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Motoman Manual PDF
Motoman Manual PDF
Motoman Manual PDF
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Turn On
1. Release three Emergency Stop buttons (one on the MRC Controller front panel,
one on the Teach Pendant, and one on the Safety circuit control panel.) by turning
them clockwise.
2. Turn main power switch on
3. On MRC Controller front panel select Mode: TEACH and Cycle: STEP
4. If there is an Axis Alarm message on the Teach Pendant Screen, note which axes
are highlighted on the SLURBT display, then press F5 (RESET)
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Joint Mode
World/Cylindrical Mode
Tool Mode
User Mode
10. The use of User Reference Frames is an advanced concept that will be dealt with
later.
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Note cursor is on Input Line. Enter the new Job Name using the numerical keypad
for numbers and the ABC menu for alphabet characters. Use the Shift (up arrow
key beside the menu keys) to access the next menu level.
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2. Hold the FWD key until the robot stops moving at the home position
3. Use cursor keys to place cursor on last line (the last position saved)
4. Press Enter to insert a final MOVJ command to the Home position
1. Press F3 (DEVICE)
2. F1 (HAND)
3. F1 (CONST)
4. At the prompt Tool_no= , press 2, then ENTER
5. F1 (CONST)
6. F2 (ON) or F5 (OFF)
7. Press ENTER to insert the command in your program. If you want to
insert the command in the middle of your program you must select the
Insert Mode key before pressing ENTER.
*
Note: If you need to activate the gripper manually, press the (STAR) button and the
TOOL2 ON/OFF button (Number Pad 3) together. Each time you press this combination
the gripper cycles open and closed.
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If, for any reason, you are returning to your job after someone else has worked on a
different job, retrieve your job using
1. Press SELECT
2. F4 (SEL JOB)
3. Move cursor to your job
4. ENTER
5. Press EDIT
Inserting lines
1. Move the cursor to the line preceding the desired insert point
2. Position the robot
3. Make sure you have the desired speed and motion type settings
4. Press the INSERT key
5. Press Enter to register a new position
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The system will jump to the next similar type of motion and allow you to change it by
pressing ENTER, or Skip it by pressing F1 (SKIP), or end the operation with F5 (QUIT).
Make sure the Control panel is in TEACH Mode and the current job is displayed on the
Teach Pendant.
1. Move the cursor to the point where the time delay is to be inserted
2. Press EDIT
3. F2 (CONTROL)
4. F3 (TIMER)
5. Enter the time in seconds
6. Press ENTER to insert the value into the edit buffer
7. Press ENTER to insert the command into the program
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5. On MRC Controller front panel select Mode: PLAY and Cycle: STEP
6. Step though the program using START button on the front panel.
7. On MRC Controller front panel select Mode: PLAY and Cycle: 1 CYCLE
8. Press START to run the program through once
9. On MRC Controller front panel select Mode: PLAY and Cycle: AUTO
10. Press START to run the program through continuously
11. On MRC Controller front panel select HOLD to pause the robot
12. On MRC Controller front panel select Mode: TEACH and Cycle: STEP
13. On Teach Pendant Press DISP key to get to the top menu
When you are done teaching, use the arrow keys to place the cursor at line 0001, the first
MOVJ to Home position.
1. Make sure the Servo and Enable LED's are still on.
2. Set MAN SPD to MED
3. Press FWD and hold. If the robot is at Home position and you are trying to move
it to Home position, nothing will happen.
4. Move the cursor to the next line, press and hold FWD until the robot stops
moving.
5. Set the MAN SPD to FST, move the cursor to the next line, hold FWD, and notice
the difference in speed.
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6. Move the cursor to the next line, and hold HIGH SPD then hold FWD, and notice
the difference.
1. Make sure the Servo and Enable LED's are still on.
2. Hold TEST-START and press FWD once to start the sequence
The program will continue (using whichever CYCLE mode - STEP, 1CYCLE or
AUTO is set on the controller front panel) as long as TEST-START is held. Once
the motion stops, TEST-START must be released before the sequence can be
restarted.
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The FDE for Windows software for saving files from the Motoman runs only on
Windows 95/98. If the FDE software is not running, you can start it by clicking the icon
on the Windows desktop.
When files are saved from the Motoman, they will appear in the Motoman folder on the
Win98 machine. From there they can be dragged to the Floppy Drive icon or the USB
Key icon. Do not leave them on the computer – they will be erased!
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1. Press FUNC
2. Press F1 (FDD)
3. Press F1 (FC1)
4. Place the cursor on CONDITION FILE/UNIVERSAL DATA
5. Press F2 (SAVE)
6. Move the Cursor down to VARIABLE DATA
7. Press F1 (EACH) (This will mark the VAR.DAT file to be saved)
8. Press F5 (EXECUTE) and wait until the save operation is complete
1. Press FUNC
2. Press F1 (FDD)
3. Press F1 (FC1)
4. Place the cursor on CONDITION FILE/UNIVERSAL DATA
5. Press F1 (LOAD)
6. Move the Cursor down to VARIABLE DATA
7. Press F1 (EACH) (This will mark the VAR.DAT file to be loaded back to the
controller)
8. Press F5 (EXECUTE) and wait until the download is complete
1. Press DISP
2. F1 (JOB)
3. F1 (DIS CHG)
4. F5 (LIST2) (Programs will be listed in date order)
5. Press EDIT
6. Place the cursor on Job to delete
7. F2 (DELETE)
8. ENTER
9. F5 (EXECUTE)
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Input Command
In Edit mode:
1. F1 (IN/OUT)
2. F3 (WAIT)
3. F1 (UNIV IN )
4. F1 (CONST)
5. At the prompt Input_no= , press 1 or 2 etc., then ENTER (enter the input number
attached to the sensor you want to read.)
6. F1 (CONST)
7. F2 (ON) or F5 (OFF)
8. Press ENTER to insert the command in your program. If you want to insert the
command in the middle of your program you must select the Insert Mode key
before pressing ENTER.
Note in step 7, if you select ON, the program will pause until the sensor is ON; if you
select OFF, the program will pause until the sensor is OFF.
Output Command
In Edit mode:
9. F1 (IN/OUT)
10. F1 (DOUT)
11. F1 (UNIV OT )
12. At the prompt Output_no= , press 5 or 6, etc., then ENTER (enter the output
number attached to the device you want to activate.)
13. F1 (CONST)
14. F2 (ON) or F5 (OFF)
15. Press ENTER to insert the command in your program. If you want to insert the
command in the middle of your program you must select the Insert Mode key
before pressing ENTER.
1. Press DISP
2. F5 (DIAG)
3. F2 (UNIV OT)
4. Press EDIT
5. Move Cursor Up/Down to select an Output
6. Press F4 (ON) or F5 (OFF)
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Program Flow
Make sure the Control panel is in TEACH Mode and the current job is displayed on the
Teach Pendant. This procedure assumes that the sub-program you will call already
exists!
1. Press EDIT
2. F2 (CONTROL)
3. F2 (CALL)
4. F1 (NAME)
5. Move the Cursor to the sub-program you want to call
6. Press ENTER to insert the command in your program.
Using the RET instruction (usually at the end of a sub-program) to return to the
calling program
1. Press EDIT
2. F2 (CONTROL)
3. Press the Shift Up key
4. F1 (RET)
5. (Optional: F1 (IF) to set conditions for returning)
6. Press ENTER to insert the command in your program.
There are 4 types of variables available for use in numerical conditional operations. They
are
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Setting a Label
1. Make sure the Control panel is in TEACH Mode and the current job is displayed
on the Teach Pendant.
2. Move the cursor to the correct line of the program. The LABEL will be inserted
AFTER the cursor
3. Press EDIT
4. F2 (CONTROL)
5. F4 (LABEL)
6. If you want to use Alphabetic characters, use Menu Shift Up -> F1 (ABC)
7. The system will automatically mark the LABEL with an asterisk. LABELs can
have 8 characters. After you have entered the label text, press F5 (QUIT)
8. Press ENTER to insert the text into the edit buffer
9. If you are not appending this instruction to the end of the program, you must
activate the INSERT key to insert the instruction or MODIFY key to change the
current line.
10. Press ENTER to insert the LABEL into the program
1. Make sure the Control panel is in TEACH Mode and the current job is displayed
on the Teach Pendant.
2. Move the cursor to the correct line of the program
3. Press EDIT
4. F2 (CONTROL)
5. F1 (JUMP)
6. F1 (LABEL)
7. If you want to use Alphabetic characters, use Menu Shift Up -> F1 (ABC)
8. After you have entered the label text, press F5 (QUIT)
9. Press ENTER to insert the text into the edit buffer
10. Menu Shift Up
11. F1 (IF) (Turn the JUMP instruction into a JUMP IF)
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16. Press ENTER to insert the JUMP IF instruction into the program
OR
1. F1 (CONST)
2. Enter the numerical value
3. Press ENTER
4. F2 (VAR)
5. F2 (I)
6. Enter variable address
7. Press ENTER
17. Press ENTER to insert the text into the edit buffer
18. If you are not appending this instruction to the end of the program, you must
activate the INSERT key to insert the instruction or MODIFY key to change the
current line.
19. Press ENTER to insert the JUMP IF instruction into the program
1. Make sure the Control panel is in TEACH Mode and the current job is displayed
on the Teach Pendant.
2. Move the cursor to the correct line of the program
3. Press EDIT
4. Menu Shift Up
5. F2 (ARITH)
6. F2 (INC), or F3 (DEC), or F4 (SET)
7. F2 (I)
8. Enter the variable address
9. Press ENTER
At this point complete the INC and DEC commands by simply pressing ENTER
(remember to set the INSERT or MODIFY key if required).
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Editing Variables
1. Make sure the Control panel is in TEACH Mode and the current job is displayed
on the Teach Pendant.
2. Press DISP
3. F4 (VAR)
4. F2 (I)
5. Move cursor to variable address you wish to change
6. Press EDIT
7. Press MODIFY
8. Enter the value the variable should have
9. Press ENTER
Make sure the Servos are ON and the ENABLE key is activated
1. Press DISP
2. F4 (VAR)
3. Menu Shift Up
4. F1 (P) (this stands for position variable type
5. Use F2 (FILE UP) or F3 (FILE DN) to select a P variable to edit. (P variables
range from P000 to P127)
6. Use F3 (DATA CL) to erase the current value of the variable
7. F5 (EXECUTE)
8. F2 (XYZ) (not always required)
9. F2 (COORD) (not always required)
10. F2 (ROBOT) (indicate that this position variable refers to the robot coordinate
system)
11. Move Cursor to Coordinate (for this lab use Z)
12. Make sure the MODIFY key light is on
13. Key in the distance in MM. (use 50 or -50 for this lab)
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Make sure the Control panel is in TEACH Mode and the current job is displayed on the
Teach Pendant.
1. Move the cursor to the point where the incremental motion is to be inserted
2. Press EDIT
3. Menu Shift Up
4. F1 (MOTION)
5. F5 (IMOV)
6. F1 (ROBOT)
7. F1 (P) (this incremental motion is based on a position variable)
8. Enter the number of the previously created position variable to use
9. Press ENTER
10. Menu Shift Up
11. F1 (V) (the incremental motion needs a speed)
12. F1 (CONST)
13. Enter the speed value in mm/sec
14. Press ENTER
15. Menu Shift Up
16. Menu Shift Up
17. F2 (RF) (using the robot reference frame (not a user reference frame))
18. Press ENTER