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Create your own original programs with the customizing function.

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Work Position

Sequencer Functi

Before inputting a work position, select JOG or MDI mode simply by pressing the button on the teaching pendant. Clearly-displayed coordinate values allow you to correct positions easily.

A sequencer function which can be run independently from the robot function.


Program 1			P 1
X			Omm
Y			3 5 Omm
Z			Omm
R			Odeg
High
FUNC POS	ibei	MDI	INIT


	Sequencer l	_2/3
	001 Id#genln3
	002 and#genln5
	003 out#genOutl
	004 mps
	005 ld#mv(l)
	006 or#mv(2)
	007 and#genln2
	008 out#genOut2
	009 out#mv(3)
	010 mrd
	011 and#mv(3)
	012 set#genOut3

Work Position Setting Screen

Sequencer Command Setting Screen

Application Software Exï

How to Create Application


	Tightening Condition 1	1/2
	Type Full Tightening(With Pickup)
	Thread Pitch	0.5mm
	Rotate Speed	600rmp
	Screw Length	8mm
	Check Precision	Normal
	Float Amount	0.5mm
	Time After Tightening	0.2sec
	Feeder ESC Signal	NO
	Point of Feeding
	Screw Feed Time	0.5sec
	Stop After Feeding	NO
	Error Restart	Next Point

Point Type Definition

•Screw Tightening Software

Register screw tightening conditions, such as Thread Pitch. Screw Length, and Rotate Speed, then enter the 'screw tightening" position and the screw tightening condition number for the point. A screw tightening program Is now complete. You can set different tightening condition numbers to each point so as to create different screw tightening conditions in a program.

•Dispensing Software

Complete a dispensing program simply by nputthg work positions such as "Rant Dispense', 'Start of Line Dispense". 'Line Passing', and 'End of Line Dispense.' You can set 'Dispense Time' to each "Point Dispense" point. You can change Dispense Conditions, such as "Device Mode', 'Signal Operation" type (for dispenser), ' Wait Time" (from Dispense ON to start shifting)." Up Amount" and "Up Speed'(at end dispensing), simply by setting and registering.

•Palletizing or Work Position Adjustment by Csmsra

By setting a "Pallet Number", you can repeat the same operation at different points. By setting a "Work Adjustment Number".

you can easily adjust a position error between the standard position captured by the camera.

Protect Mode Base Type Point Type Title Job before Moving Job while Moving Point Job

Job while CP Moving Additional Function Number Point Setting Variables Definition

Public PTP Point

You can create original application software for a variety of needs. For example, define a point type "Point Dispense" when creating the "Dispensing Application" software.

Tightening Condition Setting Screen

I Program 28

Point Type Definition Setting Screen


	1 Point Job	2/3

	014 Id DispenserSignalType==l 015 then
	1 016 waitCondTime 500
	017 Id#genln1
	1 018 timeUp
	1 019 reset #gen0utl
	1 020 jump LI
	1 021 endWait
	1 022 endlf
	1 *023 delay DispenseTime1000**
	\| 024 reset SgenOutl

Register the contents of the "point dispense" operation in the point type definition, {e.g. Start the dispenser (set #genOutl), wait for a dispense time (delay Dispense Time* 100). and then stop the dispenser (reset#genOutl).}

Start of Line Dispense

Passing of Line Dispense

CP Arc Point

End of Line Dispense

Wait Start Point

FTP Point

CP Start Point

CP Passing Point

CP Stop Point

CP End Point

PTP Evasion Point

Register "Common Settiig Variables Definition"

in the point type definition so as to set the "Dispense Time" to each point. The process is complete simply by entering necessary items, such as "Variable Type". "Variable Caption". and "Input Unit." Set "Enumeration Type" or "Numeric Type" as the "Variable Type." If you select the "Enumeration Type", you can select a value from the "Selection Item" list and set it.

Furthermore, you can set "Variable Caption". as well as variable names (identifiers), as a title display.

Point Type Setting Screen

Program 1_

Point Job Setting Screen

Point Setting Variables Definition

variable Type

Variable Caption Input Unit Decimal Figure Default Value Maximum Value Minimum Value

Type

Dispense Time Pallet Routine Number Work Adjustment Number Condition Number Job before Moving Job while Moving Point Job Number FTP Condition Number Tool Number

S.MARK E.MARK

Point Dispense 1.3sec

J.EXEC P.EXEC

Point Setting Screen

Point Setting Variables Definition Setting Screen

PC Software "JR C-Points" (optior

The JR C-Points is an enhanced version of the PC software for desktop industrial robots, JR Points. Tried and tested simple programming methods for various applications remain. Furthermore, additional and enhanced compile function (robot language) and customizing functions are available. The main screen is the plural point data setting screen. You can create a program simply by en-work position, line speed, pallet number, and work

You can enter and edit point job easily

by selecting a de-

sired command

^: AW

from the job com-

mand list

Using the compile function, you can also read the point job data from text files. As well as local variables, global variables, and keep variables, you can use setting variables to set values as teaching parameters. As one of the robotic features, various special commands, such as "w-altCondTlme" command to wait for an input signal (timeouts are available until receiving the input signal), are available.

tering necessary items, such as the i adjustment numbers.

You can select the horizontal display or vertical display for point alignments. Coordinates data edited by spreadsheets such as Microsoft Excel can be downloaded easily by using the Copy & Paste function. You can also convert drawings into coordinate values and download them onto a PC using CAD data (DXF file).

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