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R-30+A/R-30+A Mate CONTROLLER

System Design Tool

OPERATOR'S MANUAL

B-83174EN/01
 • Original Instructions

Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and
understand the content.

• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
B-83174EN/01 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral devices installed in a work cell.
In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.

1 WORKING PERSON
The personnel can be classified as follows.

Operator:
• Turns robot controller power ON/OFF
• Starts robot program from operator’s panel

Programmer or teaching operator:

• Operates the robot
• Teaches robot inside the safety fence

Maintenance engineer:
• Operates the robot
• Teaches robot inside the safety fence
• Maintenance (adjustment, replacement)

- An operator cannot work inside the safety fence.

- A programmer, teaching operator, and maintenance engineer can work inside the safety fence. The
working activities inside the safety fence include lifting, setting, teaching, adjusting, maintenance,
etc..
- To work inside the fence, the person must be trained on proper robot operation.

During the operation, programming, and maintenance of your robotic system, the programmer, teaching
operator, and maintenance engineer should take additional care of their safety by using the following
safety precautions.

- Use adequate clothing or uniforms during system operation

- Wear safety shoes
- Use helmet

2 WORKING PERSON SAFETY

Working person safety is the primary safety consideration. Because it is very dangerous to enter the
operating space of the robot during automatic operation, adequate safety precautions must be observed.
The following lists the general safety precautions. Careful consideration must be made to ensure
working person safety.

(1) Have the robot system working persons attend the training courses held by FANUC.

FANUC provides various training courses. Contact our sales office for details.

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(2) Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is
waiting for a signal. In this state, the robot is regarded as still in motion. To ensure working
person safety, provide the system with an alarm to indicate visually or aurally that the robot is in
motion.
(3) Install a safety fence with a gate so that no working person can enter the work area without passing
through the gate. Install an interlocking device, a safety plug, and so forth in the safety gate so that
the robot is stopped as the safety gate is opened.

The controller is designed to receive this interlocking signal of the door switch. When the gate
is opened and this signal received, the controller stops the robot (Please refer to "STOP
TYPE OF ROBOT" in SAFETY for detail of stop type). For connection, see Fig.2 (a) and
Fig.2 (b).

(4) Provide the peripheral devices with appropriate grounding (Class A, Class B, Class C, and Class D).
(5) Try to install the peripheral devices outside the work area.
(6) Draw an outline on the floor, clearly indicating the range of the robot motion, including the tools
such as a hand.
(7) Install a mat switch or photoelectric switch on the floor with an interlock to a visual or aural alarm
that stops the robot when a working person enters the work area.
(8) If necessary, install a safety lock so that no one except the working person in charge can turn on the
power of the robot.

The circuit breaker installed in the controller is designed to disable anyone from turning it on
when it is locked with a padlock.

(9) When adjusting each peripheral device independently, be sure to turn off the power of the robot

RP1
Pulsecoder
RI/RO,XHBK,XROT
RM1
Motor power/brake

EARTH

Safety fence

Interlocking device and safety plug that are activated if the

gate is opened.

Fig. 2 (a) Safety Fence and Safety gate

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B-83174EN/01 SAFETY PRECAUTIONS

Dual chain
Panel board （Note）

EAS1 In case of R-30iA , R-J3iB

Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2
EAS11 are provided on the operation box or on the terminal block
of the printed circuit board.
EAS2
In case of R-30iA Mate , R-J3iB Mate
EAS21 Terminals EAS1,EAS11,EAS2,EAS21 are provided
on the emergency stop board or connector panel.
(in case of Open air type)

Termianls FENCE1,FENCE2 are provided

on the emergency stop board.
Single chain
Panel board
Refer to controller maintenance manual for details.
FENCE1

FENCE2

Fig. 2 (b) Limit switch circuit diagram of the safety fence (For R-J3iB CONTROLLER)

2.1 OPERATOR SAFETY

The operator is a person who operates the robot system. In this sense, a worker who operates the teach
pendant is also an operator. However, this section does not apply to teach pendant operators.

(1) If you do not have to operate the robot, turn off the power of the robot controller or press the
EMERGENCY STOP button, and then proceed with necessary work.
(2) Operate the robot system at a location outside of the safety fence
(3) Install a safety fence with a safety gate to prevent any worker other than the operator from entering
the work area unexpectedly and to prevent the worker from entering a dangerous area.
(4) Install an EMERGENCY STOP button within the operator’s reach.

The robot controller is designed to be connected to an external EMERGENCY STOP button.

With this connection, the controller stops the robot operation (Please refer to "STOP TYPE
OF ROBOT" in SAFETY for detail of stop type), when the external EMERGENCY STOP
button is pressed. See the diagram below for connection.
Dual chain
External stop button
Panel board
EES1
（Note）
EES11 Connect EES1and EES11,EES2 and EES21or EMGIN1and EMGIN2.

EES2 In case of R-30iA , R-J3iB

EES1,EES11,EES2,EES21 or EMGIN1,EMGIN2 are on the panel board.
EES21
In case of R-30iA Mate , R-J3iB Mate
EES1,EES11,EES2,EES21　are on the emergency stop board
or connector panel (in case of Open air type).
Single chain EMGIN1,EMGIN2　are on the emergency stop board.
External stop button Refer to the maintenance manual of the controller for details.
Panel board
EMGIN1
EMGIN2

Fig.2.1 Connection Diagram for External Emergency Stop Button

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2.2 SAFETY OF THE PROGRAMMER

While teaching the robot, the operator must enter the work area of the robot. The operator must ensure
the safety of the teach pendant operator especially.

(1) Unless it is specifically necessary to enter the robot work area, carry out all tasks outside the area.
(2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal
operating condition.
(3) If it is inevitable to enter the robot work area to teach the robot, check the locations, settings, and
other conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN
switch on the teach pendant) before entering the area.
(4) The programmer must be extremely careful not to let anyone else enter the robot work area.

Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the
automatic operation mode (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety
fence for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent
other people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened
with the automatic operation mode set, the robot stops (Please refer to "STOP TYPE OF ROBOT" in SAFETY for
detail of stop type). After the switch is set to a teach mode, the safety gate is disabled. The programmer should
understand that the safety gate is disabled and is responsible for keeping other people from entering the inside of
the safety fence. (In case of R-30iA Mate Controller standard specification, there is no mode switch. The
automatic operation mode and the teach mode is selected by teach pendant enable switch.)

Our teach pendant is provided with a DEADMAN switch as well as an emergency stop button. These button and
switch function as follows:
(1) Emergency stop button: Causes an emergency stop (Please refer to "STOP TYPE OF ROBOT" in SAFETY
for detail of stop type) when pressed.
(2) DEADMAN switch: Functions differently depending on the mode switch setting status.
(a) Automatic operation mode: The DEADMAN switch is disabled.
(b) Teach mode: Servo power is turned off when the operator releases the DEADMAN switch or when the
operator presses the switch strongly.
Note) The DEADMAN switch is provided to stop the robot when the operator releases the teach pendant or
presses the pendant strongly in case of emergency. The R-30iA/ R-30iA Mate employs a 3-position
DEADMAN switch, which allows the robot to operate when the 3-position DEADMAN switch is pressed
to its intermediate point. When the operator releases the DEADMAN switch or presses the switch
strongly, the robot stops immediately.

The operator’s intention of starting teaching is determined by the controller through the dual operation of setting the
teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. The operator
should make sure that the robot could operate in such conditions and be responsible in carrying out tasks safely.

The teach pendant, operator panel, and peripheral device interface send each robot start signal. However the
validity of each signal changes as follows depending on the mode switch and the DEADMAN switch of the operator
panel, the teach pendant enable switch and the remote condition on the software.

In case of R-30iA Controller or CE or RIA specification of R-30iA Mate Controller

Software
Teach pendant
Mode remote Teach pendant Operator panel Peripheral device
enable switch
condition
Local Not allowed Not allowed Not allowed
On
AUTO Remote Not allowed Not allowed Not allowed
mode Local Not allowed Allowed to start Not allowed
Off
Remote Not allowed Not allowed Allowed to start

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B-83174EN/01 SAFETY PRECAUTIONS

Software
Teach pendant
Mode remote Teach pendant Operator panel Peripheral device
enable switch
condition
Local Allowed to start Not allowed Not allowed
On
T1, T2 Remote Allowed to start Not allowed Not allowed
mode Local Not allowed Not allowed Not allowed
Off
Remote Not allowed Not allowed Not allowed

In case of standard specification of R-30iA Mate Controller

Teach pendant enable switch Software remote condition Teach pendant Peripheral device
On Ignored Allowed to start Not allowed
Off Local Not allowed Not allowed
Remote Not allowed Allowed to start

(5) (Only when R-30iA Controller or CE or RIA specification of R-30iA Mate controller is selected.)
To start the system using the operator’s panel, make certain that nobody is the robot work area and
that there are no abnormal conditions in the robot work area.
(6) When a program is completed, be sure to carry out a test run according to the procedure below.
(a) Run the program for at least one operation cycle in the single step mode at low speed.
(b) Run the program for at least one operation cycle in the continuous operation mode at low
speed.
(c) Run the program for one operation cycle in the continuous operation mode at the intermediate
speed and check that no abnormalities occur due to a delay in timing.
(d) Run the program for one operation cycle in the continuous operation mode at the normal
operating speed and check that the system operates automatically without trouble.
(e) After checking the completeness of the program through the test run above, execute it in the
automatic operation mode.
(7) While operating the system in the automatic operation mode, the teach pendant operator should
leave the robot work area.

2.3 SAFETY OF THE MAINTENANCE ENGINEER

For the safety of maintenance engineer personnel, pay utmost attention to the following.

(1) During operation, never enter the robot work area.

(2) Except when specifically necessary, turn off the power of the controller while carrying out
maintenance. Lock the power switch, if necessary, so that no other person can turn it on.
(3) If it becomes necessary to enter the robot operation range while the power is on, press the
emergency stop button on the operator panel, or the teach pendant before entering the range. The
maintenance personnel must indicate that maintenance work is in progress and be careful not to
allow other people to operate the robot carelessly.
(4) When disconnecting the pneumatic system, be sure to reduce the supply pressure.
(5) Before the start of teaching, check that the robot and its peripheral devices are all in the normal
operating condition.
(6) Do not operate the robot in the automatic mode while anybody is in the robot work area.
(7) When you maintain the robot alongside a wall or instrument, or when multiple workers are working
nearby, make certain that their escape path is not obstructed.
(8) When a tool is mounted on the robot, or when any moving device other than the robot is installed,
such as belt conveyor, pay careful attention to its motion.
(9) If necessary, have a worker who is familiar with the robot system stand beside the operator panel
and observe the work being performed. If any danger arises, the worker should be ready to press
the EMERGENCY STOP button at any time.
(10) When replacing or reinstalling components, take care to prevent foreign matter from entering the
system.
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(11) When handling each unit or printed circuit board in the controller during inspection, turn off the
circuit breaker to protect against electric shock.
If there are two cabinets, turn off the both circuit breaker.
(12) When replacing parts, be sure to use those specified by FANUC.
In particular, never use fuses or other parts of non-specified ratings. They may cause a fire or
result in damage to the components in the controller.
(13) When restarting the robot system after completing maintenance work, make sure in advance that
there is no person in the work area and that the robot and the peripheral devices are not abnormal.

3 SAFETY OF THE TOOLS AND

PERIPHERAL DEVICES
3.1 PRECAUTIONS IN PROGRAMMING
(1) Use a limit switch or other sensor to detect a dangerous condition and, if necessary, design the
program to stop the robot when the sensor signal is received.
(2) Design the program to stop the robot when an abnormal condition occurs in any other robots or
peripheral devices, even though the robot itself is normal.
(3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care
must be taken in programming so that they do not interfere with each other.
(4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect
the states of all devices in the system and can be stopped according to the states.

3.2 PRECAUTIONS FOR MECHANISM

(1) Keep the component cells of the robot system clean, and operate the robot in an environment free of
grease, water, and dust.
(2) Employ a limit switch or mechanical stopper to limit the robot motion so that the robot or cable does
not strike against its peripheral devices or tools.
(3) Observe the following precautions about the mechanical unit cables. When theses attentions are not
kept, unexpected troubles might occur.
• Use mechanical unit cable that have required user interface.
• Don’t add user cable or hose to inside of mechanical unit.
• Please do not obstruct the movement of the mechanical unit cable when cables are added to
outside of mechanical unit.
• In the case of the model that a cable is exposed, Please do not perform remodeling (Adding a
protective cover and fix an outside cable more) obstructing the behavior of the outcrop of the
cable.
• Please do not interfere with the other parts of mechanical unit when install equipments in the
robot.
(4) The frequent power-off stop for the robot during operation causes the trouble of the robot. Please
avoid the system construction that power-off stop would be operated routinely. (Refer to bad case
example.) Please execute power-off stop after reducing the speed of the robot and stopping it by
hold stop or cycle stop when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in
SAFETY for detail of stop type.)
(Bad case example)
• Whenever poor product is generated, a line stops by emergency stop.
• When alteration was necessary, safety switch is operated by opening safety fence and
power-off stop is executed for the robot during operation.
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B-83174EN/01 SAFETY PRECAUTIONS

• An operator pushes the emergency stop button frequently, and a line stops.
• An area sensor or a mat switch connected to safety signal operate routinely and power-off stop
is executed for the robot.
(5) Robot stops urgently when collision detection alarm (SV050) etc. occurs. The frequent urgent stop
by alarm causes the trouble of the robot, too. So remove the causes of the alarm.

4 SAFETY OF THE ROBOT MECHANISM

4.1 PRECAUTIONS IN OPERATION
(1) When operating the robot in the jog mode, set it at an appropriate speed so that the operator can
manage the robot in any eventuality.
(2) Before pressing the jog key, be sure you know in advance what motion the robot will perform in the
jog mode.

4.2 PRECAUTIONS IN PROGRAMMING

(1) When the work areas of robots overlap, make certain that the motions of the robots do not interfere
with each other.
(2) Be sure to specify the predetermined work origin in a motion program for the robot and program the
motion so that it starts from the origin and terminates at the origin.
Make it possible for the operator to easily distinguish at a glance that the robot motion has
terminated.

4.3 PRECAUTIONS FOR MECHANISMS

(1) Keep the work areas of the robot clean, and operate the robot in an environment free of grease, water,
and dust.

4.4 PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER

IN EMERGENCY OR ABNORMAL SITUATIONS
For emergency or abnormal situations (e.g. persons trapped in or by the robot), brake release unit can be
used to move the robot axes without drive power.
Please refer to controller maintenance manual and mechanical unit operator’s manual for using method of
brake release unit and method of supporting robot.

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5 SAFETY OF THE END EFFECTOR

5.1 PRECAUTIONS IN PROGRAMMING
(1) To control the pneumatic, hydraulic and electric actuators, carefully consider the necessary time
delay after issuing each control command up to actual motion and ensure safe control.
(2) Provide the end effector with a limit switch, and control the robot system by monitoring the state of
the end effector.

6 STOP TYPE OF ROBOT

The following three robot stop types exist:

Power-Off Stop (Category 0 following IEC 60204-1)

Servo power is turned off and the robot stops immediately. Servo power is turned off when the robot is
moving, and the motion path of the deceleration is uncontrolled.
The following processing is performed at Power-Off stop.
- An alarm is generated and servo power is turned off.
- The robot operation is stopped immediately. Execution of the program is paused.

Controlled stop (Category 1 following IEC 60204-1)

The robot is decelerated until it stops, and servo power is turned off.
The following processing is performed at Controlled stop.
- The alarm "SRVO-199 Controlled stop" occurs along with a decelerated stop. Execution of the
program is paused.
- An alarm is generated and servo power is turned off.

Hold (Category 2 following IEC 60204-1)

The robot is decelerated until it stops, and servo power remains on.
The following processing is performed at Hold.
- The robot operation is decelerated until it stops. Execution of the program is paused.

WARNING
The stopping distance and stopping time of Controlled stop are longer than the
stopping distance and stopping time of Power-Off stop. A risk assessment for
the whole robot system, which takes into consideration the increased stopping
distance and stopping time, is necessary when Controlled stop is used.

When the E-Stop button is pressed or the FENCE is open, the stop type of robot is Power-Off stop or
Controlled stop. The configuration of stop type for each situation is called stop pattern. The stop pattern
is different according to the controller type or option configuration.

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B-83174EN/01 SAFETY PRECAUTIONS

There are the following 3 Stop patterns.

Stop E-Stop External Servo

Mode FENCE open SVOFF input
pattern button E-Stop disconnect
AUTO P-Stop P-Stop C-Stop C-Stop P-Stop
A T1 P-Stop P-Stop - C-Stop P-Stop
T2 P-Stop P-Stop - C-Stop P-Stop
AUTO P-Stop P-Stop P-Stop P-Stop P-Stop
B T1 P-Stop P-Stop - P-Stop P-Stop
T2 P-Stop P-Stop - P-Stop P-Stop
AUTO C-Stop C-Stop C-Stop C-Stop C-Stop
C T1 P-Stop P-Stop - C-Stop P-Stop
T2 P-Stop P-Stop - C-Stop P-Stop
P-Stop: Power-Off stop
C-Stop: Controlled stop
-: Not stop

The following table indicates the Stop pattern according to the controller type or option configuration.

R-30iA R-30iA Mate

Option Standard Standard RIA CE
RIA type CE type Standard
(Single) (Dual) type type
Standard B (*) A A A A (**) A A
Stop type set (Stop pattern
C) N/A N/A C C N/A C C
(A05B-2500-J570)
(*) R-30iA standard (single) does not have servo disconnect.
(**) R-30iA Mate Standard does not have servo disconnect, and the stop type of SVOFF input is
Power-Off stop.

The stop pattern of the controller is displayed in "Stop pattern" line in software version screen. Please
refer "Software version" in operator's manual of controller for the detail of software version screen.

"Stop type set (Stop pattern C)" option

"Stop type set (Stop pattern C)"(A05B-2500-J570) is an optional function. When this option is loaded,
the stop type of the following alarms becomes Controlled stop but only in AUTO mode. In T1 or T2
mode, the stop type is Power-Off stop which is the normal operation of the system.
Alarm Condition
SRVO-001 Operator panel E-stop Operator panel E-stop is pressed.
SRVO-002 Teach pendant E-stop Teach pendant E-stop is pressed.
SRVO-007 External emergency stops External emergency stop input (EES1-EES11, EES2-EES21) is
open. (R-30iA controller)
SRVO-194 Servo disconnect Servo disconnect input (SD4-SD41, SD5-SD51) is open.
(R-30iA controller)
SRVO-218 Ext.E-stop/Servo Disconnect External emergency stop input (EES1-EES11, EES2-EES21) is
open. (R-30iA Mate controller)
SRVO-408 DCS SSO Ext Emergency Stop In DCS Safe I/O connect function, SSO[3] is OFF.
SRVO-409 DCS SSO Servo Disconnect In DCS Safe I/O connect function, SSO[4] is OFF.

Controlled stop is different from Power-Off stop as follows:

- In Controlled stop, the robot is stopped on the program path. This function is effective for a system
where the robot can interfere with other devices if it deviates from the program path.

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 SAFETY PRECAUTIONS B-83174EN/01

- In Controlled stop, physical impact is less than Power-Off stop. This function is effective for
systems where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be
minimized.
- The stopping distance and stopping time of Controlled stop is longer than the stopping distance and
stopping time of Power-Off stop, depending on the robot model and axis. Please refer the operator's
manual of a particular robot model for the data of stopping distance and stopping time.

This function is available only in CE or RIA type hardware.

When this option is loaded, this function can not be disabled.

The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.

WARNING
The stopping distance and stopping time of Controlled stop are longer than the
stopping distance and stopping time of Power-Off stop. A risk assessment for
the whole robot system, which takes into consideration the increased stopping
distance and stopping time, is necessary when this option is loaded.

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B-83174EN/01 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
1 OVERVIEW ............................................................................................. 1
2 SETTING UP ........................................................................................... 2
2.1 SYSTEM DESIGN TOOL SETUP SCREEN.................................................. 2
2.2 LOAD KAREL PROGRAMS OF SYSTEM DESIGN TOOL ........................... 4
2.2.1 Loading All ..............................................................................................................4
2.2.2 Loading Individually ................................................................................................5
2.2.3 Remedy of Failed to Load ........................................................................................5
2.3 DELETE KAREL PROGRAMS OF SYSTEM DESIGN TOOL ....................... 6
2.3.1 Delete All .................................................................................................................6
2.3.2 Delete Individually ...................................................................................................7
2.3.3 Remedy of Failed to Delete......................................................................................7
2.4 USAGE .......................................................................................................... 8
2.4.1 Sample of Using Constants ......................................................................................9
2.4.2 Sample of Using Register.........................................................................................9
2.4.3 Sample of Using String Register ..............................................................................9

3 TRIGINOMETRIC FUNCTION............................................................... 10
3.1 SQUARE ROOT .......................................................................................... 10
3.2 SIN FUNCTION ........................................................................................... 10
3.3 COS FUNCTION ......................................................................................... 10
3.4 TAN FUNCTION .......................................................................................... 10
3.5 SIN-1 (ARCSINE) FUNCTION...................................................................... 11
3.6 COS-1 (ARCCOSINE) FUNCTION............................................................... 11
3.7 TAN-1 (ARCTANGENT) FUNCTION ............................................................ 11
3.8 EXPONENTIAL FUNCTION ........................................................................ 11
3.9 LOGARITHM ............................................................................................... 12
3.10 ABSOLUTE VALUE..................................................................................... 12
3.11 TRUNCATION ............................................................................................. 12
3.12 ROUND OFF ............................................................................................... 12
4 ROBOT SETUP ASSISTANCE TOOL.................................................. 13
4.1 OVERVIEW ................................................................................................. 13
4.2 STRUCTURE OF FUNCTION ..................................................................... 15
4.3 SUPPORTED DATA.................................................................................... 16
4.4 HOW TO LOAD PROGRAMS ..................................................................... 17
4.5 USAGE ........................................................................................................ 18
4.5.1 How to Display Menu ............................................................................................18
4.5.2 Output Data to CSV File ........................................................................................18
4.5.3 Setup Data From CSV File.....................................................................................19
4.5.4 Change CSV File Name .........................................................................................20
4.6 OVERVIEW OF CSV FILE FORMAT .......................................................... 20
4.7 REMOVAL OF UNNECESSARY DATA....................................................... 22
4.8 FORMAT OF DATA ..................................................................................... 23
4.8.1 Comment Lines in Data File...................................................................................23
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TABLE OF CONTENTS B-83174EN/01

4.8.2 END of CSV File ...................................................................................................24

4.8.3 Register...................................................................................................................24
4.8.4 Position Register.....................................................................................................25
4.8.5 Comment of I/O......................................................................................................27
4.8.6 Assignment of I/O ..................................................................................................28
4.8.7 Comment of Program .............................................................................................29
4.8.8 Comment of Position of Program...........................................................................30
4.8.9 User Alarm .............................................................................................................30
4.8.10 Macro .....................................................................................................................31
4.8.11 Frames ....................................................................................................................32
4.8.12 Reference Position..................................................................................................33
4.8.13 Payload Setting.......................................................................................................34
4.8.14 Armload Setting .....................................................................................................35
4.8.15 Space Check Function ............................................................................................35
4.8.16 Automatic Backup ..................................................................................................37
4.8.17 System Config ........................................................................................................38
4.8.18 Program Timer .......................................................................................................42
4.8.19 String Register........................................................................................................42
4.8.20 Battery Alarm .........................................................................................................43
4.8.21 Override Select .......................................................................................................43
4.8.22 Warning/Reset in Alarm History............................................................................44
4.8.23 TCP/IP ....................................................................................................................44
4.8.24 TCP/IP Host (Local)...............................................................................................46
4.8.25 Error Table .............................................................................................................46
4.8.26 Alarms That Do Not Turn on FAULT Signal ........................................................48
4.8.27 RSR ........................................................................................................................49
4.8.28 PNS.........................................................................................................................50
4.8.29 Program Selection Common...................................................................................50
4.8.30 +Pendant Automatic Blanking of Backlight ..........................................................51
4.9 TIPS FOR TROUBLE SHOOTING .............................................................. 51
4.10 CAUTIONS FOR SETTING DATA FROM FILE........................................... 55
4.11 EDIT BY Microsoft® Excel® ........................................................................ 56
4.11.1 String That is Recognized as Long Numeric Value ...............................................56
4.12 MORE INFORMATION ABOUT CSV FILE FORMAT.................................. 56
4.12.1 Example of Whole File...........................................................................................58
4.12.2 Comment (REM) in CSV File................................................................................58
4.12.3 END of CSV File ...................................................................................................58
4.12.4 Register...................................................................................................................59
4.12.5 Position Register.....................................................................................................59
4.12.6 Comment of I/O......................................................................................................59
4.12.7 Assignment of I/O ..................................................................................................60
4.12.8 Comment of Program .............................................................................................60
4.12.9 Comment of Position (P[ ]) of Program .................................................................60
4.12.10 User Alarm .............................................................................................................60
4.12.11 MACRO .................................................................................................................61
4.12.12 Frame......................................................................................................................61
4.12.13 Reference Position..................................................................................................61
4.12.14 Payload ...................................................................................................................62
4.12.15 Armload..................................................................................................................62
4.12.16 Space Check Function ............................................................................................62
4.12.17 Automatic Backup ..................................................................................................62
4.12.18 System Config ........................................................................................................63
4.12.19 Program Timer .......................................................................................................64
4.12.20 String Register........................................................................................................64
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4.12.21 Battery Alarm .........................................................................................................64

4.12.22 Override Select .......................................................................................................64
4.12.23 Warn/Reset in Alarm History .................................................................................64
4.12.24 TCP/IP ....................................................................................................................64
4.12.25 TCP/IP Host (Local)...............................................................................................65
4.12.26 Error Table .............................................................................................................65
4.12.27 Alarms That Do Not Turn on FAULT Signal ........................................................66
4.12.28 RSR ........................................................................................................................66
4.12.29 PNS.........................................................................................................................66
4.12.30 Program Selection Common...................................................................................66
4.12.31 +Pendant Backlight Automatic Blanking...............................................................67
4.13 CAUTION .................................................................................................... 67
5 TPP MEMORY ASSIST......................................................................... 69
5.1 FILE LIST OF TPP MEMORY ASSIST........................................................ 69
5.2 LOAD PROGRAM ....................................................................................... 70
5.3 SAVE PROGRAM........................................................................................ 70
5.4 DELETE PROGRAM ................................................................................... 70
6 OTHERS................................................................................................ 71
6.1 USER SPECIFIED ALARM POST............................................................... 71
6.1.1 Global Alarm Post ..................................................................................................71
6.1.2 Local Alarm Post....................................................................................................72
6.2 GET DATE, TIME ........................................................................................ 72
6.2.1 GET DATE.............................................................................................................72
6.2.2 GET TIME .............................................................................................................72
6.3 GET CURRENT........................................................................................... 73
6.4 GET TORQUE ............................................................................................. 73
6.4.1 Get “Current” of Disturbance Torque Screen.........................................................73
6.4.2 Get “Ave.” of Monitor Screen................................................................................74
6.4.3 Get “Max.” of Monitor Screen ...............................................................................74
6.5 CHECK I/O SIMULATED STATUS.............................................................. 74
6.5.1 Check DI/O Simulated Status.................................................................................74
6.5.2 Check AI/O Simulated Status.................................................................................75
6.5.3 Check GI/O Simulated Status.................................................................................75
6.5.4 Check RI/O Simulated Status.................................................................................75
6.5.5 Check WI/O Simulated Status................................................................................76
6.6 UNSIMULATE I/O........................................................................................ 76
6.6.1 Unsimulate DI/O ....................................................................................................76
6.6.2 Unsimulate AI/O ....................................................................................................76
6.6.3 Unsimulate GI/O ....................................................................................................77
6.6.4 Unsimulate RI/O.....................................................................................................77
6.6.5 Unsimulate WI/O ...................................................................................................77
6.6.6 Unsimulate All I/O .................................................................................................77
6.7 GET WRITE PROTECTION ATTRIBUTE ................................................... 78

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1 OVERVIEW
NOTE
System design tool option is available only on 7DA7 series or later.

System design tool is the software option (J738). It is package of useful functions to construct production
system that uses robot. KAREL programs mainly realize these functions. It allows you to selectively load
needed KAREL programs to the robot controller. It has following functions.

There are 4 categories in system design tool.

Category Comment
Trigonometric Function Allows calculating trigonometric function by TP programs.
Robot Setup Assistance Allows copying the configuration of virtual robot set up on ROBOGUIDE to actual
robot. Allows easily setting the comment of I/O, register and so on with PC.
TPP Memory Assist Allows loading from or saving to external device or deleting TP programs according
to specified file list. It is helpful in case of lack of memory in the robot controller.
Others Useful functions are included for articulation of the robot system.

“Others” includes following.

Function Comment
User Specified Alarm Post Allows posting alarms with message depending on each system by TP programs.
Get Date, Time Allows getting date or time and output them to registers.
Get Current Allows getting current value of motor of axis by TP programs.
Get Torque Allows getting “Current” value of disturbance torque screen, “Ave.” and “Max.” values
of monitor screen and setting them to registers by TP programs.
I/O Check, Unsim Allows checking I/O simulated status. Allows unsimulating I/O by TP programs.
Get write protection Get TP program protection attribute by TP programs and output the result to the
attribute register.

KAREL is the robot language for the robot system architecture. User’s original function can be created
after creating KAREL program on PC, loading it to the robot controller and executing it. Refer to
KAREL Function, B-83144, to know the detail about KAREL programs.

NOTE
System design tool software option must be installed to the robot controller to use
KAREL programs of its option. Otherwise, one of following warning is posted.
SYST - 298 Trigonometric Function not installed
SYST - 299 Robot Setup Assistance not installed
SYST - 300 System Design Tool not installed

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2 SETTING UP
This chapter describes setting up of system design tool.

2.1 SYSTEM DESIGN TOOL SETUP SCREEN

NOTE
If you load or delete KAREL programs by system design tool setup screen with
TP disabled, "TPIF - 104 Teach Pendant is disabled" is posted. Please set TP to
enable.

Select “MENUS” -> “6. SETUP” -> F1[TYPE] -> Sys Dsn Tool. Following is displayed.

Categories and required memory are displayed. All functions except “Trigonometric Function”, “Robot
Setup Assistance” and “TPP Memory Assist” are included in “Others”. Required memory shows TEMP
memory usage only as a guide when you load KAREL programs. TEMP memory is the work area used
by system software. Please refer to “MEMORY USE STATUS DISPLAY” of “STATUS DISPLAY”
chapter of each application tool manual to know detail of TEMP memory.

NOTE
“Req Mem” is just as a guide. In some cases memory actually used and “Req
Mem” are different.

Press F2[DETAIL] to show the detail of each function. For example, the screen of trigonometric function
is displayed as follows.

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Following table describes each item in the screen.
Item Comment
Program KAREL program name.
Comment Brief description of KAREL program.
CurStat Loaded KAREL program version.
“****” indicates no KAREL program is loaded.
Select YES indicates that KAREL program is the object to load or delete.
NO indicates that any action is disabled.
Press F4[YES] for YES, or F5[NO] for NO.

F2[DETAIL] is displayed after pressing the NEXT key. Following is displayed after pressing
F2[DETAIL].

Following table describes each item in the screen.

Number Item Comment

1 No. Index in program list screen of each category.
2 Program Name KAREL program name.
3 Loaded Version Loaded KAREL program version.
4 Update Version KAREL program version after update.
5 Size (KB) Memory usage only as a guide when you load KAREL programs.

To display detail screen of previous program, press F2[PREV]. Press F3[NEXT] to display next program.

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2.2 LOAD KAREL PROGRAMS OF SYSTEM DESIGN TOOL

KAREL programs of system design tool are not loaded by default for using memory efficiently. Then
they should be loaded as necessary. This section describes how to load them. KAREL programs to be
loaded are saved in FROM.

NOTE
Load fails in the following cases.
・Same TP program exists before loading KAREL program.
・Status of loading KAREL program is paused or running.
In the case some KAREL programs are not loaded, “Some files not loaded.” is
displayed.

2.2.1 Loading All

Set the cursor onto each function. Press F3[LOAD], then confirming message is displayed. Following is
the sample to load the KAREL programs of trigonometric function.

Set the cursor to [YES] and press the ENTER key.

After loading completely “Load done.” is displayed.

In the case “Some files not loaded.” is displayed, press F2[DETAIL] . It allows you to see which program
is not loaded. “****” is displayed in CurStat column at not loaded KAREL program.

If KAREL programs are already loaded, confirm “Loaded Version” and “Update Version” in detail screen
described above. If they are different, KAREL programs are not loaded.

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2.2.2 Loading Individually

This subsection explains to load KAREL programs individually.

NOTE
1 Don’t load program of Robot Setup Assistance individually. Load programs all at
once.
2 If you accidentally load program of Robot Setup Assistance individually, delete
all programs first. Then load them all at once.

At the detail of each function screen, press F4[YES] to change NO to YES on “Select” column of
KAREL program you want to load.

Press F2[LOAD].
Confirming message is displayed then set the cursor on [YES] and press the ENTER key.
The loaded version is displayed next to “CurStat” column.

NOTE
“Select” column is forced to NO after the screen is switched.

2.2.3 Remedy of Failed to Load

This subsection explains the remedy of failed to load.

Loading KAREL Program is Running or Paused

Abort the KAREL program. Press FCTN key and select “ABORT (ALL)”.

Same Name TP Program Existed

Display SELECT screen. (Press SELECT key or MENU -> 0-- NEXT -- -> SELECT.)
In the case the same name TP program is already existed, KAREL program is never loaded.

Change the TP program name or delete it after backup to MC:.

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2.3 DELETE KAREL PROGRAMS OF SYSTEM DESIGN TOOL

This section explains how to delete KAREL programs of system design tool. It allows you to delete the
similar way of “LOAD KAREL PROGRAMS OF SYSTEM DESIGN TOOL” as described previously.
Trigonometric function is used as a sample to delete them.

NOTE
If KAREL program to be deleted is running or paused, delete fails. In the case
some KAREL programs are not deleted, “Some files not deleted.” is displayed.

2.3.1 Delete All

Set the cursor onto “Trigonometric Function”. Press F3[DELETE], then following message is displayed.

Set the cursor to [YES] and press the ENTER key.

After deleting from the robot controller completely “Delete done.” is displayed.

In the case “Some files not deleted.” is displayed, press F2[DETAIL] . It allows you to see which
program is not deleted. KAREL program version is displayed in CurStat column at not loaded KAREL
program.

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2.3.2 Delete Individually

This subsection explains to delete KAREL programs individually.

NOTE
1 Don’t delete program of Robot Setup Assistance individually. Delete programs all
at once.
2 If you accidentally delete program of Robot Setup Assistance individually, delete
all programs first. Then load them all at once.

At the detail of the each function screen, press F4[YES] to change NO to YES on “Select” column of
KAREL program you want to load.
Press F3[DELETE].

Confirming message is displayed then set the cursor to [YES] and press the ENTER key.

NOTE
“Select” column is forced to NO after the screen is switched.

2.3.3 Remedy of Failed to Delete

KAREL Program is Running or Paused.
Abort the KAREL program. Press FCTN key and select “ABORT (ALL)”.

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2.4 USAGE
Basically KAREL programs of system design tool are taught with CALL instruction. Needed value to
calculate and register number to output results are specified by the parameters. Some KAREL programs
do not need parameters.
There are some ways to specify parameters. Specifying constant, string, register or string register.

NOTE
Below is the case error is posted. Specify correct parameters.
･ Wrong type parameters are specified
･ Lack of parameters.
･ Out of range
After modifying the program, please set the cursor onto a line before CALL
instruction and execute again.

NOTE
CALL instruction must be used to use KAREL programs of system design tool.
RUN instruction does not work correctly.

NOTE
Set system variable $KAREL_ENB to 1 when KAREL program is taught. It is set
1 on system design tool.

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2.4.1 Sample of Using Constants

As an example this subsection use COS function of trigonometric function.
60, degree to calculate, is input as 1st parameter. 1, register number to output the result, is input as the
2nd parameter. PCOS is described later.
The value of COS60, that is 0.5, is output to R[1] in following sample.
Teach Sample

2.4.2 Sample of Using Register

This subsection explains how to use register.
Following is the teach sample. Suppose R[2] = 3, R[3] = 60, R[4] = 1.
Teach Sample

The same result is output to R[1] as above of specified constants as parameters.

Because R[2] is 3 in above sample, the 1st parameter ( angle in degrees ) is evaluated as 60 (R[R[2]] =
R[3] = 60).

The 2nd parameter, register number to output , is R[4] = 1 in the same way.

NOTE
The value of register is used as parameter when register is specified by the
parameters. Result is not output R[4] in above sample, except R[4] is 4.

2.4.3 Sample of Using String Register

NOTE
Set system variable $STRING_PRM to TRUE when string is specified by the
parameter. It is set to TRUE on system design tool.

STRBERGL is used as a sample, this subsection explains using string register as a parameter.
Following is the sample to use it.
Teach Sample

Suppose SR[1] = “Body Error”. “KALM - 011 Body Error” is posted after executing this sample.

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3 TRIGINOMETRIC FUNCTION
Trigonometric function enables various calculation described in the following sections. Each one has
parameters of integer or real number to calculate or register number to output calculated result.

3.1 SQUARE ROOT

Program name: psqrt
1st parameter : The value to calculate square root. Positive integer or positive real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates the square root of the 1st parameter. The result is output to register specified by
the 2nd parameter.

Sample: CALL PSQRT(2, 1) -> R[1] = 1.41421

3.2 SIN FUNCTION

Program name: psin
1st parameter : An angle in degrees to calculate SIN. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates SIN (1st parameter degree) and output it to the register specified by the 2nd
parameter.
The result is real number.

Sample: CALL PSIN(30, 1) -> R[1] = 0.5

3.3 COS FUNCTION

Program name: pcos
1st parameter : An angle in degrees to calculate COS. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates COS (1st parameter degree) and output it to the register specified by the 2nd
parameter.
The result is real number.

Sample: CALL PCOS(60, 1) -> R[1] = 0.5

3.4 TAN FUNCTION

Program name: ptan
1st parameter : An angle in degrees to calculate TAN. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates TAN (1st parameter degree) and output it to the register specified by the 2nd
parameter.
The result is real number.
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Sample: CALL PTAN(45, 1) -> R[1] = 1.0

3.5 SIN-1 (ARCSINE) FUNCTION

Program name: pasin
1st parameter : The value to calculate SIN-1. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates SIN-1 (1st parameter value) and output it to the register specified by the 2nd
parameter.
The result is real number. Its unit is degree.

Sample: CALL PASIN(0.5, 1) -> R[1] = 30.0

3.6 COS-1 (ARCCOSINE) FUNCTION

Program name: pacos
1st parameter : The value to calculate COS-1. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates COS-1 (1st parameter value) and output it to the register specified by the 2nd
parameter.
The result is real number. Its unit is degree.

Sample: CALL PACOS(0.5, 1) -> R[1] = 60.0

3.7 TAN-1 (ARCTANGENT) FUNCTION

Program name: patan2
1st parameter : The value of X coordinate to calculate TAN-1. Integer or real number.
2nd parameter : The value of Y coordinate to calculate TAN-1. Integer or real number.
3rd parameter : Register number to output result. Positive integer.

This function calculates TAN-1 (1st parameter value and 2nd parameter value) and output it to the register
specified by the 3rd parameter. The result is real number. Its unit is degree.

Sample: CALL PATAN2(1, 1, 1) -> R[1] = 45.0

3.8 EXPONENTIAL FUNCTION

Program name: pexp
1st parameter : The value to calculate exponent. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates exponent (1st parameter value) and output it to the register specified by the 2nd
parameter.
The result is real number.

Sample: CALL PEXP(1, 1) -> R[1] = 2.71828 (= e1)

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3.9 LOGARITHM
Program name: pln
1st parameter : The value to calculate logarithm. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates logarithm (1st parameter value) and output it to the register specified by the 2nd
parameter.
The result is real number.

Sample: CALL PLN(2.781828, 1) -> R[1] = 0.99999

3.10 ABSOLUTE VALUE

Program name: pabs
1st parameter : The value to calculate absolute value. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

This function calculates absolute value of the 1st parameter. The result is output to the register specified
by the 2nd parameter. The result is the same of 1st parameter.

Sample: CALL PABS((-5), 1) -> R[1] = 5

3.11 TRUNCATION
Program name: ptrunc
1st parameter : The value to calculate truncation. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

The result of calculation is the value of the 1st parameter after any fractional part has been removed. The
result is output to the register specified by the 2nd parameter. The result is integer.

Sample: CALL PTRUNC(10.5, 1) -> R[1] = 10

3.12 ROUND OFF

Program name: pround
1st parameter : The value to calculate round off. Integer or real number.
2nd parameter : Register number to output result. Positive integer.

The result of calculation is INTEGER value closest to the 1st parameter. The result is output to the
register specified by the 2nd parameter. The result is integer.

Sample: CALL PROUND(10.5, 1) -> R[1] = 11

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4 ROBOT SETUP ASSISTANCE TOOL

This chapter describes Robot Setup Assistance tool.

NOTE
Robot Setup Assistance too (option J737) is included in System design tool
(option J738). If you need this function only, please order option J737. This
option is supported by 7DA7 or later.

4.1 OVERVIEW
Robot Setup Assistance tool is function to setup Robot efficiently. With this tool, you can do following
work efficiently.

- Setup various data of robot controllers

- Output data of various setup items to file
- Copy of setup data to another robot controller

This function can output various setup data of R-30+A/R-30+A Mate controller (robot controller or
controller hereafter) to CSV file. This function can also setup controller by reading CSV file.
You can display menu for this tool by loading KAREL programs by System design tool and run main
program. Using the menu, you can output data to CSV file and setup data of CSV file.

KAREL program KAREL program

Output setup data of controller to file Set data in file to controller by running
by running dedicated KAREL program dedicated KAREL program

Memory card or
USB memory stick

System variable System variable

Register
Register
Pos. Register
Pos. Register
other setup data
other setup data

Microsoft® Excel®

Data can be input by PC. It is much easier

than doing it by teach pendant

Microsoft® Excel® is registered trademark of Microsoft Cooperation.

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Example 1
1 Output setup data of robot controller to CSV file by this function
2 Open the CSV file by Microsoft® Excel® and input or modify setup data
3 Set data of CSV file by this function.

2 Input setup data

1 Output data to file

Microsoft® Excel®

3 Set data from file

Example 2
1 Output setup data of robot controller to CSV file by this function
2 Open the CSV file by Microsoft® Excel® and input or modify setup data
3 Set data of CSV file to another controller by this function.

1 Output data to file 2 Input setup data 3 Set data to

another controller

Microsoft® Excel®

Example 3
1 Output setup data to CSV file by this function on ROBOGUIDE
2 Open the CSV file by Microsoft® Excel® and input or modify setup data
3 Set data of CSV file to real robot controller by this function.

1 Output data to file 2 Input setup data 3 Set data to

real controller
設定する

Microsoft Excel Microsoft® Excel®

ROBOGUIDE
ROBOGUIDE

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CSV (Comma Separated Value) format file is text file in which data is separated by comma. Even though
you can create CSV file directly by text editor, Microsoft® Excel® can be used to create CSV file by
inputting data and saving file in CSV format.
CSV file can be read and edited by Microsoft® Excel®.
Following figure is example of display of CSV file by Microsoft® Excel®.

You can create new CSV file using format that is described in later section. However, it is easier to output
CSV file as template and to modify it. We recommend using CSV file that is already output as template
file.

File name that this function uses is cp_rbdt.csv by default. You can change this filename when you use
this function. You can use cp_xxxx.csv (x is numeric character from 0 to 9).

NOTE
Only limited setup data is supported by this function. For example, this function
does not support setup data of spot application.

4.2 STRUCTURE OF FUNCTION

KAREL programs compose this function. You can use this function by loading KAREL programs in
System design tool screen and by running x_dtcopy.pc.

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Output to file

FROM
KAREL program R-30iA
x_dtcopy.pc 1 Load of KAREL
program
x_dtcopy

2 Execution of
KAREL program
Memory card or USB memory stick
CSV file to store setpu data
cp_rbdt.csv Setup data
in robot
controller

3 KAREL program get setup data of

controller and output them to CSV file

Setup by file (Input from file)

FROM
KAREL program R-30iA
x_dtcopy.pc 1 Load of KAREL
program
x_dtcopy

2 Execution of
KAREL program
Memory card or USB memory stick
CSV file to store setup data
cp_rbdt.csv Setup data
in robot
controller

3 KAREL program read setup data in

CSV file and set them to controller

4.3 SUPPORTED DATA

- Register
- Position Register
- Comment of I/O (DIO, RIO, GIO, AIO, SI, SO, UIO)
- Assignment of I/O (DIO, GIO, AIO, UIO)
- Comment of program
- Comment of position (P[ ]) of program
- User alarm
- Macro
- Frames (tool, user and jog)
- Reference position
- Payload
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- Armload
- Space check function
- Automatic backup
- Items of system configuration screen
- Program timer
- String register
- Battery alarm
- Override select
- Warning/Reset in alarm history
- TCP/IP
- Error table
- Alarms that do not turn on FAULT signal
- RSR, PNS
- +Pendant backlight automatic blanking

NOTE
Some items don’t support all items in setup screens. Please refer to section of
each item.

4.4 HOW TO LOAD PROGRAMS

To use this function, you have to load KAREL programs. You can load KAREL programs in System
design tool screen.

1 Press MENUS
2 Press SETUP
3 Press F1, [TYPE]
4 Select “Sys Dsn Tool”. This leads you to screen like following figure.

5 Move cursor to Robot Setup Assistance.

6 Press F3, Load.

You can also delete all related programs all at once. Please refer to chapter of BASIC OPERATION.

NOTE
1 Don’t delete or load program of Robot Setup Assistance individually. Delete or
load programs all at once.
2 If you accidentally delete or load program of Robot Setup Assistance individually,
delete all programs first. Then load them all at once.

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4.5 USAGE

4.5.1 How to Display Menu

By running KAREL program, this function can display menu. You can select following operation in the
menu.

- Data output
- Setup of data from CSV file
- Change of file name
- Exit

1 Load programs by procedure in previous section.

2 Display SELECT screen
3 Select All from F1, [TYPE]
4 Select program x_dtcopy
5 Run x_dtcopy by Shift+FWD.
Program execution continues after release of Shift key.
6 By execution of x_dtcopy, USER menu is displayed
After a short time, menu like following is displayed.

4.5.2 Output Data to CSV File

This function can output various setting to CSV file. File is output in current directory of current device
selected by file screen, MC: for example.

Current directory
and file device

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NOTE
Output data when file device currently selected by file screen is ready to be
written. Otherwise, alarms happen after file output even though message “Data
output completed!” is displayed. For example:
1 Don’t output file to MC: without inserting memory card to the slot.
2 Don’t output file by ROBOGUIDE with opening file by Microsoft® Excel®.

1 Select file device.

2 Select “1 Output data to cp_rbdt.csv” from menu of this function.
File output starts. After output completes, message “Data output completed!” is displayed.

If output file already exists, warning message “cp_rbdt.csv already exist. Delete OK? (1:Yes, 0:No)”
is displayed. If you want to overwrite the file, input 1. Otherwise, input 0.

3 Prompt message “[Enter to next]” is displayed. Press Enter key to return to menu.

4.5.3 Setup Data From CSV File

This function can set data written in file to robot controller. Data file to read is CSV file. Its format is
described in later sections. File in current directory of currently selected file device is read.

1 Place CSV file in current directory of currently selected file device.

2 Select “Set data from cp_rbdt.csv” from menu of this function.
Data read and setup begin. After data setup complete, “Setup Completed!” is displayed.

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3 Prompt message “[Enter to next]” is displayed. Press Enter key to return to menu.

NOTE
After data set, cycle power is needed.

4.5.4 Change CSV File Name

Default file name is cp_rbdt.csv. You can change the file name to cp_xxxx.csv ( xxxx is numeric
characters). You can set the name back to default name, cp_rbdt.csv.

1 Select “Change CSV file name” from menu of this function.

2 Input number to decide file name.

File name is decided by entering number from –1 to 9999. If you input –1, file name is set back to
default name, cp_rbdt.csv. If you input value between 0 and 9999, the number is used as the last 4
character of file name. For example, if you input 109, the new file name is cp_0109.csv.

3 Prompt message “[Enter to next]” is displayed. Press Enter key to return to menu.

4.6 OVERVIEW OF CSV FILE FORMAT

Data identifier
The first filed of data line is identifier to show kind of data of the line. Column A of following figure has
“REM”, “REG” and “END”. These are identifier.

Explanation of items and format

Identifier

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Meaning of identifiers is as follows.

Identifier Description
REM Comment line
END End of file
REG Numeric register
PREG Position register
DI Comment of digital input signal
DIA Assignment of digital input signal
DO Comment of digital output signal
DOA Assignment of digital output signal
RI Comment of robot input signal
RO Comment of robot output signal
GI Comment of group input signal
GIA Assignment of group input signal
GO Comment of group output signal
GOA Assignment of group output signal
AI Comment of analog input signal
AIA Assignment of analog input signal
AO Comment of analog output signal
AOA Assignment of analog output signal
SI Comment of operator panel input signal
SO Comment of operator panel output signal
UI Comment of peripheral input signal
UIA Assignment of peripheral input signal
UO Comment of peripheral output signal
UOA Assignment of peripheral output signal
PRG Comment of program
POS Comment of position of program
UALM User alarm
MCR Macro
TFRM Tool frame
UFRM User frame
JFRM Jog frame
REF Reference position
PLD Payload setting
ALD Armload setting
RSP Space check function
ATBK Automatic backup
SYSC System configuration screen
PTIM Program timer
SREG String register
BLAL Battery alarm
OVSL Override select
NOHIS Warning and reset in alarm history
TCPIP TCP/IP
TCPIP_HL TCP/IP (local host)
ER_TBL Error severity
ER_NOALM Alarms that do not turn on FAULT signal
RSR RSR
PNS PNS
PRG_SEL Common item of RSR and PNS. Program selection
BLNK +Pendant backlight automatic blanking

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Terminator (!!!!)
Basically, each line has to complete with “!!!!”, which is terminator of line. The exception is comment
line (REM) and end line (END).

Identifiers that have 2 or more lines

Some kinds of identifier have 2 or more data lines. The 2nd or later lines need empty field at the head of
lines. Empty field is field that does not have character.

This PREG has 5 lines

The head of 2nd and later lines are empty field

4.7 REMOVAL OF UNNECESSARY DATA

When you create data file using file output by this function, it is better to remove unnecessary lines. It
lowers possibility of unexpected setup of data. It reduces time to process.
You have to remove lines not to disturb format of data. This means you have to consider format of each
identifier. In addition, it is helpful to understand how this function output file.

Making use of delimiter between data sets

This function output data of an identifier all at once. Then the function output data of another identifier.
Following figure shows example.

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Register (“REG”)
Snip and explanation
comment for it (“REM”)

Empty line as delimiter

Position register(“PREG”)
and explanation
comment for it (“REM”)
Snip

Empty line as delimiter

This example is output by controller with 200 registers and 100 position registers. This function output
register 1 through 200 first. Then it output blank line and position register 1 through 100. The rest of data
are output in the same way. If you remove all lines between blank line before and after position register
section, you can remove all description for position registers.

4.8 FORMAT OF DATA

When this function outputs data, comment (REM) lines are written before data set of each identifier. The
comment lines express data format of identifier. You can refer the comment in addition to this manual.
This section shows the comment in addition to data lines.
4.8.1 Comment Lines in Data File
Identifier
REM

Syntax
Identifier + comment string

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Example

Detail
This identifier is used to write comment in CSV file. When data is set from file, lines that start with this
identifier are ignored.

4.8.2 END of CSV File

Identifier
END

Syntax
Identifier

Example

Detail
This identifier specifies the end of file. You must write this identifier with line feed at the end of file.

4.8.3 Register
Identifier
REG

Syntax
Identifier + index + comment + data type (INT/REAL) + value + terminator

Example

Detail

Item Description
Index Index of register.
If index is out of range when data is set, message “Illegal index” is displayed.
Comment Maximum 16 characters.
INT/REAL If register has integer value, this filed should be INT. Otherwise (real number), REAL.
Value When data is output, the number of decimal places is 3.
When you create CSV file to set data, do likewise.

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Note
When file is output, all registers are output.

4.8.4 Position Register

Identifier
PREG

Syntax
Format of the 3rd and later lines depend on data type and the number of axes.

The 1st line

Identifier + Index + Comment + terminator
The 2nd line
Empty field + group number + data type + the number of extended axes/ total axes + terminator
The 3rd line
Empty field + X (J1) + Y (J2) + Z (Z3) + terminator
The 4th line
Empty field + W (J4) + P (J5) + R (Z6) + terminator
The 5th line
Empty field + Extended axis 1 + Extended axis 2 + Extended axis 3 + terminator
The 6th line (Cartesian type only)
Empty field + configuration + terminator

If there are 2 or more groups, the 2nd – 6th lines are repeated as required.
When data is set from file, you have to write data for all groups.
You cannot change the order of lines. You cannot omit lines.
To avoid format error, it is recommended to output CSV file before setting data from file and to use
output file as template file.

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Example

Detail

Item Description
Index Index of position register.
If index is out of range when data is set, message “Illegal index” is displayed.
Comment Maximum 16 characters.
Group (GPn) Group number.
Only 3 characters are recognized.
The first 2 characters should be “GP”.
The last character is group number.
If group number is out of range when data is set, message “Illegal group” is displayed.
Type Data type of position register. One of following is specified.
JPOS Joint position
XYZ XYZWPR
RXYZWPR XYZWPREXT (Cartesian type with extended axis)
The number of If “Type” field is RXYZ, this field is the number of extended axes. If XYZ, this field should be 0.
extended If “Type” field is JPOS, this field is the number of total axes of the group.
axes/total axes
When position register is uninitialized, this field is “U”. The 3rd, 4th and the 5th line are not
output.
When data is set from file, data of “U” is ignored. Setting data from file does not make position
registers uninitialized.
X/J1, Y/J2, Z/J3, These fields specify value of each data.
W/J4, P/J5, R/J6
E1, E2, E3 These fields are output only when data type is RXYZ.
For setting data, these values should be specified only when data type is RXYZ. Value of
extended axes are specified

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Item Description
Config This field specifies string that represents configuration data.
Line with this field is needed only for Cartesian data type ( XYZ and RXYZ).
String for configuration data depends on robot. Make use of output file to decide string for
configuration.

Note
Matrix type is not supported.

4.8.5 Comment of I/O

Identifier
Identifier depends on type of I/O. Following identifiers are supported.

Identifier Description
DI Comment of digital input
DO Comment of digital output
RI Comment of robot input
RO Comment of robot output
GI Comment of group input
GO Comment of group output
AI Comment of analog input
AO Comment of analog output
SI Comment of operator panel input
SO Comment of operator panel output
UI Comment of peripheral input
UO Comment of peripheral output

Syntax
Identifier + index + comment + terminator

Example
Following figure is example of DI. The other types has similar format.

Detail

Item Description
Index Index of signal.
This function supports limited range of index.
The maximum index is as follows.
DI, DO: 2048
RI, RO: 16
GI, GO: 64
AI, AO: 64
SI, SO: 64
UI: 36
UO: 40
Comment Maximum 24 characters.

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Note
This function output comment of signals that satisfy following condition (A) and (B) at the same time.
(A) Index is equal to or less than maximum value (Please refer to table in “Detail” above).
(B) One of following is satisfied.
- Comment is set
- Comment is not set but value of I/O can be read.

4.8.6 Assignment of I/O

Identifier
Identifier depends on type of I/O. Following identifiers are supported.

Identifier Description
DIA Assignment of digital input.
DOA Assignment of digital output.
GIA Assignment of group input.
GOA Assignment of group output.
AIA Assignment of analog input.
AOA Assignment of analog output.
UIA Assignment of peripheral input.
UOA Assignment of peripheral output.

Syntax
DI, DO, GI, GO, UI and UO
Identifier + Index + Rack number + Slot number + Start point + the number of points + terminator
AI and AO
Identifier + Index + Rack number + Slot number + Channel number + the number of points (always
1) + terminator

Example
Following figure is an example of DI. DO, UI and UO have similar format.

Following figure is an example of GI. GO has similar format.

Following figure is an example of AI. AO has similar format.

Detail

Item Description
Index Logical index to start assignment.
Rack number Rack number and slot number.
Slot number

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Item Description
Start point This is for DI, DO, GI, GO, UI and UO.
Physical point to start assignment.
Channel This is for AI and AO. This field specifies channel number.
Number of points For DI, DO, UI and UO, the maximum number is 8. Assignment that has more than 9
successive points is divided into assignment of 8 points or less. This is true to both data output
and data set.
For GI and GO, this field specifies the number of points for the signal.
For AI and AO, this field should be 1.

NOTE
If assignment read from CSV file is wrong assignment for the controller, it is not
actually assigned. However, error message is not displayed. Set valid
assignment. Be careful that assignment in CSV file is valid on controller that read
the CSV file. Be careful especially when you use CSV file made by
ROBOGUIDE on real controller.

Note
When data is set, this function clears assignment of predefined range of index first. Following table shows
the range.
I/O Range
DO, DI 1-2048 (Usually, only 1 through 512 are displayed)
GI, GO 1-64
AI, AO 1-64
UI 1-36
UO 1-40

4.8.7 Comment of Program

Identifier
PRG

Syntax
Identifier + Program name + Program type + Comment + terminator

Example

Detail

Item Description
Program name Program name.
Maximum 36 characters.
When data is set from file and when specified program does not exist, the line is ignored.

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Item Description
Type When data is set from file, this field is ignored.
TP: TP program
MR: Macro Program
PC: KAREL program
VR: KAREL variable
Comment of TP and MR can be set by this function.
If sub type is CH, it is treated as TP.
Comment Maximum 16 characters.

4.8.8 Comment of Position of Program

Identifier
POS

Syntax
Identifier + Program name + Position number + Comment + terminator

Example

Detail

Item Description
Program name Program name.
Maximum 36 characters if setting is default.
When data is set from file and when specified program does not exist, the line is ignored.
Position number When data is set from file and when specified position does not exist, the line is ignored.
Comment Maximum 16 characters.

Note
When file is output, positions are output from P[1] to P[999] if exist.

4.8.9 User Alarm

Identifier
UALM

Syntax
Identifier + Index + Alarm message + Severity + terminator

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Example

Detail

Item Description
Index Index of user alarm.
If this is out of range when data is set from file, message “Illegal index” is displayed.
Alarm message Message of user alarm.
Maximum 28 characters.
Alarm severity This field is specified by one of following values.
WARN
STOP.L
STOP.G
ABORT.L
ABORT.G

Note
If alarm severity does not correspond to one of severity in above table, the value is output as numerical
value when file is output. However, you should not set such value.

4.8.10 Macro
Identifier
MCR

Syntax
Identifier + Index + Macro name + Program name + Assign type + Index of assign + terminator

Example

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Detail

Item Description
Index Index of Macro.
If this is out of range when data is set from file, message “Illegal index” is displayed.
Macro name Name of macro.
Maximum 36 characters.
When data is set from file, preceding spaces are not deleted. It is because such macro
name is valid.
Program name Maximum 36 characters.
When data is set from file, it is set even if the program does not exist.
Assign type Type of assignment of macro.
NO No assignment. This corresponds to “-“ of macro screen.
UK User key
SU Shift key + User key
MF Manual function
SP Operator panel
DI Digital input
RI Robot input
UI Peripheral input
F Flag
M Marker
Index (The 2nd one) Index of assignment.
When data is set from file, this function does not check if index is in valid range. Please
set valid value.

4.8.11 Frames
Identifier
Identifier depends on type of frame. Following identifiers are supported.

Identifier Description
TFRM Tool frame
UFRM User frame
JFRM Jog frame

Syntax
The 1st line
Identifier + Group number + index + comment + terminator
The 2nd line
Empty field + X + Y + Z + terminator
The 3rd line
Empty field + W + P + R + terminator

The data set is always composed of 3 lines. You have to set above lines in this order and no lines can be
omitted.

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Example

Detail

Item Description
Group(GPn) Group number.
Only 3 characters are recognized.
The first 2 characters should be “GP”.
The last character is group number.
If group number is out of range when data is set, message “Illegal group” is displayed.
Index Index of frame.
Comment Maximum 20 characters.
X,Y,Z,W,P,R When data is output, the number of decimal places is 3.
When you create CSV file to set data, do likewise.

Note
When file is output, all frames are output.

4.8.12 Reference Position

Identifier
REFP

Syntax
The 1st line
Identifier + Group number + index + comment + enable/disable of reference position +
enable/disable of home position + signal type + signal index + terminator
The 2nd line – the 10th line
Empty field + position of axis + tolerance + terminator

The data set is always composed of 10 lines. You have to set above lines in this order and no lines can be
omitted.

Example

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Detail

Item Description
Group(GPn) Group number.
Only 3 characters are recognized.
The first 2 characters should be “GP”.
The last character is group number.
If group number is out of range when data is set, message “Illegal group” is displayed.
Index Index of reference position.
If this is out of range when data is set from file, message “Illegal index” is displayed.
Comment Maximum 16 characters.
ENABLE/DISABLE Enable/Disable of the reference position.
Is a valid Home If this is valid home, this field is ENABLE.
Otherwise, this field is DISABLE.
Signal type Type of output signal.
This is specified by DO or RO.
Signal index Index of output signal.
J1 - J9 position When data is output, the number of decimal places is 3.
Tolerance When you create CSV file to set data, do likewise.

Note
When file is output, all reference positions are output.

4.8.13 Payload Setting

Identifier
PLD

Syntax
The 1st line
Identifier + Group number + index + comment + payload + terminator
The 2nd line
Empty field + Center of gravity X + Center of gravity Y + Center of gravity Z + terminator
The 3rd line
Empty field + Inertia X + Inertia Y + Inertia Z + terminator

The data set is always composed of 3 lines. You have to set above lines in this order and no lines can be
omitted.

Example

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Detail

Item Description
Group(GPn) Group number.
Only 3 characters are recognized.
The first 2 characters should be “GP”.
The last character is group number.
If group number is out of range when data is set, message “Illegal group” is displayed.
Index Index of payload setting
If this is out of range when data is set from file, message “Illegal index” is displayed.
Comment Maximum 16 characters.
Center X, Y, Z , When data is output, the number of decimal places is 3.
Inertia X, Y, Z When you create CSV file to set data, do likewise.

Note
When file is output, all payload settings of all groups are output.
This function does not support current payload number.

4.8.14 Armload Setting

Identifier
ALD

Syntax
Identifier + Group number + Load on J1 + Load on J3 + terminator

Example

Detail

Item Description
Group(GPn) Group number.
Only 3 characters are recognized.
The first 2 characters should be “GP”.
The last character is group number.
If group number is out of range when data is set, message “Illegal group” is displayed.
ARM LOAD AXIS#1, #3 When data is output, the number of decimal places is 3.
When you create CSV file to set data, do likewise.

Note
When file is output, armloads of all groups are output.

4.8.15 Space Check Function

Identifier
RSP

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Syntax
The 1st line
Identifier + Group number + index + Comment + terminator
The 2nd line
Empty field + Enable/Disable + output signal type + output signal index + input signal type + input
signal index + terminator
The 3rd line
Empty field + priority high/low + Inside/Outside + length/vertex + User frame number + Tool frame
number + terminator
The 4th line
Empty field + Base vertex X + Base vertex Y + Base vertex Z + terminator
The 5th line
Empty field + The 2nd vertex X/Side length X + The 2nd vertex Y/Side length Y + The 2nd vertex
Z/Side length Z + terminator

Example

Detail

Item Description
Group(GPn) Group number.
Only 3 characters are recognized.
The first 2 characters should be “GP”.
The last character is group number.
If group number is out of range when data is set, message “Illegal group” is displayed.
Index Index of space check function setup data.
If this is out of range when data is set from file, message “Illegal index” is displayed.
Comment Maximum 10 characters.
ENABLE/DISABLE Enable/Disable of the space.
Output Type Type of Output signal. DO or RO.
Output Index Index of Output signal.
Input Type Type of Output signal. DI or RI.
Input Signal Index of Input signal.
Priority (HIGH/LOW) Specify HIGH or LOW.
INSIDE/OUTSIDE Specify INSIDE or OUTSIDE.
length/vertex Specify LENGTH or VERTEX.
UF, UT The number of user frame and tool frame.
Base X, Y, Z When data is output, the number of decimal places is 3.
When you create CSV file to set data, do likewise.
2nd/Length X, Y, Z “length/vertex” field in the 3rd line decides the meaning of these fields.
If LENGTH, these fields are length of each side.
If VERTEX, these fields shows position of the 2nd vertex.

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Note
When file is output, all space settings are output.
If value of UF or UT is negative, error happens. But there is no more value check for them.

4.8.16 Automatic Backup

Identifier
ATBK

Syntax
The 2nd field is item number. It identifies what the item is. Format depends on “item number” field.

Item number 10
Identifier + Item number + Item name + Value of interval + Unit of interval + terminator
The other item number
Identifier + Item number + Item name + Value of item + terminator

Example

Detail
The 2nd field, item number identifies the meaning of line data. The 3rd item, item name is just for
explanation of the item. It is ignored when data is set from file.

Item number Item name Description

1 Automatic Backup Enable or Disable of automatic backup. This is specified by ENABLE or
DISABLE.
2 Device This specifies file device and directory.
File device is specified by “MC:¥” or “FRA:¥”.
If subdirectory is used, Write device name and subdirectory name
together. “MC:¥AGM¥” for example.
3-7 Backup Time 1-5 These fields are specified in 5 or 4 characters.
Hours (1 or 2 characters) : minutes (2 characters)
If minute is less than 10, add leading 0. 12:05 for example.
8 Backup at DI rising Index of signal is specified.
9 Backup at Power up ENABLE or DISABLE

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Item number Item name Description

10 Interval The line of item number 10 has 2 value fields.
The 1st one is positive integer number that shows interval value. The 2nd
value field decides unit of the value.
The 2nd one is specified by MIN, HOUR or DAY.
11 Backup in progress Index of output signal is specified.
12 Error occurs at backup Index of output signal is specified.

Note
When backup time is uninitialized, it is output as “**:**”. If corresponding field is “**:**”, backup time
is set to “**:**” as specified.

4.8.17 System Config

Identifier
SYSC

Syntax
The 2nd field is item number. It identifies what the item is. Format depends on “item number” field.
In general, format is as follows. However, there may be 2 or more value fields.
Identifier + item number + item name + value + terminator

Each item is described later

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Example

Detail
- The 2nd field, item number identifies the meaning of line data.
- The 3rd field, item name is just for explanation of the item. It is ignored when data is set from file.
- Enable/disable is specified by ENALBE or DISABLE.

Item number Item name Description

1 Use HOT START ENABLE or DISABLE.
2 I/O power fail recovery This is specified by one of following values.
NOT RECOVER
RECOVER SIM
UNSIMULATE
RECOVER ALL
3 COLD START Autoexec By default setting, maximum 36 characters.
program
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Item number Item name Description

4 HOT START Autoexec By default setting, maximum 36 characters.
program
5 HOT START done signal Index of signal specified by 0 or more integer.
6 Restore selected program ENABLE or DISABLE.
7 Enable UI signals ENABLE or DISABLE.
8 START for CONTINUE only ENABLE or DISABLE.
9 CSTOPI for ABORT ENABLE or DISABLE.
10 Abort all programs by ENABLE or DISABLE.
CSTOPI
11 PROD_START depend on ENABLE or DISABLE.
PNSTROBE
12 Detect FAULT_RESET signal RISE or FALL.
13 USE PPABN signal This line has 2 value fields.
The 1st one is group number.
- Only 3 characters are recognized.
- The first 2 characters should be “GP”.
- The last character is group number.
- If group number is out of range when data is set, message “Illegal
group” is displayed.
The 2nd value is ENABLE or DISABLE
14 WAIT timeout When data is output, the number of decimal places is 2.
When you create CSV file to set data, do likewise.
15 RECEIVE timeout When data is output, the number of decimal places is 2.
When you create CSV file to set data, do likewise.
16 Return to top of program ENABLE or DISABLE
17 Original program name This line has 2 value fields.
The 1st one is function key.
- Only 2 characters are recognized.
- The 1st character must be F.
- The 2nd character specifies function key by its number.
- One line of item number 17 defines program name for one
function key only.
- 5 line of item number 17 are needed to define program name
from F1 to F5.
The 2nd value field is “Original program name”.
- Maximum 7 characters.
18 Default logical command This line has 3 value fields.
The 1st value field is function key.
- Please refer to explanation of item 17.
The 2nd value field is Name.
- Maximum 8 characters.
- Leading spaces are not removed.
The 3rd value field is the number of lines.
- This range is from 0 to 4.
- If lines are not set yet, this value is output as “ *” (Space and
asterisk). The character “ *” can be used to set the value when
data is set from file.
19 Maximum of ACC instruction This is specified by integer value of 0 or more.
If 501 or more is set, message “Illegal data” is displayed.
20 Minimum of ACC instruction Please refer to item number 19.
21 Auto display of alarm menu ENABLE or DISABLE.
22 Force Message This is specified by one of following values.
DISABLE
ENABLE
ENBL(TP OFF)

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Item number Item name Description

23 Allow Force I/O in AUTO ENABLE or DISABLE.
mode
24 Allow chg ovrd in AUTO ENABLE or DISABLE.
mode
25 Signal to set in AUTO mode This is specified by integer value of 0 or more.
26 Signal to set in T1 mode This is specified by integer value of 0 or more.
27 Signal to set in T2 mode This is specified by integer value of 0 or more.
28 Signal to set if E-STOP This is specified by integer value of 0 or more.
29 Set if INPUT SIMULATED This is specified by integer value of 0 or more.
30 Set if OUTPUT IMULATED This is specified by integer value of 0 or more.
31 Sim Input Wait Delay This is specified by real value.
When data is output, the number of decimal places is 2.
When you create CSV file to set data, do likewise.
32 Set If Sim Skip Enabled This is specified by integer value of 0 or more.
33 Set when prompt displayed This is specified by integer value of 0 or more.
34 WAIT for DI range This line has 2 value fields.
The 1st one is start number.
The 2nd one is end number
35 WAIT for DI time When data is output, the number of decimal places is 2.
When you create CSV file to set data, do likewise.
36 WAIT for DI output This is specified by integer value of 0 or more.
37 Signal if OVERRIDE = 100 This is specified by integer value of 0 or more.
38 Hand broken This line has 2 value fields.
The 1st value field is group number.
- Only 3 characters are recognized.
- The first 2 characters should be “GP”.
- The last character is group number.
- If group number is out of range when data is set, message “Illegal
group” is displayed.
The 2nd value field is ENABLE/DISABLE.
39 Remote/Local setup This is specified by one of following values.
REMOTE
LOCAL
EXTERNAL I/O
OP PANEL KEY
Please note that you cannot omit space in above string. All letters are
capital.
40 External I/O(ON:Remote) This line has 2 value fields.
The 1st one is type of signal. One of following value can be used.
DI
DO
RI
RO
UI
UO
The 2nd value field is index of signal. It is specified by integer value of
0 ore more.
41 Multi program Selection ENABLE or DISABLE.

Following items of system config screen are not supported.

- WJNT for default motion
- Reset CHAIN FAILURE detection
- UOP auto assignment

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4.8.18 Program Timer

Identifier
PTIM

Syntax
Identifier + Index + timer count value + comment + terminator

Example

Detail

Item Description
Index Index of program timer.
If this is out of range when data is set from file, message “Illegal index” is displayed.
Timer Count When data is output, the number of decimal places is 2.
When you create CSV file to set data, do likewise.
Comment Maximum 13 characters.

Note
When file is output, all program timers are output.

4.8.19 String Register

Identifier
SREG

Syntax
Identifier + Index + value string + comment + terminator

Example

Detail

Item Description
Index Index of string register.
If this is out of range when data is set from file, message “Illegal index” is displayed.
String Value of string register.
This function supports maximum 120 characters.
Comment Maximum 16 characters.

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Note
When file is output, all string registers are output.

4.8.20 Battery Alarm

Identifier
BLAL

Syntax
Identifier + ENABLE/DISABLE + terminator

Example

Detail

Item Description
Consider battery of mechanical unit ENABLE or DISABLE.

4.8.21 Override Select

Identifier
OVSL

Syntax
The 1st line
Identifier + ENABLE/DISABLE + Signal 1 + Signal 2 + terminator
The 2nd line
Empty field + override of OFF_OFF + override of OFF_ON + override of ON_OFF + override of
ON_ON + terminator

The data set is always composed of 2 lines. You have to set above lines in this order and no lines can be
omitted.

Example

Detail

Item Description
ENABLE/DISABLE Enable/disable of override select.
This is specified by ENABLE or DISABLE.
Signal 1 Index of signal 1.

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Item Description
Signal 2 Index of signal 2.
OFF_OFF Override is specified by integer.
OFF_ON Range is from 1 to 100.
ON_OFF
ON_ON

Note
When index of signal 1 or signal 2 is uninitialized, it is output as “****”. When data is set from file and
the field is “****”, corresponding setting is not change. Index is not set to “****”.

4.8.22 Warning/Reset in Alarm History

Identifier
NOHIS

Syntax
Identifier + WARN not recorded + RESET not recorded + terminator

Example

Detail

Item Description
WARN not recorded If alarm of WARN is not recorded, 1.
Otherwise, 0
RESET not recorded If reset is not recorded, 1.
Otherwise, 0

4.8.23 TCP/IP
Identifier
TCPIP

Syntax
Identifier + item number + item name + value + terminator

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Example

Detail
- The 2nd field, item number identifies the meaning of line data.
- The 3rd field, item name is just for explanation of the item. It is ignored when data is set from file.

Item number Item name Description

1 Host name Host name or robot controller. Maximum 18 characters.
2 IP address(port1) IP address of port1. This function doesn’t check if it is valid address or not.
3 IP address(port2) IP address of port2. This function doesn’t check if it is valid address or not.
4 Subnet Mask (port1) Subnet mask of port1. This function doesn’t check if it is valid mask or not.
5 Subnet Mask (port2) Subnet mask of port2. This function doesn’t check if it is valid mask or not.
6 Router IP Address IP address of router. This function doesn’t check if it is valid address or not.

Note
- Even if R-30+AMate, IP address and subnet mask of port2 are output. However the data is not
actually used.
- If robot controllers of same address exist, it can cause network trouble. Please pay attention to it
when you set data from file.
- Uninitialized IP address of controller and Router is output as “****”. When data is set from file,
“****” is not set.
- This function assumes host name is composed of alphabet and numeric characters.

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4.8.24 TCP/IP Host (Local)

Identifier
TCPIP_HL

Syntax
Identifier + index + host name + IP address + terminator

Example

Detail

Item Description
Index Index of setting.
Host name Maximum 10 characters
IP address IP address of host. This function does not check if it is valid address or not.

Note
- Uninitialized IP address is output as “****”. When data is set from file, “****” is not set.
- This function assumes host name is composed of alphabet and numeric characters.

4.8.25 Error Table

Identifier
ER_TBL

Syntax
Identifier + index + ID + error code + Severity + Display + terminator

Example
File output adds comment lines that show relationship between ID (Facility code) and kinds of alarm
(TPIF, SYST for example). The number of these lines depend on the version of system software of robot
controller.

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Detail

Item Description
Index Index of setting.
If index is out of range when data is set, message “Illegal index” is displayed
ID This is value that shows the kind of alarm. For example, 11 means SRVO alarm. Please
refer to error table screen of controller and comment of output CSV file.
Error code Number of error. 14 of TPIF-14 for example.
Severity This is specified by one of following values.
DEFAULT
STOP
STOPALL
ABORT
ABORTALL
Display This is specified by one of following values.
DEFAULT
ACTIVE
NODISP
NOERLOG
NOERLIN

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Note
Uninitialized ID is output as “****”. When data is set from file, lines whose ID is “****” are ignored.

4.8.26 Alarms That Do Not Turn on FAULT Signal

Identifier
ER_NOALM

Syntax
Identifier + item number + item name + value + terminator

Example

Detail
- The 2nd field, item number identifies the meaning of line data.
- The 3rd field, item name is just for explanation of the item. It is ignored when data is set from file.

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Item number Item name Description

1 No alarm enable(1/0) Enable/Disable of the function.
0 means that the function is disabled. 1 means enabled.
2 Number of error code The number of error codes that do not turn on FAULT signal.
3-42 Error code 1-40 Error code that does not turn on FAULT signal.
ID (facility code) that means kind of error *1000 + error number.
For example, 11007 corresponds to SRVO-007.
Please refer to error table screen of controller or comment just before
ER_TBL of output CSV file to know relationship between ID and kind
of alarm.

4.8.27 RSR
Identifier
RSR

Syntax
The 2nd field is item number. It identifies what the item is. Format depends on “item number” field.
In general, format is as follows. However, there may be 2 or more value fields.

Identifier + item number + item name + value + terminator

Example

Detail
- Among setting of RSR, settings that are related to RSR only are included in identifier “RSR”.
Acknowledge function, Acknowledge pulse width and Base number are included in identifier
“PRG_SEL”
- The 2nd field, item number identifies the meaning of line data.
- The 3rd field, item name is just for explanation of the item. It is ignored when data is set from file.

Item number Item name Description

1 RSR1 program number This line has 2 value fields.
The 1st one is specified by ENABLE or DISABLE.
The 2nd one is program number.
- This is specified by integer value of 0 or more.
- There is no maximum number check. But specify 9999 or less.
2 RSR2 program number Please refer to item number 1, RSR1 program number.
3 RSR3 program number
4 RSR4 program number

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Item number Item name Description

5 RSR5 program number
6 RSR6 program number
7 RSR7 program number
8 RSR8 program number
21 Job prefix Only 3 characters are recognized.

4.8.28 PNS
Identifier
PNS

Syntax
Identifier + Job prefix + terminator

Example

Detail
- Among setting of PNS, settings that are related to PNS only are included in identifier “PNS”.
Base number and Acknowledge pulse width are included in identifier “PRG_SEL”

Item Description
Job prefix Only 3 characters are recognized.

4.8.29 Program Selection Common

Identifier
PRG_SEL

Syntax
The 1st line
Identifier + Program select mode + terminator
The 2nd line
Empty field + Base number + Acknowledge function + Acknowledge pulse + terminator

The data set is always composed of 2 lines. You have to set above lines in this order and no lines can be
omitted.

Example

Detail

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Item Description
Program Selection mode This is specified by one of following values.
RSR
PNS
STYLE

If the other value is used when data is set from file, message “Illegal data “ is
displayed. “OTHER” is not supported.
Base number Base number of RSR and PNS.
This is specified by integer value of 0 or more.
Acknowledge function This field corresponds to “Acknowledge function” of RSR and Style. This is specified
by ENABLE or DISABLE.
Acknowledge pulse This field corresponds to Acknowledge pulse width of RSR, PNS and Style.

4.8.30 +Pendant Automatic Blanking of Backlight

Identifier
BLNK

Syntax
Identifier + ENABLE/DISABLE + Timer of blanking + terminator

Example

Detail

Item Description
ENABLE/DISABLE Enable/Disable of automatic blanking of +Pendant backlight.
This is specified by ENABLE or DISABLE.
Timer of blanking (minute) This is specified by integer value. Unit is minute.
Minimum value is 5. Maximum value is 1000.

4.9 TIPS FOR TROUBLE SHOOTING

When you use this function, the main cause of errors is data set from wrong formatted CSV. When you
encounter errors at data setting, please confirm contents of CSV file.
If format error is found, line number and error information is displayed.

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(A) “Illegal index”

This means wrong index is specified. For example, if you specify register index that does not exist, it can
causes this error.
In following example, register 2000 is specified. If it does not exist, error message is displayed when data
is set from file.

REM,Register
REM,Index,Comment,INT/REAL,value,!!!!(Terminator)
REG,2000,This is integer,INT,0,!!!!

(B) Illegal terminator

When terminator (!!!!) is expected at the end of line and it is not found, it causes error. In following
example, “!!!!” is replaced by “!!!”.

REM,Register
REM,Index,Comment,INT/REAL,value,!!!!(Terminator)
REG,1, !!! instead !!!!,INT,0,!!!

In following example, no string exists where terminator, “!!!!” is expected.

REM,Register
REM,Index,Comment,INT/REAL,value,!!!!(Terminator)
REG, 4,No !!!! is found,INT, 0

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(C) Illegal data

This is the most common error message that is displayed when unexpected data is found at setting data
from file. Following cases are examples.

- String is found where numeric value is expected.

REG, ABC, illegal index,INT, 0, !!!!

- Negative value is found where integer value that is 0 or more is expected.

REG, -1, illegal index,INT, 0, !!!!

- Unexpected value is found where keyword, ENABLE for example, is expected

BLNK,Neither DISABLE nor ENABLE,5,!!!!

(D) Illegal group

Wrong formatted data is found where group number should be specified by “GPn” (n is group number).
Following example causes error if it is used for 1 group system.

SYSC, 38,Hand broken,GP2,ENABLE,!!!!

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(E) Unknown data type

Proper identifier is not found where it is expected. In following example, INVALID is illegal identifier.
INVALID, 38,Hand broken,GP1,ENABLE,!!!!

(F) Illegal config

Position register of Cartesian data type specifies configuration data. If string of configuration is wrong,
this message is displayed. In following example, string of configuration of position register 2 is wrong.
PREG, 1,This is correct,!!!!
,GP1,XYZ,0,!!!!
, 1592.000, -.000, 1085.000,!!!!
, 180.000, -.000, .000,!!!!
,"N U T, 0, 0, 0",!!!!
PREG, 2,This is wrong,!!!!
,GP1,XYZ,0,!!!!
, 1592.000, -.000, 1085.000,!!!!
, 180.000, -.000, .000,!!!!
,"M U T, 0, 0, 0",!!!!
PREG, 3,,!!!!
,GP1,XYZ,U,!!!!

(G) %d is out of range(min, max)

This message is displayed when integer value displayed in place of %d is out of range. You may see the
other data, for example “illegal data” instead. In following example, 4 minute is specified as timer count
of +Pendant automatic blanking. However, minimum value is 5.

REM,iPendant automatic blanking

REM,ENABLE/DISABLE,Timer of blanking(minute),!!!!(Terminator)
BLNK,DISABLE,4,!!!!

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(H) Empty field does not exist at the head of line

If data for an identifier is composed of 2 or more lines, the 2nd or later lines must start with empty field
(field that does not have character). This message is displayed the empty field is not found. In following
example, the 2nd line starts with “0” because empty field is lost. It should be empty field.

REM,Program Selection common

REM,Program select mode,!!!!(Terminator)
REM,Base number,Acknowledge function,Acknowledge pulse width,!!!!(Terminator)
PRG_SEL,PNS,!!!!
0,DISABLE, 400,!!!!

4.10 CAUTIONS FOR SETTING DATA FROM FILE

Removal of space
When data is set from file, leading and trailing spaces are removed in most cases. Following cases are
examples.
(A) Fields that expect numeric value
(B) Fields that expect keywords (ENABLE for example)
(C) Fields that expect program name
(D) Empty field at the head of line

Following cases are example of field whose leading and trailing spaces are not removed.
(A) Comment
(B) Macro name
(C) Host name
(D) Message of user alarm

Read of keyword
Many fields expect keywords like ENABLE and DISABLE. Because keywords are defined in capital
letters, please write keywords in capital letters. When ENABLE is expected, enable is not allowed.

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The number of settings

Robot controller can change the number of some kinds of setup data. For example, you can change the
number of registers. This function does not change the number of such data. If you copy setting of a robot
controller to another one by this function, please note that make the number of settings match by yourself.

Use of 2byte character at the end of comment

Comment has limited length. If the last byte is the 1st byte of Chinese character, it is replaced to space.
For example, maximum length of register comment is 16. If 16 and 17 bytes of comment fields is Chinese
character, space is set as the 16th byte.

Set of real number

When real number is set from CSV file, there is precision error.

Scientific notation
Scientific notation, 9.999E+5 for example, is not supported.

4.11 EDIT BY Microsoft® Excel®

CSV file can be edited by Microsoft® Excel®. However, data that you do not edit can be changed
automatically. Please confirm that data is correct.

4.11.1 String That is Recognized as Long Numeric Value

Suppose that position 3 (P[3]) of program PNS0001 has comment “1234567890123456”.
This function output the data as follows.
REM,Comment of Position data
REM,Program name,Position number,Comment,!!!!(Terminator)
POS,PNS0001 , 3,1234567890123456,!!!!

However, if it is opened by Microsoft® Excel®, you may see data like following figure.

If file is saved in this state, comment is changed even though user does not change it.
REM,Comment of Position data,,,
REM,Program name,Position number,Comment,!!!!(Terminator)
POS,PNS0001 ,3,1.23457E+15,!!!!

Scientific notation is not supported. Please confirm that scientific notation is not used if you have this
kind of data.

4.12 MORE INFORMATION ABOUT CSV FILE FORMAT

Line of CSV file
ASCII data written in CSV file is separated by “,” (comma). At the end of line, “,” does not exist. “CR,
LF” is recorded instead. Both CR and LF are control code. CR is carriage return. LF is line feed. If you
use “,” in data itself, data should be sandwiched by “ (double quotation). If “ (double quotation) is used in
data, data should be sandwiched by “ and you should add double quotation after double quotation as data.

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REM,Register
REM,Index,Comment,INT/REAL,value,!!!!(Terminator)
REG, 1,work count,INT, 0,!!!!
REG, 2,"work1, work2",REAL, 1.230,!!!!
REG, 3,"Work ""A"" done",INT, 0,!!!!

Display by Microsoft® Excel®

End of CSV file

CSV file needs END “CR, LF” line. Following is sample of text file data.

REM,Register
REM,Index,Comment,INT/REAL,value,!!!!(Terminator)
REG, 1,work count,INT, 0,!!!!
REG, 2,"work1, work2",REAL, 1.230,!!!!
REG, 3,"Work ""A"" done",INT, 0,!!!!
REG, 4,,INT, 0,!!!!

REM,PNS
REM,Job prefix,!!!!(Terminator)
PNS,PNS,!!!!

REM,Program Selection common

REM,Program select mode,!!!!(Terminator)
REM,Base number,Acknowledge function,Acknowledge pulse width,!!!!(Terminator)
PRG_SEL,PNS,!!!!
, 0,DISABLE, 400,!!!!

REM,iPendant automatic blanking

REM,ENABLE/DISABLE,Timer of blanking(minute),!!!!(Terminator)
BLNK,DISABLE,5,!!!!

END

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4.12.1 Example of Whole File

REM,Register
REM,Index,Comment,INT/REAL,value,!!!!(Terminator)
REG, 1,work counter,INT, 0,!!!!

REM,Position register
REM,Index,Comment,!!!!(Terminator)
REM,Group(GPn),Type,The number of extended axis/total axis,!!!!(Terminator)
REM,X/J1,Y/J2,Z/J3,!!!!(Terminator)
REM,W/J4,P/J5,R/J6,!!!!(Terminator)
REM,E1,E2,E3,!!!!(Terminator)
REM,Config,!!!!(Terminator)
PREG, 1,The 1st home pos,!!!!
,GP1,JPOS,6,!!!!
, .000, -51.477, -22.417,!!!!
, .000, -67.583, -.000,!!!!

REM,I/O Comment (DO)

REM,Index,Comment,!!!!(Terminator)
DO, 1,Door 1 open,!!!!

REM,User alarm
REM,Index,Alarm message,Alarm severity,!!!!(Terminator)
UALM,1,Door 1 is open,WARN,!!!!
UALM,2,This is STOP.L,STOP.L,!!!!
UALM,3,This is STOP.G,STOP.G,!!!!
UALM,4,This is ABORT.L,ABORT.L,!!!!
UALM,5,This is ABORT.G,ABORT.G,!!!!
UALM,6,,STOP.L,!!!!
UALM,7,,STOP.L,!!!!
UALM,8,,STOP.L,!!!!
UALM,9,,STOP.L,!!!!
UALM,10,,STOP.L,!!!!

END

4.12.2 Comment (REM) in CSV File

REM, This is example of comment
REM, When this function output CSV file
REM, Comment to show format is added

4.12.3 END of CSV File

END

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4.12.4 Register
REM,Register
REM,Index,Comment,INT/REAL,value,!!!!(Terminator)
REG, 1,This is integer,INT, 0,!!!!
REG, 2,This is real,REAL, 1.230,!!!!

4.12.5 Position Register

REM,Position register
REM,Index,Comment,!!!!(Terminator)
REM,Group(GPn),Type,The number of extended axis/total axis,!!!!(Terminator)
REM,X/J1,Y/J2,Z/J3,!!!!(Terminator)
REM,W/J4,P/J5,R/J6,!!!!(Terminator)
REM,E1,E2,E3,!!!!(Terminator)
REM,Config,!!!!(Terminator)
PREG, 1,Ex. cartesian,!!!!
,GP1,RXYZ,3,!!!!
, 1807.000, 0.000, 1300.000,!!!!
, 180.000, -90.000, 0.000,!!!!
, 0.000, 0.000, 0.000,!!!!
,"N U T, 0, 0, 0",!!!!
,GP2,XYZ,0,!!!!
, 1807.000, 0.000, 1300.000,!!!!
, 180.000, -90.000, 0.000,!!!!
,"N U T, 0, 0, 0",!!!!
PREG, 2,Ex. joint pos,!!!!
,GP1,JPOS,9,!!!!
, 1.000, 2.000, 3.000,!!!!
, 4.000, 5.000, 6.000,!!!!
, 7.000, 8.000, 9.000,!!!!
,GP2,JPOS,6,!!!!
, 10.000, 20.000, 30.000,!!!!
, 40.000, 50.000, 60.000,!!!!
PREG, 3,,!!!!
,GP1,RXYZ,U,!!!!
,GP2,XYZ,U,!!!!

4.12.6 Comment of I/O

REM,I/O Comment (DI)
REM,Index,Comment,!!!!(Terminator)
DI, 1,Door 1 open,!!!!

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4.12.7 Assignment of I/O

Following text is an example of DI. DO, UI and UO have similar format.
REM,I/O Assign (DI)
REM,Index,Rack number,Slot number,Start point,Number of points,!!!!(Terminator)
DIA,1,0,1,19,8,!!!!

Following text is an example of GI. GO has similar format.

REM,I/O Assign (GI)
REM,Index,Rack number,Slot number,Start point,Number of points,!!!!(Terminator)
GIA,5,0,2,25,10,!!!!

Following text is an example AI. AO has similar format.

REM,I/O Assign (AI)
REM,Index,Rack number,Slot number,Channel,Number of points,!!!!(Terminator)
AIA,1,0,1,1,1,!!!!

4.12.8 Comment of Program

REM,Program
REM,Program name,Type,Comment,!!!!(Terminator)
PRG,PNS0001 ,TP,Body 1,!!!!

4.12.9 Comment of Position (P[ ]) of Program

REM,Comment of Position data
REM,Program name,Position number,Comment,!!!!(Terminator)
POS,PNS0001 , 1,Home position,!!!!
POS,PNS0001 , 2,,!!!!

4.12.10 User Alarm

REM,User alarm
REM,Index,Alarm message,Alarm severity,!!!!(Terminator)
UALM,1,This is WARN,WARN,!!!!
UALM,2,This is STOP.L,STOP.L,!!!!
UALM,3,This is STOP.G,STOP.G,!!!!
UALM,4,This is ABORT.L,ABORT.L,!!!!
UALM,5,This is ABORT.G,ABORT.G,!!!!

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4.12.11 MACRO
REM,Macro
REM,Index,Macro name,Program name,Assign type,Index,!!!!(Terminator)
MCR, 1,Sample macro1,AA_01,NO, 0,!!!!
MCR, 2,Sample macro2,AA_02,UK, 1,!!!!
MCR, 3,Sample macro3,AA_03,SU, 2,!!!!
MCR, 4,Sample macro4,AA_04,MF, 1,!!!!
MCR, 5,Sample macro5,AA_05,SP, 4,!!!!
MCR, 6,Sample macro6,AA_06,DI, 1,!!!!
MCR, 7,Sample macro7,AA_07,RI, 1,!!!!
MCR, 8,Sample macro8,AA_08,UI, 7,!!!!
MCR, 9,Sample macro9,AA_09,F, 1,!!!!
MCR, 10,Sample macro10,AA_10,M, 1,!!!!

4.12.12 Frame
REM,Tool Frame
REM,Group(GPn),Index,Comment,!!!!(Terminator)
REM,X,Y,Z,!!!!(Terminator)
REM,W,P,R,!!!!(Terminator)
TFRM,GP1, 1,Eoat1,!!!!
, 0.000, 0.000, 0.000,!!!!
, 0.000, 0.000, 0.000,!!!!

4.12.13 Reference Position

REM,Reference position
REM,Group(GPn),Index,Comment,ENABLE/DISABLE,Is a valid Home,Signal
type,Signal Index,!!!!(Terminator)
REM,J1-J9 position,Tolerance,!!!!(Terminator)
REFP,GP1,1,Base 1 start,DISABLE,DISABLE,DO, 2,!!!!
, 0.000, 2.000,!!!!
, -40.000, 2.000,!!!!
, 0.000, 2.000,!!!!
, 0.000, 2.000,!!!!
, -90.000, 2.000,!!!!
, 0.000, 2.000,!!!!
, 0.000, 0.000,!!!!
, 0.000, 0.000,!!!!
, 0.000, 0.000,!!!!

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4.12.14 Payload
REM,Payload
REM,Group(GPn),Index,Comment,Payload[kg],!!!!(Terminator)
REM,Center X,Cneter Y,Center Z,!!!!(Terminator)
REM,Inertia X,Inertia Y,Inertia Z,!!!!(Terminator)
PLD,GP1, 1,Payload Example, 100.00,!!!!
, 10.00, 20.00, 30.00,!!!!
, 4.00, 5.00, 6.00,!!!!

4.12.15 Armload
REM,Arm load
REM,Group(GPn),ARM LOAD AXIS#1,ARM LOAD AXIS#3,!!!!(Terminator)
ALD,GP1, 10.00, 10.23,!!!!

4.12.16 Space Check Function

REM,Space check function
REM,Group(GPn),Index,Comment,!!!!(Terminator)
REM,ENABLE/DISABLE,Output Type,Output Index,Input Type,Input
Index,!!!!(Terminator)
REM,Priority(HIGH/LOW),INSIDE/OUTSIDE,length/vertex,UF n,UT
n,!!!!(Terminator)
REM,Base X,Base Y,Base Z,!!!!(Terminator)
REM,2nd/Length X,2nd/Length Y,2nd/Length Z,!!!!(Terminator)
RSP,GP1, 1,Space1,!!!!
,DISABLE,DO, 10,DI, 12,!!!!
,HIGH,INSIDE,LENGTH, 0, 1,!!!!
, 1600.0, 500.0, 1200.0,!!!!
, 150.0, 200.0, 300.0,!!!!

4.12.17 Automatic Backup

REM,Automatic Backup
REM,Item number,Item name,value,!!!!(Terminator)
ATBK, 1,Automatic Backup,ENABLE,!!!!
ATBK, 2,Device,MC:¥SUB2¥,!!!!
ATBK, 3,Backup Time 1,**:**,!!!!
ATBK, 4,Backup Time 2,**:**,!!!!
ATBK, 5,Backup Time 3,**:**,!!!!
ATBK, 6,Backup Time 4,**:**,!!!!
ATBK, 7,Backup Time 5,**:**,!!!!
ATBK, 8,Backup at DI rising, 0,!!!!
ATBK, 9,Backup at Power up,ENABLE,!!!!
ATBK, 10,Interval, 7,DAY,!!!!
ATBK, 11,Backup in progress, 0,!!!!
ATBK, 12,Error occurs at backup, 0,!!!!

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4.12.18 System Config

REM,System config
REM,Item number,Item name,value,!!!!(Terminator)
SYSC, 1,Use HOT START,ENABLE,!!!!
SYSC, 2,I/O power fail recovery,RECOVER ALL,!!!!
SYSC, 3,COLD START Autoexec program,,!!!!
SYSC, 4,HOT START Autoexec program,,!!!!
SYSC, 5,HOT START done signal, 0,!!!!
SYSC, 6,Restore selected program,ENABLE,!!!!
SYSC, 7,Enable UI signals,ENABLE,!!!!
SYSC, 8,START for CONTINUE only,DISABLE,!!!!
SYSC, 9,CSTOPI for ABORT,DISABLE,!!!!
SYSC, 10,Abort all programs by CSTOPI,DISABLE,!!!!
SYSC, 11,PROD_START depend on PNSTROBE,DISABLE,!!!!
SYSC, 12,Detect FAULT_RESET signal,FALL,!!!!
SYSC, 13,Use PPABN signal,GP1,DISABLE,!!!!
SYSC, 14,WAIT timeout, 30.00,!!!!
SYSC, 15,RECEIVE timeout, 30.00,!!!!
SYSC, 16,Return to top of program,ENABLE,!!!!
SYSC, 17,Original program name,F1,RSR,!!!!
SYSC, 17,Original program name,F2,PNS,!!!!
SYSC, 17,Original program name,F3,STYLE,!!!!
SYSC, 17,Original program name,F4,JOB,!!!!
SYSC, 17,Original program name,F5,TEST1234,!!!!
SYSC, 18,Default logical command,F2,, 4,!!!!
SYSC, 18,Default logical command,F3,, *,!!!!
SYSC, 18,Default logical command,F4,, *,!!!!
SYSC, 19,Maximum of ACC instruction, 150,!!!!
SYSC, 20,Minimum of ACC instruction, 0,!!!!
SYSC, 21,Auto display of alarm menu,DISABLE,!!!!
SYSC, 22,Force Message,ENABLE,!!!!
SYSC, 23,Allow Force I/O in AUTO mode,ENABLE,!!!!
SYSC, 24,Allow chg. ovrd. in AUTO mode,ENABLE,!!!!
SYSC, 25,Signal to set in AUTO mode, 0,!!!!
SYSC, 26,Signal to set in T1 mode, 0,!!!!
SYSC, 27,Signal to set in T2 mode, 0,!!!!
SYSC, 28,Signal to set if E-STOP, 0,!!!!
SYSC, 29,Set if INPUT SIMULATED, 0,!!!!
SYSC, 30,Set if OUTPUT SIMULATED, 0,!!!!
SYSC, 31,Sim. Input Wait Delay, 0.00,!!!!
SYSC, 32,Set if SIm. Skip Enabled, 0,!!!!
SYSC, 33,Set when prompt displayed, 0,!!!!
SYSC, 34,WAIT for DI range, 0, 0,!!!!
SYSC, 35,WAIT for DI time, 0.00,!!!!
SYSC, 36,WAIT for DI output, 0,!!!!
SYSC, 37,Signal if OVERRIDE = 100, 0,!!!!
SYSC, 38,Hand broken,GP1,ENABLE,!!!!
SYSC, 39,Remote/Local setup,OP PANEL KEY,!!!!
SYSC, 40,External I/O(ON:Remote),DI, 0,!!!!
SYSC, 41,Multi Program Selection,DISABLE,!!!!

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4.12.19 Program Timer

REM,Program timer
REM,Index,Timer count,Comment,!!!!(Terminator)
PTIM, 1, 12.50,Cycle time,!!!!

4.12.20 String Register

REM,String register
REM,Index,String,Comment,!!!!(Terminator)
SREG, 1,String value of SREG[1],SREG[1] comment,!!!!

4.12.21 Battery Alarm

REM,Battery alarm
REM,Consider battery of mechanical unit,!!!!(Terminator)
BLAL,ENABLE,!!!!

4.12.22 Override Select

REM,Override select
REM,ENABLE/DISABLE,Signal 1,Signal 2,!!!!(Terminator)
REM,OFF_OFF,OFF_ON,ON_OFF,ON_ON,!!!!(Terminator)
OVSL,DISABLE, 1, 2,!!!!
, 10, 20, 50, 100,!!!!

4.12.23 Warn/Reset in Alarm History

REM,Warn/Reset in alarm history
REM,WARN not recorded,RESET not recorded,!!!!(Terminator)
NOHIS,0,0,!!!!

4.12.24 TCP/IP
REM,TCP/IP
REM,Item number,Item name,value,!!!!(Terminator)
TCPIP, 1,Host name,ROBOT,!!!!
TCPIP, 2,IP address(port1),[Link],!!!!
TCPIP, 3,IP address(port2),****,!!!!
TCPIP, 4,Subnet Mask (port1),[Link],!!!!
TCPIP, 5,Subnet Mask (port2),[Link],!!!!
TCPIP, 6,Router IP Address,[Link],!!!!

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4.12.25 TCP/IP Host (Local)

REM,TCP/IP Local host
REM,Index,Host name,IP Address,!!!!(Terminator)
TCPIP_HL,1,TestHost,[Link],!!!!
TCPIP_HL,2,****,****,!!!!

4.12.26 Error Table

REM,Error Table
REM,Facility Code list
REM,0,OS ,1,SRIO,2,FILE,3,PROG,4,COND
REM,5,ELOG,6,MCTL,7,MEMO,8,GUID,9,TPIF
REM,10,FLPY,11,SRVO,12,INTP,13,PRIO,14,TPAX
REM,15,MOTN,16,VARS,17,ROUT,18,WNDW,19,JOG
REM,20,APPL,21,LANG,22,ASBN,23,SPOT,24,SYST
REM,25,SCIO,26,PALT,27,UAPL,28,PMON,29,TOOL
REM,30,SVGN,31,PWD ,32,VISN,33,DICT,34,KCLI
REM,35,TRAN,36,TKSP,37,COPT,38,APSH,39,ISD
REM,40,DMER,41,MHND,42,CMND,43,RPM ,44,LNTK
REM,45,WEAV,46,TCPP,47,TAST,48,MUPS,49,MIGE
REM,50,LSR ,51,SEAL,52,PAIN,53,ARC ,54,TRAK
REM,55,CALB,56,SP ,57,MACR,58,SENS,59,COMP
REM,60,THSR,61,QMGR,62,ELSE,63,ELSE,64,DJOG
REM,65,OPTN,66,HRTL,67,HOST,68,MENT,69,SSPC
REM,70,FIG ,71,LDG ,72,DX ,73,CNTR,74,LODC
REM,75,PFMS,76,DNET,77,GBOX,78,PAL2,79,SHAP
REM,80,ATCP,81,CART,82,CD ,83,MARL,84,DMDR
REM,85,FRSY,86,PNT1,87,FLEX,88,IB-S,89,RTCP
REM,90,TG ,91,FORC,92,PROF,93,RPC ,94,VC
REM,95,ISDT,96,GUI ,97,CUST,98,POST,99,ELSE
REM,100,NTOS,101,,102,ATGP,103,WMAP,104,ASST
REM,105,FIND,106,CALM,107,,108,LSTP,109,LECO
REM,110,MLOG,111,APC ,112,ACAL,113,TPCL,114,CPMO
REM,115,PALL,116,TJOG,117,CVIS,118,BBOX,119,TMAT
REM,120,TANG,121,DPMO,122,KALM,123,,124,
REM,125,,126,,127,,128,ELSE,129,XMLF
REM,130,RIPE,131,SPRM,132,PICK,133,,134,
REM,135,SVTL,136,FXTL,137,PNT2,138,ATZN,139,VDIG
REM,140,PTPG,141,SYMR,142,TEST,143,SENC,144,BRCH
REM,145,FPLN,146,****
REM,Index,Facility Code,Error code,Severity,Display,!!!!(Terminator)
ER_TBL,1,11,1,DEFAULT,DEFAULT,!!!!
ER_TBL,2,50,1,STOP,DEFAULT,!!!!
ER_TBL,3,50,2,STOPALL,DEFAULT,!!!!
ER_TBL,4,50,3,ABORT,DEFAULT,!!!!
ER_TBL,5,50,4,ABORTALL,DEFAULT,!!!!
ER_TBL,6,50,5,DEFAULT,ACTIVE,!!!!
ER_TBL,7,50,6,DEFAULT,NODISP,!!!!
ER_TBL,8,50,7,DEFAULT,NOERLOG,!!!!
ER_TBL,9,50,8,DEFAULT,NOERLIN,!!!!

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4.12.27 Alarms That Do Not Turn on FAULT Signal

REM,ER_NO_ALM
REM,Item number,Item name,value,!!!!(Terminator)
ER_NOALM, 1,No alarm enable(1/0), 0,!!!!
ER_NOALM, 2,Number of error code, 5,!!!!
ER_NOALM, 3,Error code 1, 11001,!!!!
ER_NOALM, 4,Error code 2, 11002,!!!!
ER_NOALM, 5,Error code 3, 11003,!!!!
ER_NOALM, 6,Error code 4, 11007,!!!!
ER_NOALM, 7,Error code 5, 11037,!!!!
ER_NOALM, 8,Error code 6, 0,!!!!
ER_NOALM, 9,Error code 7, 0,!!!!
(snip)
ER_NOALM, 40,Error code 38, 0,!!!!
ER_NOALM, 41,Error code 39, 0,!!!!
ER_NOALM, 42,Error code 40, 0,!!!!

4.12.28 RSR
REM,RSR
REM,Item number,Item name,value,!!!!(Terminator)
RSR, 1,RSR1 program number,ENABLE,0,!!!!
RSR, 2,RSR2 program number,ENABLE,0,!!!!
RSR, 3,RSR3 program number,ENABLE,0,!!!!
RSR, 4,RSR4 program number,ENABLE,0,!!!!
RSR, 5,RSR5 program number,DISABLE,0,!!!!
RSR, 6,RSR6 program number,DISABLE,0,!!!!
RSR, 7,RSR7 program number,DISABLE,0,!!!!
RSR, 8,RSR8 program number,DISABLE,0,!!!!
RSR, 21,Job prefix,RSR,!!!!

4.12.29 PNS
REM,PNS
REM,Job prefix,!!!!(Terminator)
PNS,PNS,!!!!

4.12.30 Program Selection Common

REM,Program Selection common
REM,Program select mode,!!!!(Terminator)
REM,Base number,Acknowledge function,Acknowledge pulse width,!!!!(Terminator)
PRG_SEL,PNS,!!!!
, 0,DISABLE, 400,!!!!

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4.12.31 +Pendant Backlight Automatic Blanking

REM,iPendant automatic blanking
REM,ENABLE/DISABLE,Timer of blanking(minute),!!!!(Terminator)
BLNK,DISABLE,5,!!!!

4.13 CAUTION
Insert Memory card (and the like) before use
This function uses current directory of current file device. Please use this function after files in current
directory of current device are ready to read and write.

Current directory
and file device

For example, do not output file to MC: without “Flash ATA card” inserted. Alarms, “File-055 MC not
detected” for example, are posted. On USER alarm screen, file output looks complete but actually not.
Alarm is posted.

Use of current directory

This function uses current directory of current file device. Please confirm where current directory is. In
addition, do not change current directory while using this function.

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Current directory
and file device

For example, suppose you remove Flash ATA card when subdirectory of MC: is selected. This causes
change of current directory to root of MC:. If you would like to use subdirectory after you insert Flash
ATA card again, you have to select subdirectory again in file screen.

Cycle power after set of data

You have to cycle power after setting data from CSV file.

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5 TPP MEMORY ASSIST

In some cases program memory is run out. For example, if there are many kinds of work pieces, you may
have enough programs for them to run out of memory. TPP memory assist is very useful under such
circumstances. It allows you to save TP programs to external device, load them from it and delete them
from the robot controller according to specified file list. In following sections, external device is memory
card.

NOTE
･ Alarm is posted in the case that no existed programs are listed in the specified
file list or abnormal parameter is specified.
･ Before using this function files in memory card must be saved for deleting by
miss operation.
･ KAREL programs are not supported power failure recovery. If power is turned
off when the KAREL program of this function is running please set the cursor
onto a line before CALL instruction and execute again.
In case of executing again delete program function, it is no problem to display
“** does not exist” to USER screen when already deleted program is going to
be deleted.

5.1 FILE LIST OF TPP MEMORY ASSIST

You should create file list before using TPP memory assist function. Its name is [Link] at this
explanation as an example. File list name is allowed to change. Extension must be DT. Save [Link] to
root directory of memory card. Change file device to memory card in FILE screen. Please refer to “FILE
INPUT/OUTPUT UNITS” section of each application tool manual to change device.

Suppose the content of MC:¥[Link] is as follows. Create TP programs that listed in it.
＜MC:¥[Link]＞

[Link]
Insert line feed after
[Link]
program name.
[Link]
And also insert it at the
[Link]
end of the file list

NOTE
･ Line feed must be inserted to the end of the file list.
･ Only one program per one line must be written.
･ Do not insert space before or after the program. Program name must be written
at the head of line. Line feed must insert just after the program name.
･ Maximum of program name is 36 characters. Please refer to application tool
manual to know detail of program name.
･ Extension of file list must be DT.

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5.2 LOAD PROGRAM

Program name: load
1st parameter : File list name (without extension) to load programs from memory card to the robot
controller. String.

Load TP programs according to the file list of 1st parameter.

Sample: CALL LOAD(‘LIST’)

NOTE
If the same program name exists in the robot controller, it is overwritten.

5.3 SAVE PROGRAM

Program name: save
1st parameter : File list name (without extension) to save programs from the robot controller to
memory card. String.

Save TP programs according to the file list of 1st parameter.

Sample: CALL SAVE(‘LIST’)

NOTE
If the same program name exists in the memory card, it is overwritten.

5.4 DELETE PROGRAM

Program name: delete
1st parameter : File list name (without extension) to delete programs the robot controller from to
memory card. String.

Delete TP programs according to the file list of 1st parameter.

Sample: CALL DELETE(‘LIST’)

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6 OTHERS
This chapter describes about functions classified into “OTHERS”.

6.1 USER SPECIFIED ALARM POST

This function allows you to post user own alarm such as user alarm. However this is different from user
alarm in that it can change the alarm number. Alarm ID is KALM, ID = 122. It allows you to change the
message along with the status of running TP programs. It allows you to identify the alarm number
remotely to output it to external.

Range Usable alarm number

Global 1~200
Local 201~300

Global or local indicates the range in which an alarm is issued when more than on program is executed,
multitasking function.
Global: An alarm is issued to all programs.
Local: An alarm is issued only to the program that caused the alarm.

6.1.1 Global Alarm Post

Program name: strbergl
1st parameter : Alarm number to post. Integer from 1 to 200.
2nd parameter : String to post. If integer 0 is specified, NULL string is posted.
3rd parameter : Alarm severity. Integer. Correspondence table of severity and 3rd parameter is
following.
Correspondence table of severity and 3rd parameter
3rd parameter Alarm severity Program Robot operation Power to servo system
0 STOP.G decelerate the robot slowly until it
pause
stops
1 WARN none none none
2 PAUSE.G decelerate the robot slowly until it
3 STOP.G pause stops
4 SERVO stop the robot immediately off
Refer to “EXECUTION A PROGRAM” chapter to know detail of alarm severity.
It is the same behavior when 0 or 3 are specified by the 3rd parameter.

Sample: CALL STRBERGL(1, ‘Body Error’, 2) -> “KALM - 001 Body Error” is posted with PAUGE.G
severity.

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6.1.2 Local Alarm Post

Program name: strberlo
1st parameter : Alarm number to post. Integer from 201 to 300.
2nd parameter : String to post. If integer 0 is specified, NULL string is posted.
3rd parameter : Alarm severity. Integer. Correspondence table of severity and 3rd parameter is
following.
Correspondence table of severity and 3rd parameter
3rd parameter Alarm severity Program Robot operation Power to servo system
0 STOP.L
decelerate the robot slowly until it
1 PAUSE.L pause none
stops
2 STOP.L
Refer to “EXECUTION A PROGRAM” chapter to know detail of alarm severity.
It is the same behavior when 0 or 2 are specified by the 3rd parameter.

Sample: CALL STRBERLO(250, ‘Body Error’, 2) -> “KALM - 250 Body Error” is posted with
PAUGE.L severity.

6.2 GET DATE, TIME

Following is the cases that it is useful to use this function.
･ Change the light of vision system along with specified time.
･ Doing maintenance to the save date or time.

6.2.1 GET DATE

Program name: gtrbdate
1st parameter : Register number to output year. Positive integer. If 0 is specified no year is output.
2nd parameter : Register number to output month. Positive integer. If 0 is specified no month is
output.
3rd parameter : Register number to output day. Positive integer. If 0 is specified no day is output.

This function is to get date and output it to specified registers.

Year is output XX part of 20XX.

Sample: CALL GTRBDATE(1, 2, 3) -> R[1] = 10, R[2] = 12, R[3] = 14 (if it is 2010/12/14)

6.2.2 GET TIME

Program name: gtrbtime
1st parameter : Register number to output hour. Positive integer. If 0 is specified no hour is output.
2nd parameter : Register number to output minute. Positive integer. If 0 is specified no minute is output.
3rd parameter : Register number to output second. Positive integer. If 0 is specified no second is
output.

This function is to get time and output it to specified registers. Second date is output at intervals of 2
seconds.

Sample: CALL GTRBTIME(1, 2, 3) -> R[1] = 18, R[2] = 30, R[3] = 24 (if it is [Link])

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6.3 GET CURRENT

NOTE
This function gets and outputs current at the time of it is called. Register value is
not updated along with change of current automatically.

Program name: gtaxscur

1st parameter : Group number. Positive integer.
2nd parameter : Axis number of specified group as 1st parameter. Positive integer.
3rd parameter : Register number. Positive integer.

This function gets current value of specified axis of specified group and output the value to specified
register. The group axis is specified by the 1st and 2nd parameter respectively. The register is specified
by the 3rd parameter. Unit of current is A.

Sample: CALL GTAXSCUR(1, 1, 1) -> R[1] = 22.708 (If current of G1, J1 is 22.708A)

6.4 GET TORQUE

NOTE
This function gets and outputs torque at the time of it is called. Register value is
not updated along with change of torque automatically.

This function gets and output following data to register.

･ “Current” value in disturbance torque screen (MENUS key -> 0-- NEXT -- -> 4 STATUS -> NEXT
key -> F4[DISTURB]).
･ “Ave.” and “Max” values in monitor screen (MENUS key -> 0-- NEXT -- -> 4 STATUS -> NEXT key
-> F2[MONITOR]).

6.4.1 Get “Current” of Disturbance Torque Screen

Program name: gtdtbtrq
1st parameter : Group number. Positive integer.
2nd parameter : Axis number of specified group as 1st parameter. Positive integer.
3rd parameter : Register number. Positive integer.

This function gets “Current” value of specified axis of specified group in disturbance torque screen and
output the value to specified register. The group and axis are specified by the 1st and 2nd parameter
respectively. The register is specified by the 3rd parameter. Unit of current is A.

Sample: CALL GTDTBTRQ(1, 1, 1) -> R[1] = 1.01 (If current of G1, J1 is 1.01A)

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6.4.2 Get “Ave.” of Monitor Screen

Program name: gttrqave
1st parameter : Group number. Positive integer.
2nd parameter : Axis number of specified group as 1st parameter. Positive integer.
3rd parameter : Register number. Positive integer.

This function gets “Ave.” value of specified axis of specified group in monitor screen and output the
value to specified register. The group and axis are specified by the 1st and 2nd parameter respectively.
The register is specified by the 3rd parameter. Unit of current is A.

Sample: CALL GTTRQAVE(1, 1, 1) -> R[1] = 16.02 (If “Ave.” value of G1, J1 is 16.02A)

6.4.3 Get “Max.” of Monitor Screen

Program name: gttrqmax
1st parameter : Group number. Positive integer.
2nd parameter : Axis number of specified group as 1st parameter. Positive integer.
3rd parameter : Register number. Positive integer.

This function gets “Max.” value of specified axis of specified group in monitor screen and output the
value to specified register. The group and axis are specified by the 1st and 2nd parameter respectively.
The register is specified by the 3rd parameter. Unit of current is A.

Sample: CALL GTTRQMAX(1, 1, 1) -> R[1] = 58.719 (If “Max.” value of G1, J1 is 58.719A)

6.5 CHECK I/O SIMULATED STATUS

It allows you to check I/O simulated status. It allows you to prevent forgetting to unsimulate after
simulating I/O to modify TP program.

6.5.1 Check DI/O Simulated Status

Program name: ckdiosim
1st parameter : Specifying input or output. Positive integer. 1 is DI, 2 is DO.
2nd parameter : I/O number to check. Positive integer.
3rd parameter : Register number to output result. Positive integer. If unsimulated, 0 is output. If
simulated, 1 is output.

This function checks DI/O simulated status. In case that integer 0 is specified by the 2nd parameter, it
checks all of DI/O simulated status from 1 to the value set in “Max. number setting screen”, and if one or
more I/O is simulated status 1 is output to register.
Its screen is selected in controlled start menu. Refer to “SPECIAL OPERATION” chapter in application
tool manual to know detail of it.

Sample: CALL CKDIOSIM(1, 1, 1) -> R[1] = 1 (If DI[1] is simulated.)

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6.5.2 Check AI/O Simulated Status

Program name: ckaiosim
1st parameter : Specifying input or output. Positive integer. 1 is AI, 2 is AO.
2nd parameter : I/O number to check. Positive integer.
3rd parameter : Register number to output result. Positive integer. If unsimulated, 0 is output. If
simulated, 1 is output.

This function checks AI/O simulated status. In case that integer 0 is specified by the 2nd parameter, it
checks all of AI/O simulated status from 1 to 64, and if one or more I/O is simulated status 1 is output to
register.

Sample: CALL CKAIOSIM(1, 1, 1) -> R[1] = 1 (If AI[1] is simulated.)

6.5.3 Check GI/O Simulated Status

Program name: ckgiosim
1st parameter : Specifying input or output. Positive integer. 1 is GI, 2 is GO.
2nd parameter : I/O number to check. Positive integer.
3rd parameter : Register number to output result. Positive integer. If unsimulated, 0 is output. If
simulated, 1 is output.

This function checks GI/O simulated status. In case that integer 0 is specified by the 2nd parameter, it
checks all of GI/O simulated status from 1 to 64, and if one or more I/O is simulated status 1 is output to
register.

Sample: CALL CKGIOSIM(1, 1, 1) -> R[1] = 1 (If GI[1] is simulated.)

6.5.4 Check RI/O Simulated Status

Program name: ckriosim
1st parameter : Specifying input or output. Positive integer. 1 is RI, 2 is RO.
2nd parameter : I/O number to check. Positive integer.
3rd parameter : Register number to output result. Positive integer. If unsimulated, 0 is output. If
simulated, 1 is output.

This function checks RI/O simulated status. In case that integer 0 is specified by the 2nd parameter, it
checks all of RI/O simulated status from 1 to the value of group number * 8, and if one or more I/O is
simulated status 1 is output to register. For instance, if there are 3 groups a maximum of 24 points are
checked.

Sample: CALL CKRIOSIM(1, 1, 1) -> R[1] = 1 (If RI[1] is simulated.)

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6.5.5 Check WI/O Simulated Status

Program name: ckwiosim
1st parameter : Specifying input or output. Positive integer. 1 is WI, 2 is WO.
2nd parameter : I/O number to check. Positive integer.
3rd parameter : Register number to output result. Positive integer. If unsimulated, 0 is output. If
simulated, 1 is output.

This function checks WI/O simulated status. In case that integer 0 is specified by the 2nd parameter, it
checks all of WI/O simulated status from 1 to 32, and if one or more I/O is simulated status 1 is output to
register.

Sample: CALL CKWIOSIM(1, 1, 1) -> R[1] = 1 (If WI[1] is simulated.)

6.6 UNSIMULATE I/O

NOTE
This function is enabled in only the case that “Digital/Analog I/O:” in test cycle
setup screen is ENABLE. If it is DISABLE it cannot unsimlate I/O by this function.
Selecting following show test cycle setup screen.
MENUS -> 2 TEST CYCLE -> F1[TYPE] -> Setup.

WARNING
The controller uses signals to control the peripheral equipment. The simulated
I/O may adversely affect the security of the system. Check the use of signals in
the system before attempting simulated I/O. In some cases it is very dangerous
that to unsimulate I/O causes running the robot or peripheral.

6.6.1 Unsimulate DI/O

Program name: crdiosim
1st parameter : Specifying input or output. Positive integer. 1 is DI, 2 is DO.
2nd parameter : I/O number to check. Positive integer.

This function unsimulates DI/O. In case that integer 0 is specified by the 2nd parameter, it unsimulates all
of DI/O from 1 to the value set in “Max. number setting screen”.
Its screen is selected in controlled start menu. Refer to “SPECIAL OPERATION” chapter in application
tool manual to know detail of it.

Sample: CALL CRDIOSIM(1, 1) -> Unsimulate DI[1]

6.6.2 Unsimulate AI/O

Program name: craiosim
1st parameter : Specifying input or output. Positive integer. 1 is AI, 2 is AO.
2nd parameter : I/O number to check. Positive integer.

This function unsimulates AI/O. In case that integer 0 is specified by the 2nd parameter, it unsimulates all
of AI/O from 1 to 64.

Sample: CALL CRAIOSIM(1, 1) -> Unsimulate AI[1]

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6.6.3 Unsimulate GI/O

Program name: craiosim
1st parameter : Specifying input or output. Positive integer. 1 is GI, 2 is GO.
2nd parameter : I/O number to check. Positive integer.

This function unsimulates GI/O. In case that integer 0 is specified by the 2nd parameter, it unsimulates all
of GI/O from 1 to 64.

Sample: CALL CRGIOSIM(1, 1) -> Unsimulate GI[1]

6.6.4 Unsimulate RI/O

Program name: crriosim
1st parameter : Specifying input or output. Positive integer. 1 is RI, 2 is RO.
2nd parameter : I/O number to check. Positive integer.

This function unsimulates RI/O. In case that integer 0 is specified by the 2nd parameter, it unsimulates all
of RI/O from 1 to the value of group number * 8.

Sample: CALL CRRIOSIM(1, 1) -> Unsimulate RI[1]

6.6.5 Unsimulate WI/O

Program name: crwiosim
1st parameter : Specifying input or output. Positive integer. 1 is WI, 2 is WO.
2nd parameter : I/O number to check. Positive integer.

This function unsimulates WI/O. In case that integer 0 is specified by the 2nd parameter, it unsimulates
all of WI/O from 1 to 32.

Sample: CALL CRWIOSIM(1, 1) -> Unsimulate WI[1]

6.6.6 Unsimulate All I/O

Program name: criosim
There is no parameter.

This function unsimulate all I/O.

Sample: CALL CRIOSIM

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6.7 GET WRITE PROTECTION ATTRIBUTE

Program name: getattr
1st parameter : TP program name (without extension) to be got write protection attribute. String.
2nd parameter : Register number to be output result. Positive integer.

This function allows you to get write protection attribute.

It gets its attribute of TP program specified by the 1st parameter. If write protection is ON 0 is output to
register specified by the 2nd parameter. If it is OFF, 1 is output to the register.

Sample: CALL GETATTR(‘PNS0001’, 1) -> R[1] = 0 (If [Link] is write protected.)

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B-83174EN/01 INDEX

INDEX
GET DATE ....................................................................72
<A> GET DATE, TIME ........................................................72
ABSOLUTE VALUE ....................................................12 GET TIME .....................................................................72
Alarms That Do Not Turn on FAULT Signal ...........48,66 GET TORQUE...............................................................73
Armload .........................................................................62 GET WRITE PROTECTION ATTRIBUTE..................78
Armload Setting .............................................................35 Global Alarm Post..........................................................71
Assignment of I/O .....................................................28,60
Automatic Backup.....................................................37,62 <H>
How to Display Menu ....................................................18
<B> HOW TO LOAD PROGRAMS .....................................17
Battery Alarm............................................................43,64
<i>
<C> +Pendant Automatic Blanking of Backlight ..................51
CAUTION......................................................................67 +Pendant Backlight Automatic Blanking.......................67
CAUTIONS FOR SETTING DATA FROM FILE ........55
Change CSV File Name .................................................20 <L>
Check AI/O Simulated Status.........................................75 LOAD KAREL PROGRAMS OF SYSTEM DESIGN
Check DI/O Simulated Status.........................................74 TOOL ...........................................................................4
Check GI/O Simulated Status.........................................75 LOAD PROGRAM........................................................70
CHECK I/O SIMULATED STATUS ............................74 Loading All ......................................................................4
Check RI/O Simulated Status.........................................75 Loading Individually........................................................5
Check WI/O Simulated Status........................................76 Local Alarm Post ...........................................................72
Comment (REM) in CSV File........................................58 LOGARITHM................................................................12
Comment Lines in Data File ..........................................23
Comment of I/O ........................................................27,59 <M>
Comment of Position (P[ ]) of Program .........................60 Macro ........................................................................31,61
Comment of Position of Program...................................30 MORE INFORMATION ABOUT CSV FILE
Comment of Program ................................................29,60 FORMAT ...................................................................56
COS FUNCTION...........................................................10
COS-1 (ARCCOSINE) FUNCTION...............................11 <O>
OTHERS ........................................................................71
<D> Output Data to CSV File ................................................18
Delete All .........................................................................6 Override Select..........................................................43,64
Delete Individually...........................................................7 OVERVIEW ...............................................................1,13
DELETE KAREL PROGRAMS OF SYSTEM OVERVIEW OF CSV FILE FORMAT.........................20
DESIGN TOOL............................................................6
DELETE PROGRAM ....................................................70 <P>
Payload ..........................................................................62
<E> Payload Setting ..............................................................34
EDIT BY Microsoft® Excel® .......................................56 PNS ...........................................................................50,66
END of CSV File ......................................................24,58 Position Register .......................................................25,59
Error Table ................................................................46,65 Program Selection Common .....................................50,66
Example of Whole File ..................................................58 Program Timer ..........................................................42,64
EXPONENTIAL FUNCTION .......................................11
<R>
<F> Reference Position ....................................................33,61
FILE LIST OF TPP MEMORY ASSIST .......................69 Register .....................................................................24,59
FORMAT OF DATA .....................................................23 Remedy of Failed to Delete .............................................7
Frame .............................................................................61 Remedy of Failed to Load................................................5
Frames............................................................................32 REMOVAL OF UNNECESSARY DATA ....................22
ROBOT SETUP ASSISTANCE TOOL ........................13
<G> ROUND OFF .................................................................12
Get “Ave.” of Monitor Screen........................................74 RSR...........................................................................49,66
Get “Current” of Disturbance Torque Screen.................73
Get “Max.” of Monitor Screen .......................................74 <S>
GET CURRENT ............................................................73 SAFETY PRECAUTIONS ........................................... s-1
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INDEX B-83174EN/01

Sample of Using Constants ..............................................9

Sample of Using Register.................................................9
Sample of Using String Register ......................................9
SAVE PROGRAM.........................................................70
SETTING UP ...................................................................2
Setup Data From CSV File.............................................19
SIN FUNCTION ............................................................10
SIN-1 (ARCSINE) FUNCTION .....................................11
Space Check Function...............................................35,62
SQUARE ROOT ............................................................10
String Register...........................................................42,64
String That is Recognized as Long Numeric Value .......56
STRUCTURE OF FUNCTION .....................................15
SUPPORTED DATA.....................................................16
System Config...........................................................38,63
SYSTEM DESIGN TOOL SETUP SCREEN..................2

<T>
TAN FUNCTION ..........................................................10
TAN-1 (ARCTANGENT) FUNCTION..........................11
TCP/IP.......................................................................44,64
TCP/IP Host (Local) .................................................46,65
TIPS FOR TROUBLE SHOOTING ..............................51
TPP MEMORY ASSIST................................................69
TRIGINOMETRIC FUNCTION ...................................10
TRUNCATION..............................................................12

<U>
Unsimulate AI/O ............................................................76
Unsimulate All I/O.........................................................77
Unsimulate DI/O ............................................................76
Unsimulate GI/O ............................................................77
UNSIMULATE I/O........................................................76
Unsimulate RI/O ............................................................77
Unsimulate WI/O ...........................................................77
USAGE .......................................................................8,18
User Alarm................................................................30,60
USER SPECIFIED ALARM POST ...............................71

<W>
Warn/Reset in Alarm History.........................................64
Warning/Reset in Alarm History....................................44

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B-83174EN/01 REVISION RECORD

REVISION RECORD
Edition Date Contents
01 Jan., 2011

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