Loctite CARTESIAN 300 Manuel d'utilisateur

EQUIPMENT OPERATION MANUAL Cartesian 200, 300, 400 and 500 Series Features II Variables/ Commands/ Functions Thank you for purchasing the Loctit

FOR YOUR SAFETY DURING OPERATION When operations are taking place within the safety barrier, ensure no oneenters the robot’s restricted area. If you

Both of the following point job data use the local variable “count”, but since a local variable is a function which is valid only in point job data c

 Comment insertion: rem,crem Comments can be added to point job data and sequencer program commands. Command category Comma

 Changing a program number using point job: setProgNo The program number being selected can be changed by the point job. It

 Changing a sequencer program using point job: setSeqNo The sequencer number being selected can be changed using the point j

Warranty Henkel Corporation warrants, to the original Buyer for a period of one (1) year from date of delivery, that the Loctite® Equipment or Syste

Henkel’s warranty herein is in lieu of and excludes all other warranties of Henkel and its affiliated and related companies (hereinafter the “seller c

The specifications of the robot or the contents of this manual may be modified without prior notice to improve its quality. No part of this manual ma

FOR YOUR SAFETY CARTESIAN Series Be sure to check grounding. Improper grounding can cause electric shock or fire. Be

FOR YOUR SAFETY Use the machine indoors where no flammable or corrosive gas is present. Emission and accumulation of such gasses could lead to fire. I

FOR YOUR SAFETY CautionsBe sure to check grounding. Improper grounding may cause malfunction or defect. Use the Benchtop Robot in an environment betw

PREFACE The Loctite® Benchtop Robot CARTESIAN Series is a new low cost, high performance robot. We hav

Please be sure to follow the instructions described in these volumes. Proper use of the robot will ensure continued functionality and high performanc

CONTENTS Features II FOR YOUR SAFETY ______________________________________________________________ i PREFACE _________

[ ON/OFF Output Control ] ________________________________________________________ 28  Outputting to I/O: set, reset, pulse, invPulse ______________

[ Controlling Tool Movement ]______________________________________________________ 68  Moving the Z axis: upZ, downZ, movetoZ_____________________

EXPRESSION STRUCTURE Expression An expression is fixed numbers, variables, functions (both of String type and Numeric type) an

FOR YOUR SAFETY Safety Precautions The precautions stated in this manual are provided for the customer to make the best use of this product safely,

Function Function returns a converted value if values or strings are given. Both built-in functions, which are built-in as robot features, and user d

COMMAND LIST If you assign point job data including one of the highlighted ( ) commands toa CP Passing Point, this command

Category Command Parameters Content ld Boolean Variable or Expression ON input ldi Boolean Variable or Expression OFF input and Boolean Variable or

Category Command Parameters Content for Control Variable, Initial Value, End Value, Step Value next - Repeats commands from “for” to “next” until

Category Command Parameters Content outCOM Port, Character String Outputs a character string from the COM. eoutCOM Port, Character String Expressio

Execute Condition Category Command Parameters Content ld Boolean Variable or Expression ON input ldi Boolean Variable or Expression OFF input and Boo

VARIABLE LIST Built-in variables, which are built-in as robot functions, and user definition variables, which can be freely d

[Variables] Category Type Identifier Description boo #seqT(1 to 99) Set to 1 when #seqTCount reaches the given value or greater. num #seqTCount (1 t

FUNCTION LIST Built-in functions, which are built in as robot functions, and user definition functions, which can be freely d

x, y: Numeric value or numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variable

FOR YOUR SAFETY Operators who are involved in the programming, inspection and/ormaintenance of this robot must take the “special training course” for

x, y: Numeric value or numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variable

[ Variables ]  Free variables: #mv, #mkv, #nv, #nkv, #sv, #skv A “variable” is a container into whic

Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 4 An input variable is a Boolean variable that can be referenced o

 Output variables: #sysOut1 to 15, #genOut1 to 18, #handOut1 to 4 Output variables are Boolean variables. Output variables c

 Point job starting height : #jobStartHight When a value is assigned (let) to the variable “#jobStartHight” before movement

 Pallet : #palletflag (1 to 100), #palletCount (1 to 100) #palletCount(1 to 100) is a numeric variable and #palletflag(1 to

Point job data set on P1 set #handOut1 Pick up workpiece.  Point job data set on P2 if If ld #palletCount(3) = 5 or #palletCount(3) = 1

 Workpiece adjustment: #workAdj_X, #workAdj_Y, #workAdj_Z, #workAdj_R, #workAdj_Rotation Numeric variables. These variables

Point job data set in P1 declear str hosei inCom hosei,port1,10 #workAdj_X(6) = hosei String type local variable “hosei” declaration. Receive wor

 Point coordinates: #point_X,#point_Y,#point_Z, #point_R,#point_TagCode These variables hold the coordinates and tag code va

FOR YOUR SAFETY Check the mounting screws regularly so that they are always firmly tightened. Loose screws may cause injury or defect. Power the unit

 Given point coordinates: #P_X, #P_Y, #P_Z, #P_R, #P_TagCode These variables hold the coordinates and tag code value of a gi

 Given point coordinates in given programs: #prog_P_X, #prog_P_Y, #prog_P_Z, #prog_P_R, #prog_P_TagCode These variables hold

[ Functions ]  Robot functions Built-in functions, that are built-in as robot functions, and user de

 Arithmetic functions The following can be used as arithmetic built-in functions. x, y : Numeric value n, m : Rounded integ

 String functions The following can be used as string built-in functions. x, y: Numeric value or Numeric variable n, m: Nu

x, y: Numeric value or Numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variabl

[ ON/OFF Output Control ]  Outputting to I/O: set, reset, pulse, invPulse This section explains comm

Therefore, Hand Tool OPEN ← #sysOut15 OFF & #sysOut16 ON Hand Tool CLOSE ← #sysOut15 ON & #sysOut16 OFF  Below are the output commands to

 The commands [pulse] and [invPulse] move on to the next command before the pulse stops. In the following example 2 point job data have different re

 Outputting after X second: delaySet, delayReset The commands “delaySet” and “delayReset” are used to output ON/OFF signals

FOR YOUR SAFETY INSTALLATION Always use a safety barrier. A person entering the robot’s restricted area may be injured. At the entry/exit gate of the

 Sounding an alarm buzzer: onoffBZ A point job sounds an alarm buzzer. Command Category Command Parameter Job Output Des

 Blinking the LED (Green): onoffGLED  The following commands are valid for the CARTESIAN series only. The following expl

 Blinking the LED (Red): onoffRLED  The following commands are valid for the CARTESIAN series only. The following explai

 Outputting values from I/O: dataOut,dataOutBCD The optional numeric values “0 to 999,999,999” or tag codes can be output to

[ If Branch, Wait Condition ]  if Branch: if, then, else, endIf This section explains point job data

Example 2: If #genIn1 and #genIn2 are both ON, sound an alarm buzzer and stand by until a start instruction is received. If either #genIn1 or #genIn

 Wait Condition: waitCond,waitCondTime,timeUp,endWait This section explains the point job data commands for waiting until th

 [endWait] and [timeUp] cannot be used alone.  A period for Time Out of “waitCondTime” can be set using variable and expressions. Example) de

[ Condition ]  Condition Settings: ld, ldi, and, ani, or, ori, anb, orb The following describes the

ld: ON input waitCond ld #genIn2 endWait Waits in place until the following condition is met. #genIn2=ON (condition) End of condition line

FOR YOUR SAFETY Confirm that the unit is properly grounded. Power supply earth should be connected complying with Type D installation.(under 100 Ω of

anb: Block series connection waitCond Waits in place until the following conditions are met. ld count>=10 or flag count is 10 or g

[ Delay, Data In, Wait Start ]  Time Delay: delay This section explains the point job data command f

Delay Time can be set using variable or expression instead of values. Example) declear num wtime if ld #genIn1 then wtime = 100 else w

 Waiting for a start instruction: waitStart, waitStartBZ This section explains the point job data commands to stop running u

 If using “waitCondTime” “timeUp” … “endWait” or “if” … ”endIf”, command lines are indented. (See below.) waitCondTime 200 ld #genIn2 timeUp

 Inputting from I/O: dataIn, dataInBCD Read out a value from the I/O or Boolean variable (#mv (1 to 99), #mkv (1 to 99)) and

[ Pallet Control ]  Pallet Command: loopPallet, resPallet, incPallet There are two methods for updat

During the pallet operation [Increment by Point Job], the tool unit can move as shown in the figure on the previous page. The tool unit returns to P1

Below are the pallet commands for using the command “incPallet (Increase the specified pallet counter by one)” instead of “loopPallet.” <Use “inc

[ Execution Flow Control ]  Subroutine call of type setting job: callBase When a point job, etc. is

FOR YOUR SAFETY Be sure to confirm that all the air tubes are connected correctly and firmly. Use the robot in an environment between 0 to 40 degrees

In these cases, when the “callBase” command is used in the point job data set at a user definition type point, a subroutine of the point job, etc.

 Subroutine call of point job data: callJob While a point job is running, different point job data can be called and execute

 When the point job data called by “callJob” command contains a “callJob” command, and the nest level exceeds 10, an error (No. 42) is generated.

 End of point job: returnJob When there are complex conditions and operations that correspond to them and there are no more

 Subroutine call of Program: callProg The following explains how to call and execute other programs while running a point jo

Also, Program Number can be set using expressions. Example) declear num eprg waitCondTime 200 ld #genIn1 timeUp if ld #genIn2 then epr

Example: The subprogram is set to [Absolute.] The tool unit runs on the coordinates of the point data regardless of the position of the called point.

 If you run the program as a subprogram, the tool unit will not return to the work home. If the program is set to “Relative” or “Moving Amount”, t

 Calling points: callPoints Call a point string (defined in customizing mode) with identifier to execute it. Command Catego

 Ending a program: endProg The following explains how to end a program (running the operation) at the current point. The ar

FOR YOUR SAFETY Be sure to remove the eye bolt after installing the robot so that it doesnot hit the arm. Failure to do so may result in injury or bre

 Assigning the returned value of a function: returnFunc Assign a value of the specified expression as a returned value and e

 Jumping to a specified point: goPoint, goRPoint, goCRPoint The following explains how to jump to a specified point after c

[goPoint PTP3,25]: Jump to Point 25. (Comply with PTP Condition 03.) If you set “0” as the PTP Condition Number, the movement will comply wi

 Jumping to a specified command line: jump, Label Command Category Command Parameter Job jump Label Number Jumps to a “Lab

[ For, Do-loop ]  For, Do-loop: for, next, exitFor, do, loop, exitDo Command Category Command Parame

Parameters (the initial value, end value and step value) of the command “for” can be set using variables or expressions. declear num loop declear

[ Controlling Tool Movement ]  Moving the Z axis: upZ, downZ, movetoZ The following explains how to

The distance or speed can be set using variable or expressions. waitCond ld #genIn2 endWait downZ #P_Z(1)-#point_Z,20 Wait in place until

 Moving straight in CP drive: lineMoveSpeed, lineMoveStopIf The following explains how to move straight in CP drive using po

Stopping the arm shift due to setting conditions while running. lineMoveSpeed 3 X:20 Y:0 Z:0 R:0 lineMoveStopIf ld #sysIn1 endLi

FOR YOUR SAFETY WORKING ENVIRONMENT When you lubricate or inspect the unit, unplug the power cord from the control box.

 Executing mechanical initialization by a point job: initMec  The following commands are valid for the CARTESIAN Series on

 Position error detection: checkPos  The following commands are valid for the CARTESIAN Series only. The following expla

[ LCD, 7SLED ]  Displaying the specified strings on the teaching pendant: clrLCD, clrLineLCD, outLCD, eoutLCD

 Displaying arbitrary numbers on the 7SLED: sys7SLED, out7SLED  The following commands are valid for the CARTESIAN Series

[ COM Input/Output ]  COM Input/Output: outCOM, eoutCOM, setCOM, cmpCOM, ecmpCOM, clrCOM, shiftCOM D

COM Input: inCOM A specified number of characters out of data received from the COM is assigned to a variable. If received data exceeds the specifie

cmpCOM(1) Specified Receive Character Buffer Xth Character : Xth Character Wait Time for Reciving* X = X+1 X: Specified Numberof Charac

Setting Wait Time for receiving data from the COM: setWTCOM You can set Wait Time for receiving data using “inCOM” or “cmpCOM” command. If no data i

 PC Communication: stopPC, startPC Stopping/Starting COM1 communication stopPC, startPC COM1 is normally used to communicat

[ Variables, Comments, System Control ]  Declaration and assignment of variable: declear, let A vari