt Inspection


title:
3.7 Checking the Odometer and Trip Meter


title:
3.7.1 Displaying the Odometer, Trip Meter, and Oil Change Intervals

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Displaying the Odometer, Trip Meter, and Oil Change Intervals


title:
3.8 Checking the Controller ON-Time and the Robot Running Time and Resetting Their User Counters


title:
3.8.1 Displaying the Controller ON-time and the Robot Running Time


title:
3.8.2 Resetting the User Counters of the Controller ON-Time and the Robot Running Time


title:
Chapter 1  Configuration of the Robot System


title:
Chapter 2  General Information about RC7M Controller

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General Information about RC7M Controller


title:
2.1.1 RC7M Robot Controller Model for VS-*** Series

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RC7M Robot Controller Model for VS-*** Series


title:
2.2 Differences between Global and Standard Types of Robot Controllers

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Differences between Global and Standard Types of Robot Controllers


title:
2.2.1 Deadman Switch Function (Enable Switch Function)

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Deadman Switch Function (Enable Switch Function)


title:
Chapter 3  General Information about the Interface


title:
3.1 Types and General Information about Mini I/O Signals

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Types and General Information about Mini I/O Signals


title:
3.1.1 Types of Mini I/O Signals on the Standard Type of Controller

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Types of Mini I/O Signals on the Standard Type of Controller


title:
3.1.2 Types of Mini I/O Signals on the Global Type of Controller

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Types of Mini I/O Signals on the Global Type of Controller


title:
3.3 Combination of I/O Extension Boards and Allocation Mode

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Combination of I/O Extension Boards and Allocation Mode


title:
3.3.1 I/O Allocation in Individual Allocation Modes

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I/O Allocation in Individual Allocation Modes


title:
3.3.2 Functions in Individual Allocation Modes

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Functions in Individual Allocation Modes


title:
3.4 Mini I/O Functions in Compatible, Standard, or All User I/O Mode

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Mini I/O Functions in Compatible, Standard, or All User I/O Mode


title:
3.5.1 Configuring the I/O Allocation Mode Parameter

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Configuring the I/O Allocation Mode Parameter


title:
3.5.2 Setting up the I/O Power Source (+24 VDC)

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Setting up the I/O Power Source (+24 VDC)


title:
3.6 Configuring the I/O Allocation Mode Parameter


title:
3.6.2 Method for setting from WINCAPSIII


title:
3.8 Setting up Parallel I/O Board Power Source

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Setting up Parallel I/O Board Power Source


title:
4.1 Connecting the Power Cable and Motor & Encoder Cable

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Connecting the Power Cable and Motor & Encoder Cable


title:
4.3 Power Supply Circuit Breaker (Recommendation)

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Power Supply Circuit Breaker (Recommendation)


title:
Chapter 5  Wire Connection for System Input Signals

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Wire Connection for System Input Signals


title:
5.1 Wire Connection Required in Starting Up the Robot

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Wire Connection Required in Starting Up the Robot


title:
5.1.1 Configuration of Emergency Stop Circuitry  (Standard type of controller)

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Configuration of Emergency Stop Circuitry  (Standard type of controller)


title:
5.1.2 Configuration of Safety Circuit (Global type of controller)

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Configuration of Safety Circuit (Global type of controller)


title:
5.2 Wire Connection Required for Motor ON


title:
5.3 Wire Connection Required for Automatic Operation

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Wire Connection Required for Automatic Operation


title:
6.5 Advantages of Tool Coordinates in 4-Axis Robots

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Advantages of Tool Coordinates in 4-Axis Robots


title:
6.6 Position Data Handled by 4-Axis Robots


title:
6.11 Advantages of Tool Coordinates in 6-Axis Robots

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Advantages of Tool Coordinates in 6-Axis Robots


title:
6.12 Position Data Handled by 6-Axis Robots


title:
6.12.1 Figures of the Shoulder, Elbow, and Wrist in 6-Axis Robots

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Figures of the Shoulder, Elbow, and Wrist in 6-Axis Robots


title:
7.1.1 Holding the Teach Pendant and the Deadman Switch

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Holding the Teach Pendant and the Deadman Switch


title:
7.1.2 Names of Keys, Buttons, and Switches on the Teach Pendant

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Names of Keys, Buttons, and Switches on the Teach Pendant


title:
7.3.2 Relationship between Operation Modes and Enable Auto Input Signal

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Relationship between Operation Modes and Enable Auto Input Signal


title:
7.4.1 Running the Robot in Joint, X-Y, or Tool Mode

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Running the Robot in Joint, X-Y, or Tool Mode


title:
8.2 Global Variables Available in Teaching


title:
8.4 Moving the Robot Arm to the Position Taught to the Position Variable

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Moving the Robot Arm to the Position Taught to the Position Variable


title:
8.5 Moving the Robot Arm to the Target Position Specified with Approach Length [Version 2.61 or later]

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Moving the Robot Arm to the Target Position Specified with Approach Length [Version 2.61 or later]


title:
Chapter 9  Basic Knowledge of Programming


title:
9.6.2 Notational Conventions Used in Command Syntax

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Notational Conventions Used in Command Syntax


title:
9.6.3 Declaring Program Names (PROGRAM command)

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Declaring Program Names (PROGRAM command)


title:
9.6.4 Obtaining an Arm Semaphore (TAKEARM command)

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Obtaining an Arm Semaphore (TAKEARM command)


title:
9.6.6 Specifying the Arm Speed (SPEED command)

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Specifying the Arm Speed (SPEED command)


title:
9.6.8 Movement to the Specified Coordinates (MOVE command)

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Movement to the Specified Coordinates (MOVE command)


title:
9.7 Movement in the Z-Axis Direction  (APPROACH and DEPART commands)

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Movement in the Z-Axis Direction  (APPROACH and DEPART commands)


title:
9.7.1 Approach in the Hand Direction (APPROACH command)

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Approach in the Hand Direction (APPROACH command)


title:
9.7.2 Dodging Movement in the Hand Direction (DEPART command)

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Dodging Movement in the Hand Direction (DEPART command)


title:
Chapter 10  Programming with Teach Pendant


title:
11.1.1 WINCAPSIII Available in Three Versions


title:
11.1.3 License Certificate (with User ID)


title:
11.1.4 Checking the WINCAPSIII Version on PC Screen

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Checking the WINCAPSIII Version on PC Screen


title:
11.4 Connecting WINCAPSIII and Controller with Communications Cables

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Connecting WINCAPSIII and Controller with Communications Cables


title:
11.5 Preparation for Establishing Communications Link with Controller

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Preparation for Establishing Communications Link with Controller


title:
11.6.1 Preparation in the Controller (Precautions for Transferring Data)

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Preparation in the Controller (Precautions for Transferring Data)


title:
11.6.2 Transferring Program Data to the Robot Controller

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Transferring Program Data to the Robot Controller


title:
12.1 Simulating a Program Operation with WINCAPS III

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Simulating a Program Operation with WINCAPS III


title:
12.1.2 Monitoring the Robot Controller from WINCAPSIII

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Monitoring the Robot Controller from WINCAPSIII


title:
12.1.3 Placing the Robot Controller in Machine Lock

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Placing the Robot Controller in Machine Lock


title:
12.2 Starting a Program in Teach Check Mode


title:
12.2.2 Selecting a Program to be Executed


title:
12.3 Starting a Program in Internal Auto Mode

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Starting a Program in Internal Auto Mode


title:
12.3.2 Selecting the Program to be Executed


title:
Chapter 13  Running the Robot from External Equipment

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Running the Robot from External Equipment


title:
13.2 Notes on Using the Global Type of Controller

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Notes on Using the Global Type of Controller


title:
13.3.1 Types and Functions of System Input Signals in Mini I/O Dedicated Mode

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Types and Functions of System Input Signals in Mini I/O Dedicated Mode


title:
13.3.2 Processing I/O Commands in Mini I/O Dedicated Mode

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Processing I/O Commands in Mini I/O Dedicated Mode


title:
13.3.3 Types and Functions of System Output Signals in Mini I/O Dedicated Mode

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Types and Functions of System Output Signals in Mini I/O Dedicated Mode


title:
13.4.1 Types and Functions of System Input Signals in Standard Mode

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Types and Functions of System Input Signals in Standard Mode


title:
13.4.2 Processing I/O Commands in Standard Mode

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Processing I/O Commands in Standard Mode


title:
13.4.3 Types and Functions of System Output Signals in Standard Mode

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Types and Functions of System Output Signals in Standard Mode


title:
13.5.1 Types and Functions of System Input Signals in Compatible Mode

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Types and Functions of System Input Signals in Compatible Mode


title:
13.5.2 Processing I/O Commands in Compatible Mode

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Processing I/O Commands in Compatible Mode


title:
13.5.3 Types and Functions of System Output Signals in Compatible Mode

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Types and Functions of System Output Signals in Compatible Mode


title:
13.6.1 Hand I/O (CN9): Common to All Modes


title:
13.6.2 Mini I/O Board (CN5 on standard type of controller) in Mini I/O Dedicated Mode

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Mini I/O Board (CN5 on standard type of controller) in Mini I/O Dedicated Mode


title:
13.6.3 Mini I/O Board (CN5 on global type of controller) in Mini I/O Dedicated Mode

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Mini I/O Board (CN5 on global type of controller) in Mini I/O Dedicated Mode


title:
13.6.4 Mini I/O Board (CN5 on standard type of controller) in Compatible, Standard and All User I/O Modes

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Mini I/O Board (CN5 on standard type of controller) in Compatible, Standard and All User I/O Modes


title:
13.6.5 Mini I/O Board (CN5 on global type of controller) in Compatible, Standard, and All User I/O Modes

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Mini I/O Board (CN5 on global type of controller) in Compatible, Standard, and All User I/O Modes


title:
Chapter 14  Monitoring and Manipulating the I/Os


title:
3.2 Outer Dimensions and Workable Space of the Robot Unit (HS/HSS-G)

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Outer Dimensions and Workable Space of the Robot Unit (HS/HSS-G)


title:
3.4 Notes for Setting the Positioning Speed (HS/HSS-G)

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Notes for Setting the Positioning Speed (HS/HSS-G)


title:
3.5.1 Instructions for Using Splash-proof Connector Sets


title:
3.6 Engineering-design Notes for Robot Hands (HS/HSS-G)

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Engineering-design Notes for Robot Hands (HS/HSS-G)


title:
20.1 Symbol Constants E Macro Definitions


title:
21.1 Precautions for using vision commands


title:
21.2 Compatibility with the Conventional mVision-15

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Compatibility with the Conventional mVision-15


title:
22.2 Figures of the Shoulder, Elbow, and Wrist

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Figures of the Shoulder, Elbow, and Wrist


title:
22.6 Conventional Language Command Correspondence Table (VS)

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Conventional Language Command Correspondence Table (VS)


title:
1.2.2 Transporting the Overhead-Mount Type (HMS-G series)

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Transporting the Overhead-Mount Type (HMS-G series)


title:
1.4.1 Notes for Wiring and Piping Through a Hollow in the Z-axis Shaft

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Notes for Wiring and Piping Through a Hollow in the Z-axis Shaft


title:
1.4.2 Reference Drawings for Stays that Clamp Wiring and Piping

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Reference Drawings for Stays that Clamp Wiring and Piping


title:
1.4.3 Prohibition Against Use of Mechanical End Bolts and Mechanical Stoppers for Wiring or Piping

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Prohibition Against Use of Mechanical End Bolts and Mechanical Stoppers for Wiring or Piping


title:
1.6 Engineering-design Notes for Robot Hands


title:
1.7 Moving Each Axis with Motor Power OFF in Emergency Stop


title:
Chapter 15  Monitoring and Modifying Variables


title:
15.1.1 Monitoring and Modifying Global Variables

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Monitoring and Modifying Global Variables


title:
15.1.2 Monitoring and Modifying Local Variables

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Monitoring and Modifying Local Variables


title:
15.1.3 Modifying the Number of Variables Used


title:
15.2.1 Monitoring and Modifying Global Variables


title:
15.2.2 Monitoring and Modifying Local Variables


title:
15.2.3 Modifying the Number of Variables to be Used

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Modifying the Number of Variables to be Used


title:
16.1 Setting the Robot Installation Condition (Floor-mount or Overhead-mount,for 6-axis robots)

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Setting the Robot Installation Condition (Floor-mount or Overhead-mount,for 6-axis robots)


title:
16.1.1 Purpose of Setting Robot Installation Condition

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Purpose of Setting Robot Installation Condition


title:
16.2 Control Sets of Motion Optimization


title:
16.3 How to Set Optimal Load Capacity Initializing

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How to Set Optimal Load Capacity Initializing


title:
16.4 How to Set Optimal Load Capacity Initializing [Version 1.4 or later]

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How to Set Optimal Load Capacity Initializing [Version 1.4 or later]


title:
17.1.1 Absolute Motion and Relative Motion


title:
Chapter 19  Input/Output Control Statements


title:
20.2.3 Simplified Palletizing Program "PRO1"


title:
Appendix 1   Sample Answers to Practice Exercises


title:
Appendix 2   Commands Listed According to Functions


title:
Appendix 3  Menu Tree of Commands on Teach Pendant


title:
1.2 Standard Items Contained in the Package


title:
1.7 Precautions for Safe Use of the Robot System

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Precautions for Safe Use of the Robot System


title:
Chapter 2  Engineering Design of Servo Mechanism


title:
2.1.3 Design Example (High-Speed Transfer Equipment)

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Design Example (High-Speed Transfer Equipment)


title:
2.2 Knowledge Required for Selection of Servomotors

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Knowledge Required for Selection of Servomotors


title:
3.1.2 Cable End Treatment of AC Servomotors When Shipped

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Cable End Treatment of AC Servomotors When Shipped


title:
3.2 External Dimensions of AC Servomotors


title:
Chapter 4  Configuring the Joint Parameters


title:
4.3.1 Setting the Speed Reduction Rate in Manual Operation

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Setting the Speed Reduction Rate in Manual Operation


title:
4.4 Outputting a List of Joint Parameter Settings (Using WINCAPSIII)

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Outputting a List of Joint Parameter Settings (Using WINCAPSIII)


title:
4.5 Detailed Description of Joint Parameter Setting

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Detailed Description of Joint Parameter Setting


title:
4.6 Configuring Motors as Robot Joints or Extended-Joints

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Configuring Motors as Robot Joints or Extended-Joints


title:
4.6.3 Usable Functions in Robot and Extended-Joint Motion (Examples)

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Usable Functions in Robot and Extended-Joint Motion (Examples)


title:
4.8.1 Performing CALSET Operation on Each Joint

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Performing CALSET Operation on Each Joint


title:
4.8.6 Programmed Operation in SMT7 (Description of arm groups)

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Programmed Operation in SMT7 (Description of arm groups)


title:
4.9 Joint Parameter Configuration Commands


title:
4.9.1 Single-Joint Servo Data Monitor Commands (Library)

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Single-Joint Servo Data Monitor Commands (Library)


title:
4.9.2 Operation Termination Commands (Library)


title:
Chapter 3  Programming Support Tool "WINCAPSIII"


title:
Chapter 4  Overview of I/O Extension Boards


title:
4.2 Combination of I/O Extension Boards and Allocation Mode


title:
4.5 Mini I/O Functions (with I/O extension board mounted)

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Mini I/O Functions (with I/O extension board mounted)


title:
4.5.2 Other Allocation (Standard, Compatible and All User I/O)

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Other Allocation (Standard, Compatible and All User I/O)


title:
4.7.1 I/O Conversion Box and Accessories


title:
4.7.2 Allocation Mode Available with the I/O Conversion Box

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Allocation Mode Available with the I/O Conversion Box


title:
4.7.4 Types of Input/Output Signals and Usage


title:
5.3.1 Mini I/O Dedicated or All User I/O Allocation

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Mini I/O Dedicated or All User I/O Allocation


title:
6.1.1 Configuration and Mounting Position


title:
6.2.1 Names and Functions of Slave Board Components

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Names and Functions of Slave Board Components


title:
6.4.1 Entering the Number of Input/Output Slots

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Entering the Number of Input/Output Slots


title:
6.4.2 Quick Reference Table for the Number of Input/Output Slots

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Quick Reference Table for the Number of Input/Output Slots


title:
7.1.1 Configuration and Mounting Position


title:
7.2.1 Functions of Master Board Components


title:
7.4.1 Network Configuration Sample and Configurators

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Network Configuration Sample and Configurators


title:
8.1.1 Configuration and Mounting Position


title:
8.2.1 Functions of Master Board Components


title:
8.2.7 Entering the Number of Input/Output Slots


title:
9.1.1 Configuration and Mounting Position


title:
9.2.2 Component Functions and Board Setting


title:
9.4 Field Network Error Indication Parameter

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Field Network Error Indication Parameter


title:
9.5 Network Error Detection Wait-time Parameter

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Network Error Detection Wait-time Parameter


title:
9.6.2 Programming Remote Resistors RWw and RWr

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Programming Remote Resistors RWw and RWr


title:
9.6.3 Monitoring and Modifying I/O Variables Used as Word Data via the Teach Pendant

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Monitoring and Modifying I/O Variables Used as Word Data via the Teach Pendant


title:
9.6.4 Monitoring and Modifying I/O Data (units of 1 bit) via the Teach Pendant

hitword:
Monitoring and Modifying I/O Data (units of 1 bit) via the Teach Pendant


title:
9.6.5 Monitoring and Modifying I/O Variables Used as Word Data via WINCAPS III

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Monitoring and Modifying I/O Variables Used as Word Data via WINCAPS III


title:
9.6.6 Monitoring and Modifying I/O Data (units of 1 bit) via  WINCAPS III

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Monitoring and Modifying I/O Data (units of 1 bit) via  WINCAPS III


title:
9.6.7 Monitoring and Modifying Variable Values via the Mini-pendant

hitword:
Monitoring and Modifying Variable Values via the Mini-pendant


title:
Chapter 10  PROFIBUS-DP Slave Board (Commercial board recommended)

hitword:
PROFIBUS-DP Slave Board (Commercial board recommended)


title:
10.2 Requirements for Use of PROFIBUS-DP Slave Board

hitword:
Requirements for Use of PROFIBUS-DP Slave Board


title:
10.5 Assignment when using the PROFIBUS-DP slave board

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Assignment when using the PROFIBUS-DP slave board


title:
10.6.1 Entering the Node Address and Number of I/Os with the Teach Pendant

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Entering the Node Address and Number of I/Os with the Teach Pendant


title:
10.6.2 Configuring the Robot Controller from the PC with the PROFIBUS Configurator

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Configuring the Robot Controller from the PC with the PROFIBUS Configurator


title:
Chapter 11  RS-232C Extension Board (Commercial board recommended)

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RS-232C Extension Board (Commercial board recommended)


title:
11.1 Requirements for Use of RS-232C Extension Board

hitword:
Requirements for Use of RS-232C Extension Board


title:
11.2 RS-232C Extended Serial Ports and Line Number Assignment

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RS-232C Extended Serial Ports and Line Number Assignment


title:
11.3 Communications Configuration of RS-232C Extension Board

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Communications Configuration of RS-232C Extension Board


title:
11.4 Coding Sample for Transmission Error Recovery

hitword:
Coding Sample for Transmission Error Recovery


title:
Chapter 12  S-Link V Master Board (Commercial board recommended)

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S-Link V Master Board (Commercial board recommended)


title:
12.2 Requirements for Use of S-Link V Master Board

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Requirements for Use of S-Link V Master Board


title:
12.5.2 Errors and Actions (Error Code Table)


title:
12.6 I/O Assignment for Use of S-Link V Master Board

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I/O Assignment for Use of S-Link V Master Board


title:
13.2.3 Combination of other Extension Boards


title:
13.2.5 Mounting the EtherNet/IP Adapter Board


title:
13.2.6 Adding Functions to the Robot Controller

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Adding Functions to the Robot Controller


title:
13.5 Quick Reference Table for Input/Output Sizes

hitword:
Quick Reference Table for Input/Output Sizes


title:
Chapter 14  Mounting I/O Extension Boards


title:
PART 3 SYSTEM I/O SIGNALS FOR EXTENSION BOARDS


title:
Chapter 15  System I/O Signals in Standard Mode


title:
15.1 Types and Functions of System Output Signals (Standard Mode)

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Types and Functions of System Output Signals (Standard Mode)


title:
15.2 Usage of System Output Signals (Standard Mode)

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Usage of System Output Signals (Standard Mode)


title:
15.2.1 Robot Initialization Complete (Output)


title:
15.2.9 Continue Start Permitted (Output)


title:
15.3 Types and Functions of System Input Signals (Standard Mode)

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Types and Functions of System Input Signals (Standard Mode)


title:
15.4 Usage of System Input Signals (Standard Mode)

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Usage of System Input Signals (Standard Mode)


title:
15.4.2 Instantaneous Stop (All Tasks) (Input)


title:
15.5 Command Execution I/O Signals Dedicated to Standard Mode

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Command Execution I/O Signals Dedicated to Standard Mode


title:
15.5.1 General Information about Commands


title:
15.6 Example of Using System I/O Signals in Standard Mode

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Example of Using System I/O Signals in Standard Mode


title:
Chapter 16  System I/O Signals in Compatible Mode


title:
16.1 Types and Functions of System Output Signals (Compatible Mode)

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Types and Functions of System Output Signals (Compatible Mode)


title:
16.2 Usage of System Output Signals in the Compatible Mode

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Usage of System Output Signals in the Compatible Mode


title:
16.2.14 Continue Start Permitted (Output)


title:
16.3 Types and Functions of System Input Signals  (Compatible Mode)

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Types and Functions of System Input Signals  (Compatible Mode)


title:
16.4 Usage of System Input Signals in Compatible Mode

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Usage of System Input Signals in Compatible Mode


title:
16.4.1 Operation Preparation Start (Input)


title:
16.4.6 Instantaneous Stop (All Tasks) (Input)


title:
16.5 Example of Using System I/O Signals in Compatible Mode

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Example of Using System I/O Signals in Compatible Mode


title:
17.2 Component Names and External Dimensions


title:
17.4.2 Placing the Robot Controller in the Protective Box

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Placing the Robot Controller in the Protective Box


title:
Chapter 18  mVision Board (Version 2.41 or later)


title:
18.1 mVision Board and Mounting Position


title:
18.4 Block Diagram and Internal Configuration of mVision Board

hitword:
Block Diagram and Internal Configuration of mVision Board


title:
Chapter 1  General Information about RC7M Controller


title:
1.1.1 RC7M Robot Controller Model for VS-*** Series


title:
1.4.1 Internal Circuits of the Controller (Typical configuration)

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Internal Circuits of the Controller (Typical configuration)


title:
1.4.2 Typical Robot System Configuration


title:
Chapter 2  General Information about the Interface


title:
2.1 Types and General Information about I/O Signals

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Types and General Information about I/O Signals


title:
2.1.1 Types of System I/O Signals (Standard type of controller)

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Types of System I/O Signals (Standard type of controller)


title:
2.1.2 Types of System I/O Signals (Global type of controller)

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Types of System I/O Signals (Global type of controller)


title:
3.1 Types and Functions of System Output Signals

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Types and Functions of System Output Signals


title:
3.2.3 Operation Preparation Completed (output)


title:
3.2.8 Continue Start Permission (output): Selectable by I/O hardware setting

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Continue Start Permission (output): Selectable by I/O hardware setting


title:
3.2.9 Emergency Stop Circuit Contact Outputs (Standard type of controller)

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Emergency Stop Circuit Contact Outputs (Standard type of controller)


title:
3.2.10 Safety Circuit Contact Outputs (Global type of controller)

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Safety Circuit Contact Outputs (Global type of controller)


title:
3.3 Types and Functions of System Input Signals

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Types and Functions of System Input Signals


title:
3.4.3 Enable Auto (input) (Standard type of controller)

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Enable Auto (input) (Standard type of controller)


title:
3.4.4 Enable Auto (input) (Global type of controller)

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Enable Auto (input) (Global type of controller)


title:
3.4.5 Protective Stop (input): Global type of controller

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Protective Stop (input): Global type of controller


title:
3.5.1 General Information about Commands


title:
Chapter 4  Connector Pin Assignment and I/O Circuits (NPN type)

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Connector Pin Assignment and I/O Circuits (NPN type)


title:
4.1.3 Mini I/O (CN5): User- or System-I/O connector

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Mini I/O (CN5): User- or System-I/O connector


title:
4.1.4 Safety I/O (CN10)FSystem-I/O connecter (Global type of controller)

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Safety I/O (CN10)FSystem-I/O connecter (Global type of controller)


title:
4.2 Robot Controller I/O Circuits (NPN type)

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Robot Controller I/O Circuits (NPN type)


title:
4.2.2 User-Input, System-Input and Hand-Input Circuits (NPN type)

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User-Input, System-Input and Hand-Input Circuits (NPN type)


title:
4.2.3 User-Output, System-Output, and Hand-Output Circuits (NPN type)

hitword:
User-Output, System-Output, and Hand-Output Circuits (NPN type)


title:
4.2.4 Configuration of Emergency Stop Circuitry  (Standard type of controller)


title:
4.2.5 Configuration of Safety Circuit (Global type of controller)


title:
4.3 Wiring Notes for Controller I/O Connectors (NPN type)

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Wiring Notes for Controller I/O Connectors (NPN type)


title:
Chapter 5 Connector Pin Assignment and I/O Circuits (PNP type)

hitword:
Connector Pin Assignment and I/O Circuits (PNP type)


title:
5.1.3 Mini I/O (CN5): User- or System-I/O connector


title:
5.1.4 Safety I/O (CN10)FSystem-I/O connecter (Global type of controller)


title:
5.2 Robot Controller I/O Circuits (PNP type)

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Robot Controller I/O Circuits (PNP type)


title:
5.2.2 User-Input, System-Input and Hand-Input Circuits (PNP type)

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User-Input, System-Input and Hand-Input Circuits (PNP type)


title:
5.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type)

hitword:
User-Output, System-Output, and Hand-Output Circuits (PNP type)


title:
5.2.4 Configuration of Emergency Stop Circuitry  (Standard type of controller)


title:
5.2.5 Configuration of Safety Circuit (Global type of controller)


title:
5.3 Wiring Notes for Controller I/O Connectors (PNP type)

hitword:
Wiring Notes for Controller I/O Connectors (PNP type)


title:
Chapter 6  Installation and Maintenance of the RC7M Controller

hitword:
Installation and Maintenance of the RC7M Controller


title:
6.2.1 Installation Requirements for the Controller

hitword:
Installation Requirements for the Controller


title:
6.3.3 Disconnecting the Robot from the Power Source

hitword:
Disconnecting the Robot from the Power Source


title:
6.5.2 Setting the Next Battery Replacement Date


title:
Chapter 7  I/O Allocation for I/O Extension Board(s)

hitword:
I/O Allocation for I/O Extension Board(s)


title:
7.1 Combination of I/O Extension Boards and Allocation Modes

hitword:
Combination of I/O Extension Boards and Allocation Modes


title:
7.2 I/O Allocation in Individual Allocation Modes


title:
7.4 Hand I/O (CN9): Common to All Allocation Modes

hitword:
Hand I/O (CN9): Common to All Allocation Modes


title:
7.5 I/O Allocation Tables for Individual Allocation Modes

hitword:
I/O Allocation Tables for Individual Allocation Modes


title:
7.5.1 Mini I/O Board (CN5 on standard type of controller) in Mini I/O Dedicated Mode


title:
7.5.2 Mini I/O Board (CN5 on global type of controller) in Mini I/O Dedicated Mode


title:
7.5.3 Mini I/O Board (CN5 on standard type of controller) in Compatible,Standard and All User I/O Modes

hitword:
Mini I/O Board (CN5 on standard type of controller) in Compatible,Standard and All User I/O Modes


title:
7.5.4 Mini I/O Board (CN5 on global type of controller) in Compatible, Standard,and All User I/O Modes

hitword:
Mini I/O Board (CN5 on global type of controller) in Compatible, Standard,and All User I/O Modes


title:
7.5.5 Parallel I/O Board in Compatible Mode


title:
7.5.6 Parallel I/O Board in Standard Mode


title:
7.5.7 Parallel I/O Board (1st) in All User I/O Mode

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Parallel I/O Board (1st) in All User I/O Mode


title:
7.5.8 Parallel I/O Board (2nd) in All User I/O Mode

hitword:
Parallel I/O Board (2nd) in All User I/O Mode


title:
7.5.9 DeviceNet Slave Board in Compatible Mode

hitword:
DeviceNet Slave Board in Compatible Mode


title:
7.5.10 DeviceNet Slave Board in Standard Mode


title:
7.5.11 DeviceNet Slave Board in All User I/O Mode

hitword:
DeviceNet Slave Board in All User I/O Mode


title:
7.5.12 CC-Link Board (2 stations occupied) in Compatible Mode

hitword:
CC-Link Board (2 stations occupied) in Compatible Mode


title:
7.5.13 CC-Link Board (3 stations occupied) in Compatible Mode

hitword:
CC-Link Board (3 stations occupied) in Compatible Mode


title:
7.5.14 CC-Link Board (4 stations occupied) in Compatible Mode

hitword:
CC-Link Board (4 stations occupied) in Compatible Mode


title:
7.5.15 CC-Link Board (2 stations occupied) in Standard Mode

hitword:
CC-Link Board (2 stations occupied) in Standard Mode


title:
7.5.16 CC-Link Board (3 stations occupied) in Standard Mode

hitword:
CC-Link Board (3 stations occupied) in Standard Mode


title:
7.5.17 CC-Link Board (4 stations occupied) in Standard Mode

hitword:
CC-Link Board (4 stations occupied) in Standard Mode


title:
7.5.18 CC-Link Board (2 stations occupied) in All User I/O Mode

hitword:
CC-Link Board (2 stations occupied) in All User I/O Mode


title:
7.5.19 CC-Link Board (3 stations occupied) in All User I/O Mode

hitword:
CC-Link Board (3 stations occupied) in All User I/O Mode


title:
7.5.20 CC-Link Board (4 stations occupied) in All User I/O Mode

hitword:
CC-Link Board (4 stations occupied) in All User I/O Mode


title:
7.5.21 PROFIBUS-DP Slave Board in Compatible Mode

hitword:
PROFIBUS-DP Slave Board in Compatible Mode


title:
7.5.22 PROFIBUS-DP Slave Board in Standard Mode

hitword:
PROFIBUS-DP Slave Board in Standard Mode


title:
7.5.23 PROFIBUS-DP Slave Board in All User I/O Mode

hitword:
PROFIBUS-DP Slave Board in All User I/O Mode


title:
7.5.24 DeviceNet Master Board in All User I/O Mode

hitword:
DeviceNet Master Board in All User I/O Mode


title:
7.5.25 S-Link V Master Board in All User I/O Mode

hitword:
S-Link V Master Board in All User I/O Mode


title:
7.5.26 Ethernet/IP Module in Standard Mode


title:
7.5.27 Ethernet/IP Module in Compatible Mode


title:
7.5.28 Ethernet/IP Module in All User I/O Mode


title:
Chapter 8  I/O Allocation for I/O Conversion Box (only for standard type of controller)

hitword:
I/O Allocation for I/O Conversion Box (only for standard type of controller)


title:
8.1 I/O Allocation Modes with I/O Conversion Box Mounted

hitword:
I/O Allocation Modes with I/O Conversion Box Mounted


title:
8.2 I/O Allocation in Individual Allocation Modes


title:
8.3 Notes on Using the I/O Conversion Box


title:
8.4 Allocation Common to All Allocation Modes

hitword:
Allocation Common to All Allocation Modes


title:
8.4.1 I/O POWER (CN9): Common to All Modes


title:
8.4.2 HAND I/O (CN9): Common to All Modes


title:
8.5 I/O Allocation Tables for Individual Allocation Modes


title:
8.5.1 OUTPUT (CN10) in I/O-Box Compatible Mode

hitword:
OUTPUT (CN10) in I/O-Box Compatible Mode


title:
8.5.2 INPUT (CN8) in I/O-Box Compatible Mode


title:
8.5.3 OUTPUT (CN10) in I/O-Box Standard Mode


title:
8.5.4 INPUT (CN8) in I/O-Box Standard Mode


title:
8.5.5 OUTPUT (CN10) in I/O-Box All User I/O Mode

hitword:
OUTPUT (CN10) in I/O-Box All User I/O Mode


title:
8.5.6 INPUT (CN8) in I/O-Box All User I/O Mode

hitword:
INPUT (CN8) in I/O-Box All User I/O Mode


title:
8.5.7 DeviceNet Slave Board in I/O-Box Compatible Mode

hitword:
DeviceNet Slave Board in I/O-Box Compatible Mode


title:
8.5.8 DeviceNet Slave Board in I/O-Box Standard Mode

hitword:
DeviceNet Slave Board in I/O-Box Standard Mode


title:
8.5.9 CC-Link Board (2 stations occupied) in I/O-Box Compatible Mode

hitword:
CC-Link Board (2 stations occupied) in I/O-Box Compatible Mode


title:
8.5.10 CC-Link Board (3 stations occupied) in I/O-Box Compatible Mode

hitword:
CC-Link Board (3 stations occupied) in I/O-Box Compatible Mode


title:
8.5.11 CC-Link Board (4 stations occupied) in I/O-Box Compatible Mode

hitword:
CC-Link Board (4 stations occupied) in I/O-Box Compatible Mode


title:
8.5.12 CC-Link Board (2 stations occupied) in I/O-Box Standard Mode

hitword:
CC-Link Board (2 stations occupied) in I/O-Box Standard Mode


title:
8.5.13 CC-Link Board (3 stations occupied) in I/O-Box Standard Mode

hitword:
CC-Link Board (3 stations occupied) in I/O-Box Standard Mode


title:
8.5.14 CC-Link Board (4 stations occupied) in I/O-Box Standard Mode

hitword:
CC-Link Board (4 stations occupied) in I/O-Box Standard Mode


title:
8.5.15 PROFIBUS-DP Slave Board in I/O-Box Compatible Mode

hitword:
PROFIBUS-DP Slave Board in I/O-Box Compatible Mode


title:
8.5.16 PROFIBUS-DP Slave Board in I/O-Box Standard Mode

hitword:
PROFIBUS-DP Slave Board in I/O-Box Standard Mode


title:
8.5.17 Parallel I/O Board in I/O-Box Al User I/O Mode

hitword:
Parallel I/O Board in I/O-Box Al User I/O Mode


title:
8.5.18 DeviceNet Master Board in I/O-Box All User I/O Mode

hitword:
DeviceNet Master Board in I/O-Box All User I/O Mode


title:
8.5.19 S-Link V Master Board in I/O-Box All User I/O Mode

hitword:
S-Link V Master Board in I/O-Box All User I/O Mode


title:
8.5.20 Ethernet/IP Module in I/O-Box Compatible Mode

hitword:
Ethernet/IP Module in I/O-Box Compatible Mode


title:
8.5.21 Ethernet/IP Module in I/O-Box Standard Mode

hitword:
Ethernet/IP Module in I/O-Box Standard Mode


title:
1.1 Overview of Procedures for Creating TP Panel Data

hitword:
Overview of Procedures for Creating TP Panel Data


title:
1.2 Editor Screen Functional Description


title:
1.3 Creating and Modifying Panel Layouts


title:
1.3.5 Importing Panel Layouts from Another TP Panel File

hitword:
Importing Panel Layouts from Another TP Panel File


title:
1.4.2 Checking (Compiling) Action Source Code


title:
2.1.2 Specifying the Start Mode of TP Panel Screen Software [Version 2.32 or later]

hitword:
Specifying the Start Mode of TP Panel Screen Software [Version 2.32 or later]


title:
2.1.3 Automatically Displaying TP Panel Screens  [Version 2.31 or earlier]

hitword:
Automatically Displaying TP Panel Screens  [Version 2.31 or earlier]


title:
2.1.4 Specifying the Close Mode of TP Panel Screen Software [Version 2.32 or later]

hitword:
Specifying the Close Mode of TP Panel Screen Software [Version 2.32 or later]


title:
2.1.5 Hiding the Shortcut Button [Version 2.6 or later]

hitword:
Hiding the Shortcut Button [Version 2.6 or later]


title:
2.2.2 Specifying Action Source Code for Parts


title:
2.2.3 Specifying the RELEASED Event Execution Condition  [Version 2.32 or later]

hitword:
Specifying the RELEASED Event Execution Condition  [Version 2.32 or later]


title:
2.2.4 INITIALIZE Event  [Version 2.32 or later]

hitword:
INITIALIZE Event  [Version 2.32 or later]


title:
2.2.5 DONE Event  [Version 2.32 or later]


title:
2.3 Interfaces with PAC Language and System


title:
2.3.1 Reading and Displaying PAC Variables


title:
Chapter 3 TP Panel Control Language's Structural Elements

hitword:
TP Panel Control Language's Structural Elements


title:
Chapter 4 TP Panel Control Language Syntax


title:
2.2 Names of Axes (Joints) of the Robot Unit

hitword:
Names of Axes (Joints) of the Robot Unit


title:
3.1 Robot Specifications (HM/HMS-G series)


title:
3.2 Outer Dimensions and Workable Space of the Robot Unit (HM/HMS-G)

hitword:
Outer Dimensions and Workable Space of the Robot Unit (HM/HMS-G)


title:
3.3 Robot Positioning Time (HM/HMS-G series)

hitword:
Robot Positioning Time (HM/HMS-G series)


title:
3.4 Notes for Setting the Positioning Speed (HM/HMS-G series)

hitword:
Notes for Setting the Positioning Speed (HM/HMS-G series)


title:
3.5 Air Piping and Signal Wiring (HM/HMS-G series)

hitword:
Air Piping and Signal Wiring (HM/HMS-G series)


title:
3.6 Engineering-design Notes for Robot Hands (HM/HMS-G series)

hitword:
Engineering-design Notes for Robot Hands (HM/HMS-G series)


title:
1.1 Configuration of Extended-Joint Support System

hitword:
Configuration of Extended-Joint Support System


title:
Chapter 2    Robot Components of Extended-Joint Support System

hitword:
Robot Components of Extended-Joint Support System


title:
2.1 Configuration of Extended-Joint Support System


title:
2.1.2 Precautions for Safe Use of the Robot System


title:
2.2.2 Connectors on Extended-Joint Support Controller

hitword:
Connectors on Extended-Joint Support Controller


title:
2.2.3 External Dimensions of Extended-Joint Support Controller

hitword:
External Dimensions of Extended-Joint Support Controller


title:
2.2.5 Total Output Capacity for Extended-Joint Motors

hitword:
Total Output Capacity for Extended-Joint Motors


title:
2.2.6 Connecting Cables to the Robot Controller

hitword:
Connecting Cables to the Robot Controller


title:
2.3 Optional Components for Extended-Joint Support System

hitword:
Optional Components for Extended-Joint Support System


title:
2.4.2 External Dimensions of AC Servomotors


title:
2.4.3 Safety Rules for Using Extended-Joint Motors

hitword:
Safety Rules for Using Extended-Joint Motors


title:
Chapter 3   Extended-Joint Related Functions


title:
3.1.1 Operating Procedures of the Extended-Joint Related Functions

hitword:
Operating Procedures of the Extended-Joint Related Functions


title:
3.2 Configuring the Extended-Joint Parameters


title:
3.2.1 Calling up "Path Configuration Parameters" and "Servo Configuration Parameters" Windows

hitword:
Calling up "Path Configuration Parameters" and "Servo Configuration Parameters" Windows


title:
3.2.2 Detailed Description of Extended-Joint Parameter Setting

hitword:
Detailed Description of Extended-Joint Parameter Setting


title:
3.2.5 Extended-Joint Parameter Setting Commands


title:
Chapter 4    Getting Started with Extended-Joints (Rack & Pinion)

hitword:
Getting Started with Extended-Joints (Rack & Pinion)


title:
4.5 Configuring the Extended-Joint Servo Parameters

hitword:
Configuring the Extended-Joint Servo Parameters


title:
4.6 Resetting the Extended-Joint Encoder


title:
4.8 Checking the Encoder Info about Extended-Joints

hitword:
Checking the Encoder Info about Extended-Joints


title:
4.9 Configuring the Extended-Joint Parameters


title:
4.12 Running the Extended-Joint Manually


title:
4.14 Configuring Other Extended-Joint Parameters


title:
4.21 Checking the Extended-Joint Motion in Running-in

hitword:
Checking the Extended-Joint Motion in Running-in


title:
Chapter 8 Creating TP Easy Operation Panel Screen


title:
8.1 How to Use Sample Programs for Creating Operation Panel Screen

hitword:
How to Use Sample Programs for Creating Operation Panel Screen


title:
8.2 Creating TP Easy Operation Panel Screen


title:
8.3 Libraries for Creating Operation Panel Screen

hitword:
Libraries for Creating Operation Panel Screen


title:
To the customer who purchased an extension board as an additional component

hitword:
To the customer who purchased an extension board as an additional component


title:
Enabling extension functions by the teach pendant

hitword:
Enabling extension functions by the teach pendant


title:
Enabling extension functions in WINCAPSIII

hitword:
Enabling extension functions in WINCAPSIII


title:
Chapter 1 Hardware Setting for Conveyer Tracking


title:
1.2 Conveyer Tracking Board Specifications


title:
1.2.1 Location of Conveyer Tracking Board


title:
1.2.3 Pin Assignment of Conveyer Tracking Board

hitword:
Pin Assignment of Conveyer Tracking Board


title:
1.2.4 Conveyer Tracking Board Settings (Factory-default Settings)

hitword:
Conveyer Tracking Board Settings (Factory-default Settings)


title:
1.3 System Configuration of Conveyer Tracking

hitword:
System Configuration of Conveyer Tracking


title:
1.3.2 Configuration of Sensors and Cameras


title:
1.4.3 Sensor Signal Input Pin Layout (NPN Type I/O)

hitword:
Sensor Signal Input Pin Layout (NPN Type I/O)


title:
1.4.4 Wiring Diagram of Optional Cables and Precautions in Wiring

hitword:
Wiring Diagram of Optional Cables and Precautions in Wiring


title:
(2) Wire connections of encoder (E6B2-CWZ1X) cables

hitword:
Wire connections of encoder (E6B2-CWZ1X) cables


title:
(3) Wiring diagram of 5V power supply cable


title:
1.5 Hardware Operation Confirming Procedure


title:
1.6 Configuring Cameras for the Use of ƒÊVision Board

hitword:
Configuring Cameras for the Use of ƒÊVision Board


title:
[2] Electronic shutter speed switch (Rotary switch)

hitword:
Electronic shutter speed switch (Rotary switch)


title:
2.1 Setting Conveyer Tracking Parameters


title:
2.1.1 How to Set Conveyer Tracking Parameters


title:
2.1.2 Detailed Explanation of Parameters


title:
2.2.1 How to Execute Conveyer Calibration.


title:
2.2.2 Conveyer Calibration Execution Procedure


title:
2.3.2 Execution Procedure for Camera Calibration Library (CALCCAMCALPOS)

hitword:
Execution Procedure for Camera Calibration Library (CALCCAMCALPOS)


title:
2.4 Teaching of Workpiece Position when Hand I/O Input Interrupt is in Use

hitword:
Teaching of Workpiece Position when Hand I/O Input Interrupt is in Use


title:
2.4.2 Execution Procedure for the Workpiece Position Teaching Library(CALCIOTEACHPOS)

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Execution Procedure for the Workpiece Position Teaching Library(CALCIOTEACHPOS)


title:
(2) When using a Hand I/O input interrupt


title:
(3) When using an external visual equipment


title:
3.4 Conveyer Tracking Accuracy Checking Procedures

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Conveyer Tracking Accuracy Checking Procedures


title:
3.4.2 When Using Visual Equipment (External visual equipment such as ƒÊVision)

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When Using Visual Equipment (External visual equipment such as ƒÊVision)


title:
3.4.3 When Position is Recognized by a Sensor (Hand I/O Interrupt).

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When Position is Recognized by a Sensor (Hand I/O Interrupt).


title:
3.7 List of Commands Related to the Conveyer Tracking Function

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List of Commands Related to the Conveyer Tracking Function


title:
3.8 List of Libraries Related to the Conveyer Tracking Function

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List of Libraries Related to the Conveyer Tracking Function


title:
1.1 Connecting the Teach Pendant and Mini-Pendant

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Connecting the Teach Pendant and Mini-Pendant


title:
1.2.1 Holding the Teach Pendant and the Deadman Switch


title:
1.2.2 Names of Keys, Buttons, and Switches on the Teach Pendant


title:
1.2.3 Basic Operation of the Teach Pendant


title:
2.1 Turning the Robot Controller ON (TP/MP)


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2.2 Turning the Robot Controller OFF (TP/MP)

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Turning the Robot Controller OFF (TP/MP)


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2.3 Deadman Switch(es)/Enable Switch(es) (TP/MP)


title:
2.6 Setting the Reduced Ratios of the Programmed Speed, Acceleration, and Deceleration (TP/MP)

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Setting the Reduced Ratios of the Programmed Speed, Acceleration, and Deceleration (TP/MP)


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2.8 Setting the Master Control Parameters of the Payload, Center of Gravity, and Control Set of Motion Optimization (TP/WC)

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Setting the Master Control Parameters of the Payload, Center of Gravity, and Control Set of Motion Optimization (TP/WC)


title:
2.9 Setting the Robot Installation Condition (TP/WC)

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Setting the Robot Installation Condition (TP/WC)


title:
Chapter 3 General Introduction to Operation Modes and Additional Functions

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General Introduction to Operation Modes and Additional Functions


title:
3.1.1 Switching Between Operation Modes (TP/MP)

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Switching Between Operation Modes (TP/MP)


title:
3.2.2 Managing Robot Controller Output Signals (TP/MP)

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Managing Robot Controller Output Signals (TP/MP)


title:
3.4.1 Starting Internal Automatic Operation (TP/MP)

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Starting Internal Automatic Operation (TP/MP)


title:
3.4.2 Stopping Internal Automatic Operation (TP/MP)

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Stopping Internal Automatic Operation (TP/MP)


title:
3.4.3 Switching to External Automatic Operation (TP/MP)

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Switching to External Automatic Operation (TP/MP)


title:
3.4.4 Stopping External Automatic Operation (TP/MP)

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Stopping External Automatic Operation (TP/MP)


title:
3.4.8 Local Variable-Related Enhancement (TP)


title:
3.4.9 Changing Route in Restarting the Pass Motion

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Changing Route in Restarting the Pass Motion


title:
3.4.12 Modification of Processing Time Exclusively Occupied by Supervisory Tasks

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Modification of Processing Time Exclusively Occupied by Supervisory Tasks


title:
Chapter 4  General Introduction to Coordinates and Figures

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General Introduction to Coordinates and Figures


title:
4.1 Coordinates, Interference Check Area, and Figures in 6-Axis Robots (V*-G Series)

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Coordinates, Interference Check Area, and Figures in 6-Axis Robots (V*-G Series)


title:
4.1.3 Figures of the Shoulder, Elbow, and Wrist


title:
4.2 Coordinates, Interference Check Area, and Figures in 4-Axis Robots (H*-G Series)

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Coordinates, Interference Check Area, and Figures in 4-Axis Robots (H*-G Series)


title:
Chapter 5 Commands Assigned to Function Keys of the Teach Pendant

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Commands Assigned to Function Keys of the Teach Pendant


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5.2.1 Showing the Program List Window in Manual Mode

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Showing the Program List Window in Manual Mode


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Displaying and modifying variable values in Manual mode


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Displaying and modifying integer variable values


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Displaying and modifying floating-point variable values


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Displaying and modifying vector variable values


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Displaying and modifying position variable values


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Displaying and modifying joint variable values


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Displaying registered variable list  [Ver. 1.9 or later]


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Displaying and modifying double-precision variable values


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Displaying and modifying variable values in homogeneous transform matrix


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Displaying and modifying string variable values


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Displaying and modifying the number of variables used


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Inserting a new program line in Manual mode


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Editing a line of program code in Manual mode


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Saving and compiling an edited program in Manual mode


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Providing auxiliary functions in Manual mode


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Setting project parameters in Manual mode


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Setting compiling options in Manual mode


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Setting the break point stop mode in Manual mode


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Setting the resume-related parameters in Manual mode


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Setting the safe start related parameters in Manual mode


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Setting the step return options in Manual mode


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Enabling/disabling the automatic loading of a project in Manual mode


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Enabling/disabling a selected program for compilation in Manual mode


title:
5.2.2 Showing the Program List Window in Teach Check Mode

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Showing the Program List Window in Teach Check Mode


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Halting the selected program in Teach check mode


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Causing a single-cycle run in Teach check mode


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Returning the selected program by a single step in Teach check mode


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Causing a single-step run in Teach check mode


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Stopping the program(s) in Teach check mode


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Setting the priority order of programs in Teach check mode


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Displaying codes of the selected program in Teach check mode


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Displaying a debug window in Teach check mode


title:
5.2.3 Showing the Program List Window in Auto Mode

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Showing the Program List Window in Auto Mode


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Halting the selected program in Auto mode


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Running the selected program in Auto mode


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Displaying the Reset Program window in Auto mode


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Setting the priority order of programs in Auto mode


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Resuming selected program(s) in Auto mode


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Displaying codes of the selected program in Auto mode


title:
5.3 Displaying the Current Robot Position


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Switching the operation modes, work coordinates and tool coordinates


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Displaying and modifying variable values


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Setting the reduced ratios of the programmed speed, acceleration, and deceleration


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Collision Detection Function[Ver. 2.61 or later]


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Entering the direct teaching mode (For 4-axis robots)


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Calculating work coordinates automatically in Manual mode


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Calculating the coordinates of an interference check area automatically in Manual mode


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Displaying anticipated overloads to the capacity of motors and brake resistance of the robot controller


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Saving or deleting control log to/from the flash memory


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Switching the expression of the current robot position to the position variable type


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Switching the expression of the current robot position to the joint variable type


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Switching the expression of the current robot position to the tran. variable type


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Servo MonitorFDisplay the current value or load factor.


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Displaying the Maintenance Functions (Arm) window


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Setting the motion space (software motion limit)


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Adjusting the air pressure balance of the Z axis (for 4-axis robots)


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Selecting and deselecting joints to be calibrated


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Getting image signals from the specified camera into the vision board


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Displaying the specified image on the monitor


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Clearing the drawing screen or process screen


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Displaying the camera input screen and process screen


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Browsing windows to be used in image analysis  [Ver. 1.5 or later]


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Creating, editing and saving a new window (Edit mode)  [Ver. 1.5 or later]


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Editing and saving an existing window (Edit mode)  [Ver. 1.5 or later]


hitword:
Setting or modifying vision board parameters


title:
5.5 Displaying I/O Signals and Simulating Robot Motion

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Displaying I/O Signals and Simulating Robot Motion


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Switching between standard and compatible allocation modes  [Ver. 1.6 or later]


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Setting I/O output restrictions when machine is locked  [Ver. 1.4 or later]


title:
5.7 Displaying the Settings (Main) Window


title:
Displaying the operation log  [Ver. 1.9 or later]

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Displaying the operation log  [Ver. 1.9 or later]


title:
Reading and Writing Data with USB Flash Memory

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Reading and Writing Data with USB Flash Memory


title:
Reading USB memory data into the robot controller  [RC7 Ver. 2.2 or later]

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Reading USB memory data into the robot controller  [RC7 Ver. 2.2 or later]


title:
Writing data stored in the robot controller to USB flash memory  [RC7 Ver. 2.2 or later]

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Writing data stored in the robot controller to USB flash memory  [RC7 Ver. 2.2 or later]


title:
Saving Control Log into USB Flash Memory  [RC7 Ver. 2.2 or later]

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Saving Control Log into USB Flash Memory  [RC7 Ver. 2.2 or later]


title:
Displaying the memory information of the robot controller

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Displaying the memory information of the robot controller


title:
Displaying the Communications Setting Menu

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Displaying the Communications Setting Menu


title:
Procedure for automatic IP address registration

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Procedure for automatic IP address registration


title:
Procedure for individual IP address specification

hitword:
Procedure for individual IP address specification


title:
Setting the transmission rates for RS-232C serial interface ports

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Setting the transmission rates for RS-232C serial interface ports


title:
Setting the IP address of the robot controller

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Setting the IP address of the robot controller


title:
Setting high speed program file transmission  [Ver. 1.4 or later]

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Setting high speed program file transmission  [Ver. 1.4 or later]


title:
Configuring the client of the robot controller [Ver. 1.9 or later]

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Configuring the client of the robot controller [Ver. 1.9 or later]


title:
Setting the server of the robot controller  [Ver. 1.9 or later]

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Setting the server of the robot controller  [Ver. 1.9 or later]


title:
Displaying the robot controller ON-time and the robot running time

hitword:
Displaying the robot controller ON-time and the robot running time


title:
Displaying the version information of each module

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Displaying the version information of each module


title:
Setting the calendar clock built in the robot controller

hitword:
Setting the calendar clock built in the robot controller


title:
Setting the next battery replacement date

hitword:
Setting the next battery replacement date


title:
Displaying the odometer and trip meter for each axis

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Displaying the odometer and trip meter for each axis


title:
Setting the robot type for the controller

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Setting the robot type for the controller


title:
5.8 Customizing TP Operation Screens [Ver. 1.5 or later]

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Customizing TP Operation Screens [Ver. 1.5 or later]


title:
5.9 Switching between Internal and External Auto Modes

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Switching between Internal and External Auto Modes


title:
5.10 Preparing the Robot Controller to Unplug the Teach Pendant

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Preparing the Robot Controller to Unplug the Teach Pendant


title:
6.2.7 Changing the Inching Angle and Distance


title:
6.2.9 Switching between Internal and External Auto Modes


title:
6.2.12 Displaying the Current Robot Arm Position

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Displaying the Current Robot Arm Position


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Not supported in UL-Listed robot systems


title:
6.2.23 Using Auxiliary Functions (Common to 4-axis and 6-axis robots)

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Using Auxiliary Functions (Common to 4-axis and 6-axis robots)


title:
6.2.24 Maintaining the Robot with the Mini-pendant  [RC7 Ver. 2.3 or later]

hitword:
Maintaining the Robot with the Mini-pendant  [RC7 Ver. 2.3 or later]


title:
6.2.25 Entering the Direct Teaching Mode (For 4-axis robots)

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Entering the Direct Teaching Mode (For 4-axis robots)


title:
6.2.26 Adjusting the Air Pressure Balance of the Z-Axis (For 4-axis robots)

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Adjusting the Air Pressure Balance of the Z-Axis (For 4-axis robots)


title:
Commands Listed in According to Functions

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Commands Listed in According to Functions


title:
2.1.4 Calling a Program through Folder Structure [RC7 Ver. 2.2 or later]

hitword:
Calling a Program through Folder Structure [RC7 Ver. 2.2 or later]


title:
2.2.1 Running from the Teach Pendant or Mini-pendant

hitword:
Running from the Teach Pendant or Mini-pendant


title:
2.6.1 Sample Program: Creating a TP Operation Panel

hitword:
Sample Program: Creating a TP Operation Panel


title:
3.1.3 Absolute Motion and Relative Motion Examples

hitword:
Absolute Motion and Relative Motion Examples


title:
3.2.4 Motion Examples of Pass, End and Encoder Value Check

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Motion Examples of Pass, End and Encoder Value Check


title:
3.2.5 Execution Time Difference among Pass Motion, End Motion and Encoder Value Check Motion

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Execution Time Difference among Pass Motion, End Motion and Encoder Value Check Motion


title:
3.2.8 If Acceleration Affects Pass Motion Path

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If Acceleration Affects Pass Motion Path


title:
3.2.10 Arch Motion Control  [Version 1.9 or later, only for 4-Axis Robot]

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Arch Motion Control  [Version 1.9 or later, only for 4-Axis Robot]


title:
3.3.4 Free Curve Interpolation Control [Version 2.3 or later]

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Free Curve Interpolation Control [Version 2.3 or later]


title:
3.3.5 High-accuracy Path Control [Ver. 2.61 or later]

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High-accuracy Path Control [Ver. 2.61 or later]


title:
3.3.6 Singular Point Avoiding Function [Ver. 2.61 or later, for 6-axis robots]

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Singular Point Avoiding Function [Ver. 2.61 or later, for 6-axis robots]


title:
3.4 If Output Command Is Present after Motion Instruction

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If Output Command Is Present after Motion Instruction


title:
3.5.2 Current limiting function for individual axes [V1.2 or later]

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Current limiting function for individual axes [V1.2 or later]


title:
3.5.3 Tip Compliance Control Function [V1.4 or later]

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Tip Compliance Control Function [V1.4 or later]


title:
Chapter 4 Speed, Acceleration and Deceleration Designation

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Speed, Acceleration and Deceleration Designation


title:
4.3 External Acceleration, External Deceleration, Internal Acceleration and Internal Deceleration

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External Acceleration, External Deceleration, Internal Acceleration and Internal Deceleration


title:
4.4 Setting Acceleration and Deceleration


title:
4.5 Example of Setting Speed and Acceleration

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Example of Setting Speed and Acceleration


title:
4.6.5 Using Conditions That You Must Set


title:
4.7 Setting the Master Control Parameters in User Preferences

hitword:
Setting the Master Control Parameters in User Preferences


title:
4.7.1 Setting Master Control Parameters of the Mass of Payload, Center of Gravity, and Control Set of Motion Optimization

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Setting Master Control Parameters of the Mass of Payload, Center of Gravity, and Control Set of Motion Optimization


title:
4.7.2 Setting Internal Load Condition Values (Mass of Payload and Center of Gravity) and Internal Mode

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Setting Internal Load Condition Values (Mass of Payload and Center of Gravity) and Internal Mode


title:
4.7.3 Setting Robot Installation Condition


title:
4.7.4 How to Set Optimal Load Capacity Initializing [Version 1.4 or later]


title:
5.1.2 Precautions for using vision commands


title:
5.1.3 Compatibility with the Conventional ƒÊVision-15

hitword:
Compatibility with the Conventional ƒÊVision-15


title:
6.1 Description Format of Command Explanations

hitword:
Description Format of Command Explanations


title:
6.2.1 Commands Listed in Alphabetical Order


title:
6.2.2 Commands Listed According to Functions


title:
Chapter 7 PAC Language Configuration Elements


title:
7.2 Relation between PAC Robot Language and Conventional Languages

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Relation between PAC Robot Language and Conventional Languages


title:
7.9.9 Homogeneous Transformation Array Operation


title:
7.9.10 Operator Precedence (Version 1.5 or later)

hitword:
Operator Precedence (Version 1.5 or later)


title:
8.6.3 User Coordinate System Declaration


title:
8.6.4 Declaration of FOLDER/EXTERN Variable  [RC7 Ver. 2.2 or later]

hitword:
Declaration of FOLDER/EXTERN Variable  [RC7 Ver. 2.2 or later]


title:
8.7.1 Numeric Value Assignment Statement


title:
8.7.2 Character String Assignment Statement


title:
8.11.3 Special Semaphore Control Statement


title:
8.13.2 Error Code Saving Feature [Ver.1.98 or later]

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Error Code Saving Feature [Ver.1.98 or later]


title:
8.16 Calling with a Value and with Reference


title:
Chapter 13 Input/Output Control Statements


title:
13.2 Command for RS232C and Ethernet (Server/Client) Port

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Command for RS232C and Ethernet (Server/Client) Port


title:
13.3 Serial Binary Transmission Commands (RS232C and Ethernet ports)

hitword:
Serial Binary Transmission Commands (RS232C and Ethernet ports)


title:
13.5.1 Programming a TP operation screen


title:
Chapter 14 Multitasking Control Statements


title:
3.5.1 Battery Replacement and Belt Inspection


title:
3.5.2 Replacing the Encoder Backup Battery


title:
1.2.2 Transporting the Overhead-Mount Type (HSS-G series)

hitword:
Transporting the Overhead-Mount Type (HSS-G series)


title:
3.1.1 Precautions for installation and maintenance of robots for clean room use

hitword:
Precautions for installation and maintenance of robots for clean room use


title:
1.4 Cautions for Designing the Robot Hand


title:
3.3.2 Cleaning the Air Intake Filter in the Robot Controller

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Cleaning the Air Intake Filter in the Robot Controller


title:
1.2.1 Caution in Floor-mount Installation of the Dust- & Splash-proof Type of Robot Units

hitword:
Caution in Floor-mount Installation of the Dust- & Splash-proof Type of Robot Units


title:
1.5 Moving Each Axis with Motor Power OFF in Emergency Stop


title:
1.6 Releasing Brakes on UL-Listed Robot Units

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Releasing Brakes on UL-Listed Robot Units


title:
2.4.2 Precautions about CALSET for the VS-G Series

hitword:
Precautions about CALSET for the VS-G Series


title:
3.1.1 Precautions for installation and maintenance of robots for cleanroom type

hitword:
Precautions for installation and maintenance of robots for cleanroom type


title:
Chapter 2 Configuration of the Robot System


title:
Chapter 3 Specifications of the Robot Unit


title:
3.4.3 Solenoid Valve Specifications (VS-G series)

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Solenoid Valve Specifications (VS-G series)


title:
3.4.4 Existing Internal Threads for Wiring and Piping

hitword:
Existing Internal Threads for Wiring and Piping


title:
Chapter 4 Specifications of the Robot Controller


title:
1.2 Robot Controller and WINCAPS III Versions

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Robot Controller and WINCAPS III Versions


title:
1.3 Product Components and Operating Environment

hitword:
Product Components and Operating Environment


title:
1.3.3 License certificate and user registration

hitword:
License certificate and user registration


title:
1.3.4 WINCAPS III trial and light versions


title:
Chapter 2 Basic Functions and Operational Flow


title:
5.5.2 Adding a program to the program bank


title:
5.9.1 Grammar check of simulation function


title:
5.9.2 Simulation function and global variables

hitword:
Simulation function and global variables


title:
5.9.3 Precautions for simulation function


title:
7.2.6 Validate the controller function extension

hitword:
Validate the controller function extension


title:
7.3.2 Launch the program from WINCAPS III


title:
8.3.7 Joint servo log for particular joint


title:
9.2.9 Calculating area, center of gravity, and principal axis

hitword:
Calculating area, center of gravity, and principal axis


title:
10.2 Simple position correction function


title:
3.2 Outer Dimensions and Work Space of the Robot Unit

hitword:
Outer Dimensions and Work Space of the Robot Unit


title:
3.3.1 Robot Unit Components and Rotation Direction


title:
3.4.1 Pin Assignment on Signal Line Connectors (CN20, CN21)

hitword:
Pin Assignment on Signal Line Connectors (CN20, CN21)


title:
3.5 Existing Internal Threads for Wiring and Piping


title:
3.8 Precautions When Designing End-effectors


title:
3.10 Stopping Time and Distance (Angle) at an Emergency Stop


title:
4.1 Preparing a Proper Environment for Installation


title:
4.2 Installation Environment of the Robot Unit


title:
4.2.2 Combination of Robot Unit and Robot Controller

hitword:
Combination of Robot Unit and Robot Controller


title:
5.3.1 Precautions When Changing the Software Motion Limits


title:
5.3.2 Software Motion Limits Changing Procedure

hitword:
Software Motion Limits Changing Procedure


title:
5.6 Setting the Control Set of Motion Optimization

hitword:
Setting the Control Set of Motion Optimization


title:
6.1 Maintenance & Inspection Intervals and Purposes


title:
6.4.1 Inspection and Adjustment of Timing Belts

hitword:
Inspection and Adjustment of Timing Belts


title:
6.4.3 Setting the Next Battery Replacement Date


title:
6.7.2 Replacing Fuses and Output ICs in the Robot Controller

hitword:
Replacing Fuses and Output ICs in the Robot Controller


title:
6.8 Checking the Odometer and Trip Meter


title:
6.8.1 Displaying the Odometer, Trip Meter, and Oil Change Intervals


title:
6.9 Checking the Controller ON-Time and the Robot Running Time

hitword:
Checking the Controller ON-Time and the Robot Running Time


title:
6.9.1 Displaying the Controller ON-time and the Robot Running Time


title:
8.2 Sample Calculation in Designing End-effectors

hitword:
Sample Calculation in Designing End-effectors


title:
8.2.2 Calculation Example of Moment of Inertia for End-effector

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Calculation Example of Moment of Inertia for End-effector


