Professional Documents
Culture Documents
504C3 027
33 1
Version
TAZMO Ltd.
Approved by Examined by Draft
Classification number
504C000 0
Version
Revision history
Page
Tazmo Ltd.
Classification Number
504C302 7
Item number page
Design Standards
Teaching Pendant
Revision History
Page 1
Version
History No
Revision description
Approva l Yamano be
Checke d
Proposal
1.1
11/09/2 2
All pages
New establishment
Kohat a
Yamaz oe
Tazmo Ltd.
Classification Number
504C302 7
Design Standards
Teaching Pendant
Revision History
Page 2
Version
Tazmo Ltd.
1. General rules..................................................................................................................3 1.1. Purposes....................................................................................................................3 1.2. Scope of application..................................................................................................3 1.3. Establishment-abolition, maintenance management................................................3 2. Terminologies.................................................................................................................. 3 3. Robot safety requirement items.....................................................................................5 3.1. General industrial robots...........................................................................................5 3.2. Emergency stop-irregular stop..................................................................................6 3.3. Teaching..................................................................................................................... 6 4. Teaching pendant............................................................................................................ 7 5. Concept of the teaching pendant...................................................................................8 5.1. Password on entry.....................................................................................................8 6. Basic operation of the Teaching Pendant......................................................................10 6.1. Select the item (for example, when selecting the command).................................11 6.2. Input datasuch as time teaching.......................................................................12 6.3. The confirmation pagefor example, when running the command....................12 6.4. JOG operation screen...............................................................................................14 6.5. Error screen.............................................................................................................15 7. About screen................................................................................................................16 8. Control of teaching pendant.........................................................................................16 8.1. Initial Control of Teaching Pendant..........................................................................16 8.2. Configure actions.....................................................................................................16 9. Notes............................................................................................................................. 20 10. Appendix.....................................................................................................................21
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 3
Version
1. General rules
1.1. Purposes
This standard document establishes the design criteria of the teaching pendant operation method of a TAZMO conveying machine, and aims at unification of the teaching pendant operation method between equipments.
2. Terminologies
Industrial robots Machines which have the ability to move through automatic control or manipulation functions, can perform various tasks by programs, and are used in industry. Manipulator Machines constituted from segments connected mutually, which aim at holding or moving objects (parts, tools, etc.). Operator Those who carry out with a robot or a robot-system, are recognized as who can start, supervise and stop the operation. Rectangular Robot (Cartesian-Coordinated Robot) The mechanical structure of an arm is mainly a robot of rectangular-coordinates form. Cylindrical Robot (Cylindrical-Coordinated Robot) The mechanical structure of an arm is mainly a robot of cylinder coordinates form. SCALAR Robot The mechanical structure of the arm joints has parallel axes of rotation of the robot in compliance with a plane perpendicular to the axis. Link The machine structure or individual rigid element which is relatively movable to each other. Degrees of freedom The number of independent variables required to describe movement of a rigid body in space. Motion space The region that can be swept by moving parts of the robot (any end effector is not included) Maximum space The moving space, plus the working region that can be swept by end effectors.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 4
Version
Restricted space The region restricted by the limit equipment which does not exceed in a part of maximum space no matter failure and malfunction what may arise in a robot system. Operating space Distance or angle ready for each axis. Teaching Point to a position and store information required in order to do work in a robot. Direct teaching People need to move a robot's arm, a hand, etc. directly and teach them. Remote teaching A kind of direct teaching, use a pendant etc., and move and teach a robot's arm, a hand, etc. Operation mode Operating status of the robot controller. Automatic mode An operation mode which controls a robot according to a set-up task program. Manual mode An operation mode which has priority over other modes, operating a robot by an operator. Pendant The portable unit which is connected to a control device and performs teaching operation to a robot in a program. Simple speed Speed of the point specified when the single axis operated. Track speed Velocity along the path. PTP Control The control for moving the tool center point of a robot axis to another point, theres no specification received about the route in that case. CP Control Control performed by the instruction given all orbitals or the entire route. Interpolation The function which carries out continuous movement without stopping point given at intervals. Stop category Stop function of the mechanical drive. Be classified into following three categories. Stop category-0: The stop performed by turning off a machine actuator directly, and is not controlled. Electronic logic and the software must not intervene. Stop category-1: The stop in which the machine actuator is stopped and the power supply is stopped after that, controlled by orders from a control circuit. The stop of power supply must not pass electronic logic and the software. Stop category-2: The stop by which power supply is carried out at a machine actuator.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 5
Version
Acceleration-Deceleration Control There are a velocity-trapezoid system which uses constant acceleration as shown in Fig. 1.1 (a), and makes acceleration a trapezoid; and an S character acceleration-and-deceleration system which makes acceleration a curve as shown in Fig. 1.1 (b), and uses S-curve acceleration.
MAX
MAX
S PE ED
ACC
S PE ED S 1 S 0
ACC
S TAR T T IM E
aVeloci method
STAR T T IM E
Initial speed The speed at the start of acceleration and or at the end of deceleration (START in Figure 1.1) Maximum speed When acceleration of the acceleration control is finished, the speed reaches the constant speed range (MAX in Figure 1.1). Acceleration The amount of change of velocity per time during acceleration and deceleration of acceleration and deceleration control (ACC in Figure 1.1). S-curve ratio The ratio of straight line acceleration part (S1) at the time of acceleration of an acceleration trapezoid system, and the S-curve acceleration part (S0-S1). From the figure, it becomesS0S1S0100.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 6
Version
4 The motion space of a manipulator exceeds the range of either of four kinds of the following. a. 300mm radius x 300mm long for cylindrical-coordinated robot b. 300mm radius for spherical-coordinated robot c. 300mm x 300mm long for rectangular robot d. 100mm vertical distance for vertical and horizontal operation.
3.3. Teaching
1 When a robot is in teaching mode, it is automatically set to safe working speed.. 2 Safe working speed of 250 mm/sec (path velocity)or less. 3 The teaching operation of a robot is performed only while pushing the pushbutton switch (Enabling SW). 4 When the teaching device (pendant) needs to perform teaching operation, a power supply interception button switch (Stop SW) should be installed to the pendant. 5 When you are operating in manual mode, do not perform any operation from the outside into the structure unless there is the emergency stop switch. 6 Display the purport of teaching operation with indicating lights etc. during teaching work. 7 Those who is working with industrial robots should carry out safety rules. Note: Health Law Article 59 Paragraph 3 (No. 31 Article 36 of the Occupational Health and Safety regulations, No. 32), Article 18 of the safety and health regulations established by the special education and training course is based on Article 19 "special education instructor for industrial robots", don't perform safety education for those who is non-qualified.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 7
Version
4. Teaching pendant
Name Small Pendant Model HG1T-SB12UH-MK1444 Manufacturer: IDEC Corporation InterfaceYou cannot modify the settings below Communication form: RS232C Communication speed: 9600bps Data bit: JIS8 Parity: None Stop bit: XON/XOFF Control: Disableno control Local echo: Disableno control CR operation code: Crrecovery operation only Buzz Key: NoBeep
LCD d i s p l a y 8 x 3 2 c o l um n s
S e l e c t o r SW A u t om a t i c m o d e Manua l mode
S t o p SW
F1
F2
F3
F4
F5
E n a b l i n g SW
M em b r a n e SW 9 x 5 c o l um n s
F6
F7
F8
F9
F10
ESC
FUN C
ORG
S TO P
OK
C AN
CLR
BS
SH I F T
+/-
EN T
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 8
Version
1 LCD display The LCD display has 8 rows of 32 digits. 2 Stop SW By pressing the stop switch, the motor drive power supply is cut all off. RESET stop switch (turn slightly to the right) to release it. 3 Selector SW Switching between automatic and manual modes. When it is turned down, the automatic mode is selected, when turned up, the manual mode is selected. 4 3-position enabling SWEnabling SW When operating in manual mode, a drive power supply is switched on and it can operate. If this key is released, a drive power supply is cut off. It is ignored in automatic mode. Since it is a 3-position switch, when operating it, please press this key lightly. A switch will be come by off if pushed in strongly. 5 Key input unitMembrane SW It is used for an input or an operation of equipment from a pendant.
Teaching pendant are used for robot operations, there are automatic and manual modes, selected via the selector switch on the teaching pendant. In automatic mode, control operates from the top, you cannot teach pendant operation (monitor functions only). In manual mode, operates under the control of the teaching pendant, cannot be controlled from the top (only read status command). Each command is grouped by using features, and a hierarchy (a tree of functions). Each operation also has a password-protection, and that differentiation is made.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 9
Version
12345678901234567890123456789012 [UNIT INFORMATION] |REMOTE MODEL:***** | VER :*.** | PNo. :********* | | [INPUT PASSWORD] | PASSWORD:******** | |
Figure 1 Password screen in automatic mode
12345678901234567890123456789012 [UNIT INFORMATION] TEACHING MODEL:***** | VER :*.** | PNo. :********* | | [INPUT PASSWORD] | PASSWORD:******** | | Password screen in manual mode |
Figure
How to enter password Clear KeyClear the password Backspace KeyDelete a password character Enter KeyEnter password Numeric KeysPassword input When a wrong password is entered If the password is wrong, characters appear in line 8 as below: Enter KeyRetype the password
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 10
Version
In order to make it equivalent to traditional pendant (PF820), 20 digits are used from the left; another 12 digits are used from the right, showing operation mode on the 1 st line, and the operation unit on the 2nd line, and arbitrary use on lower ones. For reference, the example is shown in Figure 6.2.
Main title
| | | | | |
[**********] */*|MODE 1.************* |UNIT 2.************* |MANUAL 3.************* |TAZMO 4.************* |OVERRIDE 5.************* |READY!! 6.************* |SPEED * 7.************* |ALARM:****
Sensor override
Power ready
Alarm is occurring
Figure Right screen example Operations of the teaching pendant are divided in to the follow five, which are the standards of operation of this. The screen displays main title is on the first line and in [] brackets.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 11
Version
6.1. Select the item (for example, when selecting the command)
Among the items that are displayed on the screen, you choose what you want to work. Screen display Item selection on the same menu layer is performed by the numeric keys [1] [7]. The screen just displays buttons and items which are available. Number keys are separated by periods (.). Also, if there are more than seven choices, it displays according to the arrangement (see below) of screen page scrolling. A keystroke is performed to select the item carried out by numeric keys .In item selection, do not use numeric key of 8 or more Operation methods Numeric Keys Item selection move to lower menu layers. Cursor KeysSwitch between pages Escape KeysMove to the upper menu layers. Cursor display No cursor is displayed in an item selection menu.
12345678901234567890123456789012 [TITLE] */*|MODE 1.********** |UNIT 2.********** | 3.********** | 4.********** | 5.********** | 6.********** | 7.********** |
Figure Item selection screen
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 12
Version
12345678901234567890123456789012 [TITLE] 1.****** 2.****** 3.****** 4.****** 5.****** 6.****** 7.****** */*|MODE : **.** |UNIT : **.** | : **.** | : **.** | : **.** | : **.** | :*** |
page for
example,
when
running
the
Command execution and data changes require confirmation. The confirmation screen will be displayed at this time. Screen display The title and operation keys are displayed. Operation methods OK KeyRun Cancel KeyCancelgo back to the original Enter KeyOK Escape KeyCancelgo back to the original Cursor display The confirmation screen doesnt display the cursor.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 13
Version
12345678901234567890123456789012 [ READY? ] |MODE |UNIT *********** | | START -> OK | CANCEL -> CAN | | |
Figure Operation confirmation Operation confirmation screen.is pressed to start the operation. to cancel it and return to the previous screen. Whenis shown at the bottom of the scree, press the SW to enable the operation.
12345678901234567890123456789012 [****/****] |MODE |UNIT **** : *** | **** : *** | | | DECIDE -> ENT | CANCEL -> ESC |
Figure Enter number for confirmation Enter the confirmation number. Display the cursor at the item to enter, then type the number, and press to confirm. Pressto go to the previous screen.
12345678901234567890123456789012 [********] */*|MODE 1.***** : **.** |UNIT 2.***** : **.** | | [SAVE BACKUP MEMORY]| SAVE -> ENT | CANCEL -> ESC | |
Figure Setting change confirmation screen
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 14
Version
Setting checking screen. Under the current screen, five lines is displayed, as shown in the above figure, and all of a numerical value and an item are saved. []to save the backup memory, and to return to the menu.to go to the original menu.
12345678901234567890123456789012 [****] 1.******* 2.******* 3.******* 4.******* 5.******* 6.******* 7.******* */*|MODE |UNIT | | | | | |
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 15
Version
12345678901234567890123456789012 [ERROR] |MODE |UNIT ***:XXXXXXXXXXX | | | CPU RESET -> ENT | POWER OFF | |
Figure Error 10 occurrence screen (unable to continue)
*** Error Code characters XXXXXXXXXXXXX Error Messagemaximum 16 character
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 16
Version
7. About screen
Scroll the screen page Screen at the same hierarchical level can be made in the initial screen. The following page is created when a display cannot be performed. At this time, (the number of pages / the total number of pages) is specified in the screen upper right. Each page can be switched using the cursor keys [] [], you can toggle crossed.reverse direction,: forward direction
[TITLE] 2/2|MODE 1.****** : **.** |UNIT 2.****** : **.** | 3.****** : **.** | 4.****** : **.** | 5.****** : **.** | 6.****** : **.** | 7.****** :*** | Figure Screen scrolling
Display data It is based on not outputting "0" on a beam when displaying digital data Eg Regular False
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 17
Version
According to a teaching pendant, an operation category is classified into the four following kinds. ManualMANUAL Work that related to operating. Operation for performing the manual operation of axial movement or auxiliary operation, and setup JOG teaching data. ParameterPARAMETER Operation which writes data to memory. Operation for setting various parameters. MonitorMONITOR Operation of checking a state. Operation for performing the monitor of an input-and-output signal or a log. RunningRUNNING Operation that a pendant performs individual operation. Operation will become possible if it inputs with the password in TAZMO mode from automatic mode. Some items is not displayed in user mode. In running operation, a sensor override is used and it can be made to perform a conveyance check without a work. Operation mode selection
l e c t o r SW
R EMO T E
Manual mode
[UN I T IN FO RM A T ION ] MO D E L : * * * * * VER : * . * * PNO : * * * * * * * * *
Automatic mode
[UN I T IN FO RM A T ION ] MOD E L : * * * * * VER : * . * * PNO : * * * * * * * * * [ IN PU T P A S SWO RD ] P A S SWO RD : * * * * | R EMO T E | | | | | | |
Category | | selection
Unit selection
Category selection
1 / 1 | R EMO T E | | | | | | |
1 / 1 | T E A CH IN G |UN I T | | | | | |
Operation item
1 / 1 | R EMO T E |UN I T | | | | | |
1 / * | T E A CH IN G |UN I T | | | | | |
1 / * | T E A CH ING |UN I T | | | | | |
1 /* |****** |UN I T | | | | | |
Figure Pendant
operation composition
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 18
Version
Operation items Select specified operation item. The item with reference to the following table, corresponding to the individual. Table Operation items
Category MANUAL Item ORG HOME MOVE GET PUT EXTEND RETRACT HOLD RELEASE LIFT UP LIFT DOWN LIFT MID CHANGER XCHANGE MAPPING MAP MOVE MAP EXTEND MAP RETRACT MAP UP MAP DOWN ALIGNMENT CENTERING LDP OPEN LDP CLOSE JOG TEACHING * ORG SEACH M Detail Content Initialization Move to HOME position Move to STOP POINT Extract operation Storage operation Stretch arm Retract arm Hold operation Release operation Arm PUT start height movement Arm GET start height movement Arm teaching start height movement Inversion-axis operation Exchange operation Mapping operation Mapping position movement Mapping sensor growth Mapping sensor shrinkage Mapping sensor move up Mapping sensor move down Alignment start Center alignment operation Open LOAD PORT Close LOAD PORT JOG Operation JOG Teaching Starting point detecting operation
Station number
Specified for each axis Specified for each axis Each independent axis
PARAMATE R
**** COMMUNI
BA RATE DATA PARITY STOP TIME OV RSP NUM RSP TIM X POSI Y POSI R POSI T POSI Z POSI S POSI P POSI STATIONNo. X POSI Y POSI
Communication baud rate Data bits Parity Stop bit Communication time over Respone times Respone time interval X-axis (rect coordinate) home position Y-axis (rect coordinate) home position R-axis (cyl coordinate) home position -axis (cyl coordinate) home position Lift axis home position Slide axis home position Inversion axis home position Station number X-axis (rectangular) teaching position Y-axis (rectangular) teaching position
HOME POSITION
STATION
Classification Number
504C30 27
Design Standards
Teaching Pendant
R POSI T POSI Z POSI S POSI P POSI UP LIFT DOWN LIFT LIFT STOP COMPLE X ORG Y ORG R ORG T ORG Z ORG S ORG P ORG
Page 19
R-axial (cylinder) teaching position -axial (cylinder) teaching position Lift axis teaching position Slide axis teaching position Inversion axis teaching position Upper lift movement Bottom lift movement Lift stop teaching position Teaching end X-axis original offset Y-axis original offset R-axis original offset -axis original offset Lift axis original offset Slide axis original offset Inversion axis original offset
Version
ORG DATA
Each specification STATIONNo. ARM EXTEND ARM RETRACT LIFT LO LIFT HI MAPPING TEACHING SPEEDNo. MAX START ACC S CRV SIZE SLOT S PITCT STROKE EXTENT RANGE POINT FLYOUT SEN OFF
speed
Speed of the specified position Station number Arm speed when there is work Arm speed when there is no work Low speed of lift position teaching Top speed of lift position teaching Mapping speed Teaching speed Speed number (each axis) Top speed Start speed Acceleration S ratio Work size The number of slots of a cassette Slot width of a cassette Amount of lift mapping Existence detection width operation Thickness detection width operation Mapping detection depth position Running-out detection position Difference bt chuck & sensor position GET waiting time PUT waiting time GET/PUT times of retry Execute operating time GET/PUT existence check is sometimes ignored **Limit position of the axis in the positive direction * Limit position of the axis in the negative direction Arm length Servo motor in-position width Step motor position gap width
SPEED TABLE
MAPPING
TIMING
GET WAIT PUT WAIT RETRY EXEC TIM * +LIM * -LIM ARM LENGTH SV INP ST INP
Classification Number
504C30 27
DEFAULT ALRAM LOG CLEAR COMMUN LOG CLEAR
Design Standards
Teaching Pendant
Page 20
Data is returned to an initial value Clear the alarm log Clear communication log
Version
MONITOR
ERROR LOG COMMUNICA TION LOG INPUT/OUTP UT ENCODER CASSETTE TEACH MAPPING RESULT MAPPING DATA
Display error log Display communication log I/O display ABS ENCODER INC ENCODER DEFF COUNT Display absolute value of encoder Display incremental value of encoder Display deviation value of encoder Cassette teaching display Mapping result display Mapping data display
RUNNING
TRANSFER ARM RUNNING TURN RUNNING LIFT RUNNING SLIDE RUNNING FLIP RUNNING
Station specification
Transfer operation running Single arm operation running Turn operation running Lift operation running Slide operation running Flip operation running
9. Notes
In the creating of the teaching pendant software, pay attention to the following notes:In the manual mode of a pendant, there are 2 ranks of speed low speed, high speed, speed is used to set at mm or less. In the times of a start of operation, such as the time of running or operation, inside of area where operating is being dangerous.
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 21
Version
10.
Appendix
An error code may include 4 figures. The first is error level, the following figure is unit number, lower 2 figure be an error code. When a display is a double figure display, lower 2 figure is displayed. Error code Unit number Error level Error code Table Error code table2 lower figures
Code 00 01 02 03 04 05 06 07 08 09 10 20 21 22 23 24 25 26 27 28 29 2a 2b 2c 2d 2e 2f 30 31 32 33 34 35 36 37 38 39 3a 3b 3c 3d 3e 3f Message RUN TEACHING READY ACTIVE Content Standby state Teaching box operation Moto preparation Running Level LV0 LV0 LV0 LV0 LV0 LV0 LV0 LV0 LV0 LV0 LV0 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1
PAUSE INTERLOCK INITIAL WAIT INITIAL WORK OFF WORK ON WORK OFF SLOT WORK ON SLOT SLOT ERROR NO STATION ARM NO. ERROR
Paused Under interlock In preparation Waiting for untreated initialization No wafer There is wafer No wafer in a specified slot Specified slot has wafer Error at specified slot No location is specified Specified arm is abnormal
MAP FLYOUT ERR MAP DISABLE ARM1 OVER ARM2 OVER TURN OVER LIFT OVER SLIDE OVER FLIP OVER
ARM1 BATT WORN ARM2 BATT WORN TURN BATT WORN LIFT BATT WORN SLIDE BATT WORN FLIP BATT WORN
Running out of wafer Stop during mapping Out of range error Out of range error Out of range error Out of range error Out of range error Out of range error RESERVE RESERVE Battery of absolute encoder decreased Battery of absolute encoder decreased Battery of absolute encoder decreased Battery of absolute encoder decreased Battery of absolute encoder decreased Battery of absolute encoder decreased RESERVE RESERVE
Classification Number
504C30 27
NOT READY
Design Standards
Teaching Pendant
Power supply of driver is not switched on LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV1 LV3 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV2 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3
Page 22
Version
40 41 42 43 44 45 46 47 48 49 4a 4b 4c 4d 4e 4f 80 a0 a1 a2 a3 a4 a5 a6 a7 a8 a9 aa ab ac ad ae af b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 ba bb bc bd be bf c0 c1 c2 c3 c4 c5 c6 c7 c8 c9 ca cb cc
BACKUP MEMORY BEFORE INITIAL TIME OVER WORK FLYOUT RB POSI ERR WORK(1) LOST WORK(2) LOST BRAKE LOCK CANCEL PAUSE ARM1 POSI ERR ARM2 POSI ERR TURN POSI ERR LIFT POSI ERR SLIDE POSI ERR FLIP POSI ERR
ARM1 +LIMIT ON ARM1 -LIMIT ON ARM2 +LIMIT ON ARM2 -LIMIT ON TURN +LIMIT ON TURN -LIMIT ON LIFT +LIMIT ON LIFT -LIMIT ON SLIDE +LIMIT ON SLIDE -LIMIT ON FLIP +LIMIT ON FLIP -LIMIT ON
Backup memory error Can not run command before initialize Time is over Wafer jumped out during operating Robot operated during the stop Wafer (1) lost during operating Wafer (2) lost during operating Brake ON error Cancel operation after pause Malposition Malposition Malposition Malposition Malposition Malposition RESERVE RESERVE Abnormal positive limit Abnormal negative limit Abnormal positive limit Abnormal negative limit Abnormal positive limit Abnormal negative limit Abnormal positive limit Abnormal negative limit Abnormal positive limit Abnormal negative limit Abnormal positive limit Abnormal negative limit RESERVE RESERVE RESERVE RESERVE Malfunctioning fan Malfunctioning fan
ARM1 ENCODE ARM2 ENCODE TURN ENCODE LIFT ENCODE SLIDE ENCODE
in in in in in
Classification Number
504C30 27
FLIP ENCODE
Design Standards
Teaching Pendant
Error in reading absolute encoder RESERVE RESERVE Abnormal position Abnormal position Abnormal position Abnormal position Abnormal position Abnormal position RESERVE RESERVE LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3 LV3
Page 23
Version
cd ce cf d0 d1 d2 d3 d4 d5 d6 d7 d8 d9 da db dc dd de df e0 e1 e2 e3 e4 e5 e6 e7 e8 e9 ea eb ec ed ee ef f0 f1 f2 f3 f4 f5 f6 f7 f8 f9 fa fb fc fd fe ff
ARM1 DEVI ERR ARM2 DEVI ERR TURN DEVI ERR LIFT DEVI ERR SLIDE DEVI ERR FLIP DEVI ERR
ARM1 COMMUNI ARM2 COMMUNI TURN COMMUNI LIFT COMMUNI SLIDE COMMUNI FLIP COMMUNI
ARM1 SV ALM ARM1 SV ALM TURN SV ALM LIFT SV ALM SLIDE SV ALM FLIP SV ALM
Communication Communication Communication Communication Communication Communication RESERVE RESERVE Amplifier error Amplifier error Amplifier error Amplifier error Amplifier error Amplifier error RESERVE RESERVE
Emergency stop (collision detection) Emergency stop (collision detection) Emergency stop (POWER OFF) Emergency stop (stop SW)
DescriptionLevel No error, display status Non-continuable error, error is released with following command Non-continuable error, error is released with (RST) command : Non-continuable error, error is released by reset or power supply reinjection
Classification Number
504C30 27
Design Standards
Teaching Pendant
Japanese translation Axis X-axis Y-axis Z-axis -axis Default
Page 24
Other candidates
Version
Standard Axial relation Speed setup
Robot Industrial Robot Polar Robot Rectangular Robot SCARA Robot Aligner Handler Searcher Vonveyance Rotation mechanism Buffer Hoop SUMIFU Rail Boat station Bake Cool Coat Developer Dehyration bake Switchboard Bake furnance Indexer Power supply BOX Rotation cup Scrubber Vacuum dry Inspection equipment Elevator
RF
Extend Retract Forward Reverse Hold Loss Move Rotate Pickup Put down Rise and fall (except pickup
Classification Number
504C30 27
Design Standards
Teaching Pendant
stroke) Up Down Stick into Detect Complete Remove Replace Stuck at an angle Pile up Exchange (W arm) Delivery Override Stop Release Memorize Measure
Page 25
Version
Part
Line sensor Laser Changer Station Cassette Sensor Chuck Emergency Arm:first, second joint Wrist2nd axis +C106 Rotation of third joint Rotation of the chuck key Backspace Escape Clear Cancellation Number of stages Chamber Valve Wafer Reclaim wafer Substrate Air pressure Vacuum pressure Vaccum Pressure Pendant Overrun Mask Resist Reticle Pericle Magnetic shield Infrared laser
ACCUMORATOR
Classification Number
504C30 27
Design Standards
Teaching Pendant
Conversion kit Nozzle Self-diagnostic function Ionizer Encoder Grease Connector Cylinder Fiber Melody Regulator
Page 26
Version
Event O
Top Bottom Front Rear Height Direction First Adjust Current Safety Interlock Stroke Home position In-line Initial value High speed Low speed Control Installation Starting Path Trajectory Load Repeat accuracy Position accuracy Stopping accuracy Transport lead time Minimum positioning time Fail-safe Danger Safe working procedure Failure Exposure Fringe Bowing Operating rate Throughput Back side Cycle time Crack Metal comtamination Airflow
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 27
Version
Standby Resume Complete preparation Operating state Waiting state Preparation not complete Status State Initialization reset Command
Single unit movement Teaching setup Running Speed setup Environment setup Monitor display Extension Maintenance Operator Calibration Registration Modification Delete Confirm Return (screen) Executing operation Setup Press any key
Operating mode Automatic mode Manual mode Enable Disable Report Message Select Content Dummy JOG Offset value Release
LIBERTE
Classification Number
504C30 27
Design Standards
Teaching Pendant
Page 28
Version
Calibration (correct orientation flat value) Angle Size Pitch Detailed Position Timesof running Recipe Target Result Process Sequence Definition Equipment Manual Center Inch Parameter Inside Outside Reading Writing Lap timer Reverse Standard Incorrect Floating point Motion space Restricted space Workspace Operating range Polar coordinate system Rectangular coordinate system Primary side, upper stream Secondary side, lower stream Pretreatment Post-processing Cleanliness Resistivity Data log Pulse Device
Classification Number
504C30 27
Design Standards
Teaching Pendant
Item Fixation Establishment Service Permission Substitution Notes Individual Validity Illegal Pascal Baud rate Horsepower (HP) Inch Micron Radian Second Starting Conclusion Standby state Operating state Prepairation step Waiting operation start Under excution Under a pause Interference Course Delivery Return Normal Abnormal
Page 29
Version