Operating Instructions [Operation]

Industrial Robot Controllers

Model No. YA series

Model numbers
For
G Ⅲ Controllers YA-1VA ***
TAWERS (WG Ⅲ ) YA-1WA ***
YA-1TA ***
YA-1UA ***
YA-1HAA ***

Before operating this product, please read the instructions carefully and save this manual for future use.
• First of all, please read “Safety precautions” or “Safety manual.”

OM1009082E17

1307
 Introduction

♦Introduction
This manual explains operation of Panasonic industrial
robots; TAWERS G3 controller series controllers using
“Teach Pendant”.
♦About safety
First of all, please read and understand separately pro-
vided “Safety Manual” thoroughly for proper and safe oper-
ation of our robots.
Prior to operation, read this manual for proper operation.
Keep this manual in an easily accessible place and re-read
as necessary.
Operation procedures explained in this document is
based on software version 15.**.
When you upgrade your software, check our sales
office of service engineer if the current manual you
have is applicable to the upgraded software version.
Note
Higher version of software does not necessarily require
revision of manual unless changes of software cause
change in operation procedures.
To check the software version, click (version)
icon on the teach pendant.

♦Warning symbols for safe usage

Each symbol describes things to be observed to prevent you and other personnel from hazardous conditions or damage to property.
The followings explains hazardous conditions or damages that are classified The following symbols indicates things to
into the following three levels. be observed.
A hazardous situations including death Things that MUST

DANGER or serious personal injury is imminent. NOT be performed.

The potential for a hazardous accident Things that MUST be

WARNING including death or serious personal

injury is high.
performed.

The potential for hazardous accident Things attention must

CAUTION including light personal injury and/or the

potential for property damage are high.
be paid to.

♦Disclaimer
Panasonic Welding Systems Co., Ltd., (hereinafter called
“PWS”) and its affiliates (including any subcontractor, sales
company or agent) shall not assume or undertake any
responsibility or liability of the followings:
• Any problem arising out of, or directly or indirectly attributable to,
the failure of user to carry out those normal installation, normal
maintenance, normal adjustment and periodical check of this
Product.
• Any problem arising out of any Force Majeure, including but not
limited to, act of God.
• Any malfunction or defect of this Product that is directly or indi-
rectly the result of any malfunction or defect of one or more
related parts or products that are not supplied by PWS. Or any
problem arising out of, or directly or indirectly attributable to, the
combination of this Product with any other product, equipment,
devices or software that is not supplied by PWS.
• Any problem arising out of, or directly or indirectly attributable to,
user’s failure to strictly carry out or follow all of the conditions
and instructions contained in this instruction manual, or user’s
misusage, mishandle, operational miss or abnormal operation.
• Any problem arising out of this Product or the use of it, the
cause of which is other than the foregoing but is also not attrib-
utable to PWS.
• Any claim of a third party that this Product infringes the intellec-
tual property rights of such third party that are directly or indi-
rectly caused by User’s use of this Product and relate to the
method of production.
ANY LOST PROFITS OR SPECIAL, INDIRECT, INCIDEN-
TAL OR CONSEQUENTIAL DAMAGES IN CONNECTION
WITH OR ARISING FROM ANY MALFUNCTION,
DEFECT OR OTHER PROBLEM OF THIS PRODUCT.

• The description of this manual is based on the contents as of July, 2013.

• The contents of this manual are subject to change without further notice.
• English version is the original instructions.

2 OM1009082E17
♦Applicable robots
Name Model number Manipulator type Controller type
YA-1WA*** TM
TAWERS
TA WGIII
(WGIIItype) YA-1TA***
TB
YA-1VA*** TM
TA
YA-1UA***
GIIIcontroller TB GIII
YA-HAA*** HS
YS

OM1009082E17 3
 ♦Table of Contents
Introduction ......................................... 2
1. Specifications .................................. 10
1.1 Operational functions ........................... 10
1.2 Controls ................................................. 11
1.3 Appearance............................................ 11
2. Structure........................................... 12
2.1 Parts identification................................ 12
2.2 Teaching Playback Method .................. 12
3. How to use the teach pendant........ 13
3.1 Functions ............................................... 13
3.1.1 Jog dial and +/- key ....................................14
3.1.2 Window change key ...................................14
3.2 How to work on the screen .................. 15
3.3 How to switch the external axes (option)15
3.4 User function keys ................................ 16
3.5 Menu icon .............................................. 17
3.6 Input numerical values and characters18
3.6.1 Input numerical values................................18
3.6.2 Input characters..........................................18
3.7 Memory level check .............................. 19
3.8 How to get the version information..... 19
4. TEACH mode.................................... 20
4.1 How operation procedures are explained
................................................................. 20
4.2 How to turn ON power to the controller20
4.3 How to turn ON Servo Power ............... 21
4.4 User ID settings for the first time ........ 21
4.5 Manual operation .................................. 22
4.6 Switch the coordinate system ............. 23
4.6.1 Robot motion icons and robot movement...23
4.7 Quantitative move ................................. 25
4.7.1 Applicable coordinate systems ...................25
4.7.2 Preparation .................................................25
4.7.3 Operation....................................................25
4.8 Teach program programming procedure27
4.8.1 Robot movement data ................................27
4.9 Create a new file.................................... 28
4.10 Register teaching points .................... 29
4.10.1 Registering teaching points ......................29
4.10.2 Changing teaching points .........................31
4.10.3 Registration of teaching point deletion .....31
4.10.4 Move commands for each interpolation....32
4.10.5 Maximum speed .......................................32
4.10.6 How to switch the manual speed..............32
4.10.7 Wrist calculation (CL number) ..................33
4.11 Circular interpolation .......................... 34
4.11.1 Teaching procedure ..................................34
4.11.2 What is “Circular interpolation” .................35
4.12 Teach weld section (Welding spec.) .. 36
4.12.1 Wire inching / Gas check..........................36
4 OM1009082E17
4.12.2 Teaching welding points and air-cut points37
4.12.3 Teach settings...........................................38
4.12.4 Hold and Restart in welding operation......38
4.12.5 Linear weaving interpolation.....................39
4.12.6 Supplementary explanations about weaving
movements .................................................41
4.12.7 Circular weaving interpolation ..................42
4.13 Trace operation ....................................43
4.13.1 Starting/Ending trace operation ................43
4.13.2 Adding teaching points .............................43
4.13.3 Changing position of a teaching point ......44
4.13.4 Deleting teaching points ...........................44
4.13.5 Robot position and icons ..........................44
4.14 Trace motion after editing...................45
4.15 I/O monitor............................................47
4.16 Program test.........................................47
4.16.1 Operation..................................................48
4.16.2 Override in program test...........................49
4.16.3 Trajectory check with program test...........49
4.17 Teach advanced settings ....................50
4.17.1 Weld section shift......................................50
4.17.2 Use of shift buffer data..............................50
4.17.3 Program test .............................................51
4.17.4 Trace settings ...........................................51
4.17.5 R-shift key and teach point settings..........51
4.17.6 Wire touch detection in teaching ..............52
4.17.7 Edit settings ..............................................52
4.18 Edit files (Basic operation) .................53
4.18.1 Open a file ................................................53
4.18.2 Display a file on top of the screen ............53
4.18.3 Shift reset .................................................54
4.18.4 Add a sequence command.......................54
4.18.5 Change a sequence command.................55
4.18.6 Delete a sequence command...................55
4.18.7 Edit position of a taught point ...................55
4.18.8 Setting welding conditions - “Auto-edit of arc
start/end commands”..................................56
4.18.9 Slope control for welding conditions .........57
4.18.10 Welding start/welding end sequence programs
....................................................................57
4.18.11 File sort ...................................................57
4.18.12 Save a file...............................................58
4.18.13 Close a file..............................................58
4.18.14 File transfer.............................................58
4.19 File properties ......................................59
4.19.1 File properties...........................................59
4.19.2 File protect................................................60
4.19.3 Rename a file ...........................................60
4.19.4 Delete a file...............................................61
5. AUTO mode ......................................62
5.1 Start.........................................................62
5.1.1 Initialization at start.....................................63
5.2 Hold and restart .....................................63
5.3 Emergency stop and restart .................63
5.4 Limit conditions of operation ...............64
5.4.1 Settings.......................................................64
5.4.2 Checking locked contents...........................64
5.4.3 Program unit ...............................................65
5.5 Override ..................................................65
5.6 End of operation ....................................66
 5.7 Advanced operation ............................. 67
5.7.1 Off-line edit................................................. 67
5.7.2 Program change in parallel processing...... 67
6. File edit functions............................ 68
6.1 Cut .......................................................... 68
6.2 Copy ....................................................... 68
6.3 Paste ...................................................... 69
6.4 Find ........................................................ 69
6.5 Replace .................................................. 70
6.6 Edit local variable ................................. 71
6.7 Global data............................................. 71
6.8 Option .................................................... 72
6.9 Conversion ............................................ 72
6.9.1 Conversion type ......................................... 72
6.9.2 Setup ......................................................... 73
6.9.3 Mirror transformation ................................. 74
6.10 Conversion with robot teaching ........ 75
6.10.1 Setting procedure .................................... 75
6.11 Tool compensation ............................. 77
6.11.1 Settings .................................................... 77
6.11.2 Confirmation of tool compensation........... 78
6.12 Global variable setting for TCP
adjustment.............................................. 78
6.13 Torch positioning function................. 78
6.13.1 Preparation .............................................. 78
6.13.2 Operation ................................................. 79
7. View .................................................. 80
7.1 Display change...................................... 80
7.1.1 Position display.......................................... 80
7.1.2 Torch angle ................................................ 81
7.1.3 User IN/OUT .............................................. 81
7.1.4 Status IN/OUT............................................ 82
7.1.5 Variable ...................................................... 82
7.1.6 SHIFT-ON data .......................................... 82
7.1.7 Accumulated time ...................................... 83
7.1.8 Load factor................................................. 83
7.1.9 Operate state ............................................. 84
7.1.10 Program call............................................. 84
7.2 Cycle time .............................................. 85
7.2.1 Settings ...................................................... 85
7.2.2 Display ....................................................... 85
7.3 List of open files ................................... 85
7.4 Arc weld information ............................ 86
7.5 Wire usage............................................. 87
8. Variable settings .............................. 88
8.1 Variables ................................................ 88
8.2 Global variable settings ....................... 89
8.3 Application examples of variables ...... 90
8.3.1 Byte variables ............................................ 90
8.3.2 Position variables....................................... 91
8.3.3 Rotary/Shift ................................................ 92
9. Input/Output settings ...................... 93
9.1 User Input/Output settings................... 93
OM1009082E17
9.1.1 User I/O terminal type ................................ 93
9.1.2 Setting procedure....................................... 93
9.2 Status IN/OUT.........................................94
9.2.1 Status INPUT ............................................. 94
9.2.2 Status OUTPUT ......................................... 95
9.2.3 Status I/O to be allocated to user terminals 96
10. Standard settings........................... 103
10.1 Program start method settings ..........103
10.1.1 Start method settings and I/O allocation .. 103
10.1.2 Common specifications............................ 105
10.1.3 Signal method .......................................... 106
10.1.4 Binary method.......................................... 107
10.1.5 BCD method ............................................ 108
10.1.6 Program call method................................ 109
10.1.7 Master method ......................................... 110
10.2 Tool offset settings..............................111
10.2.1 What is tool offset .................................... 111
10.2.2 Definition of XYZ type tool offset.............. 111
10.2.3 Definition of L1 type tool offset................. 112
10.2.4 Setting procedure..................................... 112
10.3 Standard tool settings.........................113
10.4 TCP (Tool center point) adjustment ...113
10.4.1 What is TCP adjustment .......................... 113
10.4.2 Procedure ................................................ 113
10.5 Collision detect....................................116
10.5.1 Load parameter settings .......................... 116
10.5.2 Collision detect settings ........................... 117
10.5.3 Application example................................. 117
10.5.4 Standard torch load parameters............... 118
10.6 Collision sensitivity monitor ..............119
10.6.1 How to monitor the collision sensitivity .... 119
10.7 Soft-limit settings ................................120
10.8 Jog settings .........................................120
10.9 Speed limit settings.............................121
10.9.1 Manual/Override speed limit .................... 121
10.9.2 Joint speed limit ....................................... 121
10.10 Smooth level ......................................122
10.11 Language............................................123
11. Advanced settings ......................... 124
11.1 Login and Logout ................................124
11.2 RT monitor settings .............................125
11.2.1 What is the “RT monitor” function? .......... 125
11.2.2 “RT monitor” setting procedure ................ 125
11.3 Cube monitor settings.........................126
11.3.1 What is the “Cube monitor” function?....... 126
11.3.2 “Cube monitor” setting procedure ............ 126
11.4 E-Axis Range Monitor .........................127
11.5 AND condition monitor .......................128
11.6 Programming (Teach) Folder settings128
11.6.1 Edit folder ................................................. 128
11.6.2 Default folder............................................ 128
11.7 Resume settings ..................................129
11.8 Coordinate system settings................129
11.9 User coordinate system settings .......130
11.9.1 What is user coordinate system? ............. 130
11.9.2 Setting procedure..................................... 130
11.10 Favorite commands...........................131
5
 11.10.1 Setting procedure 1 (From “Edit favorite
commands” screen)....................................131
11.10.2 Setting procedure 2 (From “Command”
screen) .......................................................131
11.10.3 To use a favorite command.....................132
11.11 Customize function keys .................. 132
11.11.1 User function keys ..................................132
11.11.2 Switching and displaying user coordinate
system ........................................................134
11.11.3 Robot move key ......................................135
11.11.4 External axis key .....................................135
11.11.5 Ctrl key ....................................................136
11.12 Program edit disable......................... 137
11.13 Screen saver ...................................... 137
11.14 Initial display in AUTO mode............ 138
11.14.1 General ...................................................138
11.14.2 Settings...................................................138
11.15 Error handling.................................... 139
11.15.1 What is “Error handling”?........................139
11.15.2 Setting procedure ...................................140
11.15.3 Operation procedure...............................140
11.15.4 Relations with other functions ................141
11.16 Hot edit ............................................... 142
11.16.1 What is “Hot edit”? ..................................142
11.16.2 Preliminary settings ................................142
11.16.3 Operation procedure...............................143
11.16.4 Definition of “Coordinate system for shift”144
11.16.5 Relations with other functions.................144
11.17 Restart after Servo-OFF .................... 145
11.17.1 Outline ....................................................145
11.17.2 Settings...................................................146
11.18 Preprocessing of WAIT / IF command
................................................................. 147
11.18.1 Settings...................................................147
11.18.2 Setting “Preprocess WAIT, IF commands”
function individually ....................................147
11.19 Preprocess SHIFT-ON/OFF commands
................................................................. 148
11.19.1 Settings...................................................148
11.20 Advanced error recovery.................. 149
11.20.1 What is “Advanced error recovery”? .......149
11.20.2 Settings...................................................150
11.20.3 Operation ................................................150
11.20.4 How to end “Advanced error recovery” function
152
11.20.5 Restart of the “Advanced error recovery”
function .......................................................153
11.20.6 TEACH mode operation during the “Advanced
error recovery” operation ............................153
11.21 IO comment import/IO comment export
................................................................. 154
11.21.1 Outline ....................................................154
11.21.2 Applicable terminals................................154
11.21.3 File format...............................................154
11.21.4 How to import I/O comments ..................155
11.21.5 How to export I/O comments ..................155
11.21.6 How to import IO comment of a G2/WG
controller.....................................................156
11.21.7 How to export IO comment to a G2/WG
controller.....................................................156
11.22 Program start method....................... 157
11.22.1 Outline ....................................................157
6 OM1009082E17
11.22.2 Setting procedure ...................................157
11.22.3 Processing of “Close the running program and
open the selected program” method...........157
11.22.4 Supplemental explanation of “Close the
running program and open the selected
program” method ........................................157
11.23 Operational mechanism restriction..158
11.23.1 Outline ....................................................158
11.23.2 Setting procedure ...................................158
11.23.3 Operation ................................................158
11.23.4 Supplement.............................................159
12. System information/Back up settings
...........................................................160
12.1 Error/Alarm history..............................160
12.2 Backup..................................................161
12.2.1 Save .........................................................162
12.2.2 Load..........................................................163
12.2.3 Verify.........................................................163
12.2.4 Scheduled backup ....................................163
12.2.5 Scheduled backup data transport.............165
12.2.6 Removal of scheduled backup “Temp folder”
....................................................................165
13. Management settings ....................166
13.1 System settings ...................................166
13.1.1 Robot settings...........................................166
13.1.2 Add optional functions ..............................167
13.1.3 Multi-mechanism ......................................167
13.1.4 Multi-welders settings ...............................168
13.1.5 Switching welders by the external input (G3
controllers only) ..........................................168
13.1.6 Switching TAWERS characteristics ..........169
13.1.7 TAWERS AMP/WFS switching (TAWERS only
) ..................................................................170
13.1.8 External communication (External comm.)
function .......................................................171
13.2 System data adjustment .....................172
13.3 User management settings.................173
13.3.1 Set items...................................................173
13.3.2 “User registration” settings .......................173
13.3.3 “Auto login” settings..................................174
13.3.4 “Auto logout” settings................................174
13.3.5 Number of User ID settings ......................174
13.4 Origin adjustment ................................175
13.4.1 Standard position (Robot or External axis)175
13.4.2 MDI (Robot or External axis) ....................176
13.4.3 Teaching (Robot or External axis) ............176
13.4.4 Multi-rotation (Robot) ................................177
13.5 Memory clear........................................178
13.6 Date settings ........................................178
13.7 On-site origin adjust............................179
13.8 Operation box ......................................181
13.9 Use setting ...........................................181
13.10 Torch cable settings ..........................182
13.11 License activation..............................182
14. Arc welding machine settings ......183
14.1 Configuration settings ........................184
 14.1.1 Add a welder (G3 controllers only) .......... 184
14.1.2 Rename a welder/welder characteristics . 186
14.1.3 Delete a welder / Initialize welder
characteristics............................................ 186
14.1.4 Set a welder/welder characteristics as default
186
14.1.5 Adjust “No arc detection time” ................. 186
14.1.6 Welding condition specification settings - Table
number (for CO2/MAG Welding) ............... 187
14.1.7 Wire inching using +/- key........................ 189
14.1.8 Output of the default welder settings ....... 190
14.1.9 Switching welders by the external input (G3
controllers only) ......................................... 190
14.1.10 Lift-up (TAWERS only) ........................... 192
14.1.11 Weld monitor .......................................... 193
14.1.12 TAWERS AMP/WFS Switching (TAWERS
only) ........................................................... 194
14.1.13 TAWERS VALVE 2 for general purpose
settings (TAWERS only) ............................ 195
14.1.14 Selected welder output (TAWERS only) 195
14.1.15 Unification data reference (Pulse/ No pulse)
(TAWERS only).......................................... 196
14.1.16 MAG touch start monitor (TAWERS only)197
14.1.17 Weaving settings.................................... 198
14.2 Welder data settings (CO2 /MAG/MIG)199
14.2.1 Wire/Material/Weld method...................... 199
14.2.2 Adjust value ............................................. 200
14.2.3 Wave adjust data ..................................... 201
14.2.4 Unification/Individual ................................ 205
14.2.5 Welding conditions................................... 205
14.2.6 Inching speed .......................................... 205
14.2.7 Arc retry ................................................... 206
14.2.8 Stick release ............................................ 206
14.2.9 Wire auto retract ...................................... 206
14.2.10 Weld start settings ................................. 207
14.2.11 Weld end settings................................... 207
14.2.12 Re-start overlap ..................................... 207
14.2.13 Tip change time ..................................... 208
14.2.14 Weld monitor (G3 only) .......................... 208
14.2.15 Display weld condition (TAWERS only) . 209
14.2.16 Pulse settings ........................................ 209
14.2.17 Flying start ............................................. 209
14.2.18 Ext. input Wire/Gas ................................ 210
14.2.19 Wire usage monitor output..................... 210
14.2.20 Low pulse settings (For G3 controllers) . 211
14.2.21 Low pulse settings (For TAWERS) ........ 211
14.3 TIG welder settings............................. 212
14.3.1 Weld mode............................................... 213
14.3.2 Weld condition table................................. 213
14.3.3 Start method ............................................ 213
14.3.4 Electrode contact detection...................... 214
14.3.5 Tip change time ....................................... 214
14.3.6 Correction value....................................... 215
14.4 Changing analog type welder settings215
14.5 Weld navigation .................................. 216
15. Commands ..................................... 217
15.1 MOVE commands ............................... 217
15.1.1 MOVEC.................................................... 217
15.1.2 MOVECW ................................................ 217
15.1.3 MOVEL .................................................... 217
15.1.4 MOVELW ................................................ 218
15.1.5 MOVEP.................................................... 218
OM1009082E17
15.1.6 WEAVEP.................................................. 218
15.2 Input/Output commands .....................219
15.2.1 IN ............................................................. 219
15.2.2 OUT ......................................................... 219
15.2.3 PULSE .................................................... 220
15.3 Flow commands ..................................221
15.3.1 CALL ........................................................ 221
15.3.2 DELAY ..................................................... 221
15.3.3 HOLD ....................................................... 221
15.3.4 IF.............................................................. 222
15.3.5 INTERLOCK ............................................ 222
15.3.6 JUMP ....................................................... 223
15.3.7 LABEL...................................................... 223
15.3.8 NOP ......................................................... 223
15.3.9 PARACALL .............................................. 224
15.3.10 PAUSE ................................................... 224
15.3.11 PREPROC ............................................. 224
15.3.12 REM ....................................................... 225
15.3.13 RET........................................................ 225
15.3.14 R_MARK ................................................ 225
15.3.15 RSV_CANCEL ....................................... 225
15.3.16 RSV_PROG ........................................... 226
15.3.17 STOP ..................................................... 226
15.3.18 UNTIL_IP ............................................... 226
15.3.19 WAIT_IP................................................. 227
15.3.20 WAIT_VAL.............................................. 227
15.4 Arithmetic operation commands .......228
15.4.1 ADD ......................................................... 228
15.4.2 ATAN........................................................ 228
15.4.3 CLEAR ..................................................... 228
15.4.4 CNVCOORD ............................................ 228
15.4.5 CNVSET .................................................. 229
15.4.6 COS ......................................................... 229
15.4.7 DEC ......................................................... 229
15.4.8 DIV ........................................................... 229
15.4.9 GETEL ..................................................... 230
15.4.10 GETPOS ................................................ 230
15.4.11 INC ......................................................... 230
15.4.12 MOD....................................................... 230
15.4.13 MUL ....................................................... 231
15.4.14 SET ........................................................ 231
15.4.15 SETEL.................................................... 231
15.4.16 SIN ......................................................... 231
15.4.17 SQRT ..................................................... 232
15.4.18 SUB........................................................ 232
15.5 Welding commands (Common use)...232
15.5.1 ARC-OFF ................................................. 232
15.5.2 ARC-ON................................................... 233
15.5.3 GASDELAYOFF....................................... 233
15.5.4 GASVALVE .............................................. 233
15.5.5 IF-ARC ..................................................... 234
15.5.6 STICKCHK............................................... 234
15.5.7 TORCHSW .............................................. 234
15.5.8 WAIT-ARC ............................................... 234
15.5.9 WIREFWD ............................................... 234
15.5.10 WIRERWD ............................................. 235
15.5.11 WLDSPD................................................ 235
15.5.12 WLDSPDSLP......................................... 235
15.5.13 WPLS..................................................... 235
15.6 Weld commands (For GMAW) ............236
15.6.1 ADJRST ................................................... 236
15.6.2 AMP ......................................................... 236
15.6.3 ARC-SET ................................................. 236
7
 15.6.4 ARCSLP ...................................................237
15.6.5 BBKPULSE...............................................237
15.6.6 BBKTIME..................................................237
15.6.7 CDM .........................................................238
15.6.8 CRATER ...................................................238
15.6.9 ELI ............................................................238
15.6.10 ENDPLS .................................................239
15.6.11 FTTLVL ...................................................239
15.6.12 HOTCUR ................................................239
15.6.13 HOTTM...................................................239
15.6.14 HOTVLT..................................................240
15.6.15 IAC..........................................................240
15.6.16 IB ............................................................240
15.6.17 IB2 ..........................................................241
15.6.18 INIT-IB ....................................................241
15.6.19 INIT-IP ....................................................241
15.6.20 INIT-PCOUNT.........................................241
15.6.21 INIT-PFRQ..............................................241
15.6.22 IP ............................................................242
15.6.23 I-PFALL...................................................242
15.6.24 I-PRISE...................................................242
15.6.25 ISC..........................................................242
15.6.26 ISL1 ........................................................243
15.6.27 ISL2 ........................................................243
15.6.28 MTS-CYCLE...........................................244
15.6.29 MTS-ONTM ............................................244
15.6.30 MTS-V ....................................................244
15.6.31 NECKLVL ...............................................244
15.6.32 PCHGSLP ..............................................245
15.6.33 PCTRLBLOW .........................................245
15.6.34 PFALL.....................................................245
15.6.35 PFRQ......................................................245
15.6.36 P-HOTTM ...............................................245
15.6.37 PMODE ..................................................246
15.6.38 PPEAK....................................................246
15.6.39 PRESP ...................................................246
15.6.40 PRISE.....................................................246
15.6.41 PSTSLP..................................................246
15.6.42 SP-I.........................................................247
15.6.43 SP-T .......................................................247
15.6.44 STARTPLS .............................................247
15.6.45 STDC_TIME ...........................................247
15.6.46 TSO ........................................................247
15.6.47 TSP.........................................................248
15.6.48 VOLT ......................................................248
15.6.49 WIRACDC ..............................................248
15.6.50 WIRSLDN ...............................................248
15.6.51 WIRSPDADJ ..........................................248
15.6.52 WIRSTRACC..........................................249
15.6.53 WIRSTRDELAY......................................249
15.7 Weld commands (For TAWERS) ........ 250
15.7.1 ARC-DCT-DELAY.....................................250
15.7.2 ARC-LIFT .................................................250
15.7.3 CRATERSLP ............................................251
15.7.4 LPSLP ......................................................251
15.7.5 PTYPE......................................................251
15.7.6 RECVRYVOLT .........................................252
15.7.7 STARTSLP ...............................................252
15.7.8 WFSPEED................................................252
15.8 Weld commands (For low pulse MIG) 253
15.8.1 LPDELAY..................................................253
15.8.2 LPDUTY ...................................................253
15.8.3 LPFRQ......................................................253
15.8.4 LPLEVEL ..................................................253
8 OM1009082E17
15.8.5 LPLS.........................................................253
15.8.6 LPWCOND ...............................................254
15.9 Weld commands (For TIG welding)....255
15.9.1 ACFRQ .....................................................255
15.9.2 ADJRST_TIG ...........................................255
15.9.3 ARC-SET_TIG..........................................255
15.9.4 CHKVOLT .................................................255
15.9.5 CLEAN .....................................................256
15.9.6 CRATER_TIG ...........................................256
15.9.7 HOTTM_TIG.............................................256
15.9.8 HOTSLP_TIG ..........................................256
15.9.9 I-HOT_TIG................................................256
15.9.10 IB_TIG ....................................................257
15.9.11 IP_TIG ...................................................257
15.9.12 MIXFRQ..................................................257
15.9.13 MIXRATE ...............................................257
15.9.14 PDUTY_TIG ...........................................257
15.9.15 PFRQ_TIG..............................................257
15.9.16 TIGSLP...................................................258
15.9.17 WFDSLP.................................................258
15.9.18 WMODE_TIG .........................................258
15.10 Logic operation commands..............259
15.10.1 AND ........................................................259
15.10.2 NOT ........................................................259
15.10.3 OR ..........................................................259
15.10.4 SWAP .....................................................260
15.10.5 XOR........................................................260
15.11 Motion assist commands ..................261
15.11.1 ACCEL....................................................261
15.11.2 GOHOME ...............................................261
15.11.3 LOAD ......................................................261
15.11.4 SV-SET1 ................................................262
15.11.5 TOOL ......................................................262
15.12 Shift commands (Optional) ...............263
15.12.1 RSTALLSFT ...........................................263
15.12.2 SHIFT-OFF .............................................263
15.12.3 SHIFT-ON...............................................263
15.13 Sensor commands (Optional)...........264
15.13.1 SNSLINE ................................................264
15.13.2 SNSSFTLD.............................................264
15.13.3 SNSSFT-OFF .........................................264
15.13.4 SNSSFT-ON ...........................................264
15.13.5 SNSSFTRST ..........................................264
15.13.6 SNSSFTSV.............................................265
15.14 External axis commands (Optional).266
15.14.1 EAXS_SFT-OFF .....................................266
15.14.2 EAXS_SFT-ON.......................................266
15.14.3 VELREF..................................................266
15.14.4 RSTREV .................................................266
15.15 ARC-ON/ARC-OFF programs............267
15.15.1 CO2/MAG/MIG welding ..........................267
15.15.2 TIG welding ............................................268
15.15.3 Unusable commands..............................268
16. Errors and Alarms..........................269
16.1 Alarm codes .........................................269
16.2 Error codes...........................................278
16.3 Welder error codes ..............................299
16.4 Welder error codes for TAWERS ........302
16.5 Welder error codes for “Thick plate
welding” ..................................................304
 16.6 Supplementary explanation of errors and
alarms ..................................................... 305
16.6.1 Remedy for E1050 ................................... 305
16.6.2 E7XXX (Load factor error) ....................... 306
16.6.3 Errors at a point of singular orientation .... 306
16.6.4 How to handle “E7003: Overrun” error .... 307
17. Maintenance functions.................. 308
17.1 TP version auto matching function... 308
18. Appendix ........................................ 310
18.1 Sample programs................................ 310
18.2 Application example of CNVSET
command ................................................ 316
18.2.1 How to add the command ........................ 316
18.3 Application examples of TRANSBASE/
TRANSBASV........................................... 318
18.3.1 How to add the command ........................ 318
18.3.2 Sample program ...................................... 318
18.3.3 Supplementary explanation ..................... 318
18.4 Application examples of STARTSLP/
CRATERSLP ........................................... 319
18.4.1 How to edit welding fine adjustment parameters
................................................................... 319
18.5 Sample programs of palletizing......... 321
18.5.1 Sample 1.................................................. 321
18.5.2 Sample 2.................................................. 323
OM1009082E17
18.6 A program to calculate distance between
points.......................................................324
18.6.1 Program (PtoPlen) ................................... 324
18.7 Sample program of TW seek ..............325
18.8 Application example of EAXS_SFT-ON/
EAXS_SFT-OFF.......................................326
18.8.1 Application example 1.............................. 326
18.8.2 Application example 2.............................. 327
18.9 Application example of IF-ARC ..........328
18.9.1 Application example: ............................... 328
18.10 Application example of INTERLOCK
command.................................................329
18.10.1 How to add the command ...................... 329
18.10.2 Sample program .................................... 329
18.10.3 Interlock release..................................... 330
18.10.4 Supplementary explanation ................... 330
18.11 Application example of UNTIL_IP
command.................................................331
18.11.1 How to add the command ...................... 331
18.11.2 Sample program..................................... 331
18.12 SV-SET1 command............................332
18.12.1 Applicable example................................ 332
18.13 How to calculate the load parameters
(TA/TB manipulators) .............................333
18.13.1 Calculating formula of “Inertia” of typical
shapes ....................................................... 333
18.13.2 An example of calculating load parameters
................................................................... 334
9
 Specifications

1. Specifications
1.1 Operational functions

Item Specifications

1. Linear interpolation, 4. Weaving

2. Circular interpolation 5. Circular weaving
3. PTP

Interpolation Weaving condition

• Operating frequency: 5 Hz or less (All 6 axes)

10 Hz or less (Simple harmonic motion of wrist)

• Hold time at center and both ends: 0.1 to 9.9 seconds each
Teaching

1. Cartesian 4. Cylindrical
Coordinates selection 2. Articulated 5. User
3. Tool 6. Tool projection

Max. speed should be within the safety speed ranging from 0.01 m/min to 15 m/min.
in teaching
(Factory setting at shipment: 15 m/min)
Speed setting
in playback 0.01 m/min - 180.00 m/min\, 0 % - 100 % (in articulated operation)

Sequence It is possible to edit or input sequence using the teach pendant.

Jog Use the jog dial (Feed per jog is adjustable.)

Weld wire inching Feed forwards and backwards.

1. Input/Output 4. Welding fine adjustment

Commands 2. Flow control 4. Arithmetic calculation
3.Welding 5. Logical calculation
Edit

Add, delete, change, cut, copy, paste and replace sequence commands and teaching
Edit functions
points.

1. Master program
Program start method
2. Program select (signal input, binary input or BCD code input)
Operation

1. Speed limit 3. I/O lock

Drive conditions
2. Robot lock 4. Arc lock

Reservation function Up to 16 programs during operation.

10 OM1009082E17
 Specifications

1.2 Controls

Item Specifications

Memory capacity 40 000 points

(800 000 points: Available by using “Additional Memory Function: YA-
Memory & Display

1UPEM1” (Sold separately))

Motion mode 1. Teaching, Editing

2. Play (AUTO)

Display method 7 inches wide TFT color LCD, graphic type

External memory Available by connecting USB memory or SDHC/SD memory card.

(USB memory and SDHC/SD memory card are customer provision.)

External memory, • 1 SD memory card slot. (Supports SDHC/SD standard)

Communication

Communication Interface • 2 USB ports (USB2.0 compatible)

It is possible to connect USB memory, keyboard (numerical keypad)
to the USB ports. It is not possible to connect a USB device using a
hub.

Do not pull out the memory card or turn off the power while loading or writing data to the
Attention USB memory or SDHC.SD memory card. Or the memory card can be corrupted.

1.3 Appearance

Dedicated cable: 10 m
Teach cable
Connection: Both controller and teach pendant sides

Always hold the main body part when handling the teach pendant.
NOTE Do not hold the TP cable part and handle it. Or undue force will be applied on the cable connection
part, which can cause damage to the teach pendant.

OM1009082E17 11
 Structure

2. Structure

2.1 Parts identification

Teach pendant
Robot controller main body
(Note)
Operation box is standard specifica-
Operation box (Note)
tion for specified models only, other-
wise optional.

Axis name Definition

RT axis Rotate Turn

UA axis Upper Arm

FA axis Front Arm

FA-axis
RW axis Rotate Wrist
RW-axis
BW axis Bent Wrist

TW axis Twist Wrist

BW-axis
UA-axis
TW-axis

RT-axis
Robot manipulator

2.2 Teaching Playback Method

The robot is a teaching playback robot.
A program of robot operation, such as welding or sequen-
tial processing, can be created by moving the robot arm.
This process, known as “Teaching” can be stored in the
controller.
By running the program, the robot executes the series of
taught operations (or playback the series of taught opera-
tions) repeatedly. Therefore, accurate welding or process-
ing is possible continuously.

12 OM1009082E17
 How to use the teach pendant

3. How to use the teach pendant

The teach pendant is used to operate the robot in most
cases. Prior to use the teach pendant, please make sure
that you thoroughly understand the functions and how to
use each switch on the teach pendant.

3.1 Functions
1 2 3 4
14 13
12

8
9
11 10
15

(1) Start switch (9) Cancel key

This switch is used to start or restart robot operation in
AUTO mode.
(2) Hold switch
This switch is used to suspend robot operation while
keeping the servo power ON.
(3) Servo-ON switch
This switch is used to energize the servo power.
(4) Emergency stop switch
Press this switch to stop the robot and external axis
operation immediately by shutting off the servo power.
Turn clockwise to release.
(5) Jog dial
This dial is used to control movements of robot, exter-
nal axis and cursor, data/icon selection, and click of a
button.
(6) + / - key
This key is used to control continuous robot move-
ments in the same manner as the Jog dial. With a spe-
cial setting, it can be used for wire inching operation.
(7) Enter key
This key is used to save a teaching point, click OK but-
ton on the screen or determine an input data.
(8) Window change key
This key is used to switch the active window among
“Menu bar(s)” at the top of the screen, “Main window”
(pane left) and “Sub-window” (pane right).
This key is used to cancel operation currently under-
way or click CANCEL button on the screen.
(10) User function keys
The User function keys correspond to the icons dis-
played at the bottom of the screen respectively. Press
a key to execute the function of the corresponding
icon. You can customize the icon assignments to the
user function keys.
(11) Mode select switch
A two-position switch that allows you to choose a
mode (TEACH mode or AUTO mode) you want to work
with the robot.
The switch key is removable.
(12) Function keys
The function keys correspond to the icons displayed
far left of the screen respectively. Press a key to exe-
cute the function of the corresponding icon.
(13) L-Shift key
This key is used to switch mechanisms or move the
cursor in a number/character entry box.
(14) R-Shift key
This key is used to move the cursor in a number/char-
acter entry box. It is also used to switch feed per jog of
jog dial from High to Middle to Low or trace speed.
(15) Deadman switch
The servo power is shut off when either both switches
are released or either one of the switches is pressed
hard.

OM1009082E17 13
 How to use the teach pendant

3.1.1 Jog dial and +/- key

This dial is used to control move-
ments of robot, external axis and
cursor, data/icon selection, and
click of a button.
• To control a movement, “Jog up/down”, “Click” or “Jog
drag” the jog dial. (See below table for details.)
• You can also use the key to obtain the same
control as “Jog drag” operation.

Jog dial

Jog up/down • To move the robot arm or an external axis

Jog the wheel of the jog dial Jog up: in (+) direction.
upward or downward. Jog down: in (-) direction.
• To move the cursor on the screen.
• To select data/icon or click a button on the screen.
Click
Push the jog dial downward to
the right. Specify the selected item and save it.

Jog drag • To retain current operation of the robot arm.

While pushing the wheel to the • The faster you jog the jog dial upward/downward, the larger the
right, jog the wheel upward/ amount of change becomes.
downward.
• Once you stop the jog dial, the robot stops its movement at that
point.
Or press the key to
• Direction of the robot movement is the same as that of Jog up/
conduct the same operation.
down.

3.1.2 Window change key

This key is used to switch the <When only one window is displayed>
active window among “Menu Menu is active
bar(s)” at the top of the screen,
“Main window” (pane left) and
“Sub-window” (pane right).
① ②
The active window is high-
lighted.
Keys on the teach pendant are Window is active
effective only to the active win-
Window change
dow.

<When “Main” and “Sub” windows are displayed.>

Menu Menu
(for main window) (for sub window)

Main window Sub window

14 OM1009082E17
 How to use the teach pendant

3.2 How to work on the screen

The teach pendant provides a variety of icons that identify
functions on the screen that can make your work easier.
Move the cursor to the icon you want and click the jog dial
to display sub-menu icons or to switch windows.

Function icons

Menu icons

Window title

Edit window

User function icons

Function keys Status bar

3.3 How to switch the external axes (option)

There are two ways to switch functions of the function keys
between main axes and external axes.
External axis 1
(1) Hold down the L-shift key to switch the displays of
function icons from Robot axes and External axes
(see the right figure).
External axis 2
(2) On the menu bar, click (Robot) (menu icon) and

External axis 3
then (External axis).

External axis 4

External axis 5

External axis 6

OM1009082E17 15
 How to use the teach pendant

3.4 User function keys

The User function keys correspond to the icons displayed
at the bottom of the screen respectively.
Press one of the six user function keys to execute the func-
tion of the corresponding icon. You can customize the icon
assignments to the user function keys.
The change page key to display different set (page) of
function icons is assigned to F6 key by default.
The user function keys are context-sensitive, therefore, the
function icons group on the screen are changed as opera-
tion changes.

Use this key to change pages

• Function keys and operations

Operation F1 F2 F3 F4 F5 F6
No file is open Wire/gas check
(Robot motion OFF)

Edit Window Edit mode

Wire/gas check Add command
Robot motion OFF change change Change
Window page
Cut Copy Paste
change
Teach Edit mode
Trace ON Wire/gas check Add command
Robot motion ON change Change
Interpolation Coordinate page
Trace ON Weld/No-arc
change system change
Trace Edit mode
Trace OFF Wire/gas check Add command
change Change
Interpolation page
Trace OFF Weld/No-arc
change
Operation Arc lock Override

Note
(1) Valve2 key (TAWERS only)
• In teaching operation, turn on the Wire/gas check key, then the
function icon for function key becomes Valve 2 icon.
• Press the icon. If the lamp of the icon is “Green”, then the valve is Valve 2
ON and if the lamp of the icon is “Black”, then the valve is OFF.
• The Valve2 is turned off when an emergency stop occurs or the
mode is switched to AUTO.
• The Valve2 goes off automatically in one minute after it is turned
on. Wire/gas

16 OM1009082E17
 How to use the teach pendant

3.5 Menu icon

In the menu bar, the red frame around an Click the jog dial to
icon indicates the location of the cursor. display sub-menu items
Jog up/down to move the cursor in the Click jog dial to close sub-menu
manu bar.
Click a menu icon to display sub-menu of
the icon.

Rest the cursor over an icon to display the

icon name.
Move the cursor
up to close the
Click an icon sub-menu
to display
its sub-
menu itens.

Rest the cursor over the icon

to display the icon name.

OM1009082E17 17
 How to use the teach pendant

3.6 Input numerical values and characters

3.6.1 Input numerical values
The number entry box appears when you click an entry box
you need to input a numerical value.
(1) Use the L-shift key or R-shift key to switch the digit of
the value.
(2) Jog up/down to change the numerical value.
(3) Press the Enter key to close the window and save the
number you have entered.
(4) Press the Cancel key to close the window without sav-
ing the number you have entered.

3.6.2 Input characters

The character entry box is displayed to enter characters.
The function icons are changed to the character entry
icons.
Function Function of the corresponding function
key icon

Backspace.

Not in use.
Upper case Entry box

Not in use.

To input uppercase letters.

Lower case
To input lowercase letters.
Numbers
To input numbers.
Symbols
To input symbols.

Not in use.

SP Space Character
BS Back space (Delete a character.)
L-shift/ To move the cursor in the character
R-shift key entry box.
ENTER key To close the character entry box after
saving characters you have entered.
Cancel key To close the character entry box without
saving characters you have entered.

18 OM1009082E17
 How to use the teach pendant

3.7 Memory level check

Refer to the following procedure to check the available
memory space in the controller.

With the “System list” screen, move the cursor to Control-

ler and then click the jog dial.
Then the memory level; Free memory space, appears in
the bottom of the right window.

Note
If a memory card has been inserted into the teach pendant,
click either “SD memory or USB memory. Then memory
level of the memory card is displayed.

Memory level

3.8 How to get the version information

To check the robot software version,

click the (version) icon.

OM1009082E17 19
 TEACH mode

4. TEACH mode
When the Mode select switch is
in the TEACH position, it is pos-
sible to create or edit a robot
operation program using the
teach pendant.

4.1 How operation procedures are explained

(1) Teach pendant
Click Operation order
>> symbol indicates icon operation.
Click icons on the right of the symbol from left to right to Click
display the dialog box shown below the icons to continue >> Program start method
>>
data input or setting parameters.
Set Standard
settings
* If a list of icons screen is displayed, instead of dialog
box, see the definition of each icon and select an icon of
the intended operation to display the next dialog box. An example of dialog box

(2) Dialog box

When a dialog box appears, follow the instruction on the
screen, such as complete parameters, enter numbers, etc.
and then click OK to update the settings
.
Button Description
OK Closes this dialog box and saves any
changes you have made
Cancel Closes this dialog box without saving
any changes you have made.
Close Close this dialog box.

4.2 How to turn ON power to the controller

Turn ON the power switch of the robot controller main
body. Then after completing the initial communication
between the controller and the teach pendant in an orderly
manner, the teach pendant becomes operable.
Note
After turning off the power source of the controller,
make sure to allow at least three seconds of cooling
time before turning the power on again.

20 OM1009082E17
 TEACH mode

4.3 How to turn ON Servo Power

WARNING
Prior to turning ON the servo power, make sure that no personnel are present within
the robot work envelope.

Hold a Deadman switch lightly, then the servo ON switch

blinks.
Press the Servo-ON switch to turn on the servo power,
Note
then the servo-ON switch lights up solidly. If the servo is turned OFF and back ON again within 1.5
seconds, the message "Retry to turn on servo" is dis-
While working on the robot, keep holding a Deadman played. At that time, the servo won’t be turned on.
switch down lightly. Releasing or holding the Deadman
switch hard shuts off the servo power. In that case, hold the
Deadman switch lightly once again and press the Servo-
On switch to re-energize the servo power.

4.4 User ID settings for the first time

You must login as “robot” to perform teaching operation or
Click >> User >>Login
editing (changing) robot settings. It is factory set to auto-
matic log on at shipment. Refer to the following procedure >> ID
and register the User ID as “robot”. Set Advanced
settings
1) Procedure
(1) Click Login.
(1) Click “Login”
(2) Type “robot” in the “User ID” entry field.

Or you can click Browse button to select “robot” from

the list of user IDs.
(3) Type “0000” (four zeros) in “Password” entry field.
(4) Click OK to change the user level to the robot, the
level you can perform teaching operation or setting/
editing robot settings.

Attention
(2) Input “robot”
The password “0000” is for the initial login. Change
the password if needed. (You cannot delete “robot”.) (3) Input “0000”
For details of user ID including registry and editing,
please refer to section ”13.3 User management set-
tings” on page “173”.

(4) Click “OK”

OM1009082E17 21
 TEACH mode

4.5 Manual operation

WARNING
Prior to turning ON the servo power make sure that no personnel or nothing to inter-
fere with robot movement is present within the robot work envelope.

You can use the teach pendant to operate the robot manu-
ally. The movements won’t be recorded.
For safe operation, in TEACH mode, it is possible to limit
the travel speed at the tool center point and the mechanical
interface (tool mounting point) within the 0.01 m/min to
15.00 m/min range.

(1) Click the (Robot motion) icon to turn ON the

icon, which enables robot manual operation.
(2) Once the robot motion icon is turned on, function icons
for robot movements are displayed. Jog up/down the
jog dial while holding down a function key of the robot
motion you want, then the robot moves according to
the function you specified.
Once the function key is released, the robot stops.
• How the jog dial work
Note
• The travel distance of the robot control point (tool center (Lamp is ON)
point) is indicated at the upper right corner of the screen. Moves the robot arm
The value is reset to zero once the function key is
released.
(Lamp is OFF)
• The joint coordinate system is set as default coordinate Moves the cursor.
system unless otherwise specified. To apply a coordinate
system other than “joint”, refer to section “4.6 Switch the
coordinate system”.

Jog up/down Jog drag or pressing key

The robot moves corresponding to Jog the dial a little to move the robot at a low speed and a lot to move it at a high
the amount of the jog dial rotation. speed.
Moving speed at operation is shown at right upper area of the teach
pendant.

Note
Use the R-shift key to switch the feed per jog setting;
High, Middle or Low. To change the settings, see sec-
tion “Jog settings”.

22 OM1009082E17
 TEACH mode

4.6 Switch the coordinate system

By changing a coordinate system you can change the
direction of robot arm movement. There are three coordi-
nate systems available.

To switch the coordinate systems and corresponding func-

tion icons to be displayed on the screen; Joint
• Press the L-Shift key, or Cartesian
• Select one from the coordinate system icons in the menu
bar. Tool

Cylindrical

User

Tool projection

4.6.1 Robot motion icons and robot movement

Robot motion coordinate system select menu
Coordinate
Direction of robot arm movement
system

• Control the robot movements by axis individually.

Joint

• Controls the robot movements based on the robot coordinate system.

Z

Cartesian

（Ｗ） （Ｈ）

X Y
Direction of tool
ツール方向

* (W) for “Welding” and (H) for “Handling” use.

OM1009082E17 23
 TEACH mode

• Controls the robot movements based on the direction of the end tool attached to the manipulator.

（Ｗ） （Ｈ）

Tool
（Ｗ） （Ｈ） Tx
Tz Ty

（Ｗ） （Ｈ）

* (W) for “Welding” and (H) for “Handling” use.

• Controls the robot movement based on the cylindrical coordinate system

Z

Cylindrical (*) Z'

Y'は RT 可動軌跡に接する
Y’ touches the trajectory of RT.

X Y X' Y'

• Controls the robot movement based on the coordinate system specified by the user
Zu
Zu

User (*) Xu
Xu
Yu
Yu

• Moves the robot in the direction of tool projection.on a horizontal plane

Z
Robot coordinate
Tool direction

Tool projection (*)

（Ｗ） （Ｈ）
X
TZ'

TY’ TX’ Y
Direction of tool
ツール方向
* (W) for “Welding” and (H) for “Handling” use.

(*):
To switch to cylindrical, user or tool projection coordi-
nate system, it is necessary to enable each coordinate sys-
tem on the “Select coordinate system” dialog box.

24 OM1009082E17
 TEACH mode

4.7 Quantitative move

It is a function to move the robot at the specified distance
(in quantitavive standpoint) in teaching operation
For example, if you would like to move the robot 30 mm
from the current position, specify the intended distance;
“30mm” in the settings dialog box, and move the robot
manually. Then the robot automatically makes a stop at 30 Robot movement
mm from the quantitative move start position.
• About distance: Distance 2
The criteria for distance/angle in this case is the distance or Distance1
angle measured from the position where the quantitative
move is started to the stopped position of the robot.
It is possible to switch the travel direction from (+) to (-) and Quantitative move Quantitative move
vice versa, however, the “distance” is how far the robot is Quantitative move start position
positioned away from the start position. It is not the total
traveling distance, such as “Distances 1 + 2” or “Distance
2”.

4.7.1 Applicable coordinate systems

• Joint, Cartesian, Tool, Cylindrical, User and Tool coordi-
nate systems and external axis.
Note
This function does not support the robot movement created
• Slave robot in multi-cooperative robot control system.
by pressing multiple left side function keys; i.e. pressing X
and Y at the same time for diagonal movement.

4.7.2 Preparation

Allocate this function icon (Quantitative move) to the

user function key settings.
* About the user function key settings, please refer to
“13.2 Customize function keys on page 155”.

4.7.3 Operation

(1) Press at the position where you would like to

start the quantitative move. Then the setting dialog box
is displayed.
(2) Specify the distance and angle.
[Distance (Linear motion)]: Linear motion distance
(mm)
[Angle (Rotate motion)]: Angle for rotation (degrees)
(3) To move the robot, hold the left side motion function
key down and press the jog dial or “+”/”-” key.
* The quantitative move icon is displayed on the
small screen located at the upper right of the TP
screen.
• It is possible to release the jog dial, use jog dial and
“+”/”-” key together or change “+”/”-” direction during Quantitative move icon
quantitative move operation.
• Any operation without pressing the jog dial is ignored
in this operation.
(4) Releasing the left side motion function key cancels the
quantitative move operation and displays the message
dialog box on the right.
(5) The robot makes a stop at the preset distance/angles
away from the start position.
(6) Release the left side motion function key to end the
operation.

OM1009082E17 25
 TEACH mode

<Supplement>
(1) In the above procedure (3), the quantitative move (2) When the distance or angle is set to “0.0”. (The robot
operation is canceled if one of the following condition recognizes it as the arrival to the preset target.)
occurs. In that case, start again from the procedure (3) This quantitative move operation is applicable to exter-
(1). nal axes.
(4) In external axis harmonic movement function system,
• The key is pressed twice before the robot start execute the quantitative move while turning on the har-
the quantitative move.
• The left side motion function key is released before the monize icon ( ) allows the robot to move in sync.
robot reaches the preset target point. (5) In multi-cooperative robot control system, execute the
• The mode select switch is switched. quantitative move while turning on the harmonize icon
• The robot goes in hold, error stop or emergency stop
condition. ( ) allows the robot to move in sync according to
• Trace icon ( ) is turned ON. the specified follow pattern.
(6) The quantitative move can be operated together with
• Wire/gas check icon ( ) is turned ON. the “Wire touch detection in teaching”.
(7) While traveling the robot in quantitative move opera-
• Servo power is turned off due to Deadman switch tion, if the travel speed exceeds the speed limit of an
operation. axis, the robot continues the manual operation at the
• Powers to the robot controller is turned off. (This quan- limit speed regardless of the settings without indicating
titative move function is not supported by the resume warning message.
function.)

26 OM1009082E17
 TEACH mode

4.8 Teach program programming procedure

Perform the teaching operation to create a program of teaching data such as robot movement and task procedures.

[Operation flow]
(1) Create a new file (program) where teaching data will be saved.
(2) Perform teaching operation to register commands.
(3) During or after teaching operation, perform trace operation to check and correct taught data.
(4) Edit details during or after completing teaching or trace operation to complete the program.
* Once completed, run the program in AUTO mode to move the robot.

4.8.1 Robot movement data

Movements of robot arms are determined by registering
position data, so-called “Teaching points” in a program.
Each teaching point contains information about position, Interpolation
robot travel method from the teaching point to the next PTP (MOVEP)
teaching point, and with or without welding operation.
Joint movement
(Teaching point） (Teaching point）

Linear (MOVEL)
The robot follows a straight path
• <Data to be registered> from a point to the next point.

• Position of the teaching point (coordinate data) Circular (MOVEC)

• Travel speed toward the teaching point. The robot follows a circular path
• Sequence commands (of robot operation) at the teach- determined by 3 teaching points
ing point. Linear weaving (MOVELW)
The welding operation starts from the teaching point the
The robot follows a zigzag
“Weld point” is registered.
course on a straight path.
• Travel method toward the teaching point. (Interpolation)
Circular weaving (MOVECW)
<Supplementary notes> The robot follows a zigzag
For circular or weaving points, a move command for circu- course on a circular path.
lar or weaving interpolation is registered on all points in the
circular or weaving interpolation section (including starting
and ending points) to clarify the section to be applied.

OM1009082E17 27
 TEACH mode

4.9 Create a new file

Create a file to register data in teaching operation.
On the file, register teaching points and sequence com-
Click
mands with teach or file edit operation.
>>
(1) From the menu bar, click File and then click New. File New
(2) On the New setting dialog box, specify the setting
items, such as file name and comment. Then click OK.

[File type] Specify a file type from program, arc start or

arc end.
• Program: A file to register move commands and
sequence commands in. Stored in the controller of
the system.
• Arc start: A file to register commands to be called by
the arc start sequence. Stored in ArcStart folder.
(Controller of the system >> Welding >> ArcStart)
• Arc end: A file to register commands to be called by
the arc end sequence. Stored in ArcEnd folder.
(Controller of the system >> Welding >> ArcEnd)
[File name] You can enter up to 28 alphanumeric char-
acters. You can either use the automatically initially a file
name is automatically created file name or rename it.
[Comment] Enter the contents of the file to register.
[Tool] Select one from the list of tool numbers of the
tools attached to the manipulator, such as welding torch,
and registered as offset data.
[Mechanism] Specify the mechanism you are going to
work in. It is factory set to “1: Mechanism 1” at shipment.
[Welder] The welder number used in the current pro-
gram.
* This setting item is available when “TAWERS charac-
teristic switching” has been added to the system.
[User coordinates] A user coordinate number used in
the current program.
* This setting item is not displayed if “Switching every
program” in “User coordinate system settings” has not
been selected.

(3) Then a new program to register teaching points is dis-

played.

Note
User coordinate information is displayed at the top of
the program.
[None]: Robot coordinates
[1:USER01]: User coordinate system number “1”
[2:USER02]: User coordinate system number “2”
　：
[30:USER30]: User coordinate system number “30”
User coordinate information
* Only “None” is displayed if there is no defined user
coordinate system. [USERxx]: “xx” represents specified user coordinate number.
[USER?]: When the specified user coordinate becomes
invalid. The robot coordinate sysytem is applied.

28 OM1009082E17
 TEACH mode

4.10 Register teaching points

4.10.1 Registering teaching points
Register teaching points in a file.
When you register a teaching point, data of the robot orien- Travel method
tation and the travel method (interpolation, travel speed (Interpolation, speed etc.) All information is
etc.) are registered at the same time. The interpolation and stored with each
travel method registered in the teaching point are the travel Teaching point
teaching point
method from the preceding teaching point to the current
teaching point.
(1) Either create a new file or open an existing file.

(2) With jog up/down operation, move the cursor to the Click *If you are creating a new file
line just before the line in which you would like to regis- it is set to “Add” automatically.
>>
ter the teaching point.
(Edit type) Add

(3) Make sure the edit type icon on the menu bar is set to
Add
(Add).

(4) Turn on the (robot motion) icon to get the robot

operational.
The move command to be inserted in is displayed in at
the bottom of he screen. (Interpolation, travel speed
and weld/air-cut settings data of the teaching point is
displayed.)
robot motion
(5) Move the robot to the position you would like to regis-
ter.

(6) If the travel method (interpolation and speed) dis-

played at the bottom of the screen is what you want,
press ENTER key to register the teaching point.

This line is added.

• If you want to change the travel method of the teaching

point:
Press R-Shift key. Then function icons are changed to
those for travel method. With the function icons, change
the travel method as you like.
As you change the travel method of the teaching point,
the display at the bottom of the screen changes. Then
press ENTER key to register.
Teaching items:
Interpolation, travel speed and Weld/air-cut
< Note >
The travel method is displayed at the bottom of the
screen while R-Shift key is held down. The display is
cleared once the key is released.

OM1009082E17 29
 TEACH mode

• If you want to change the contents of a registered teach-

ing point:
Turn off the robot motion icon.
Then move the cursor to the line of the teaching point
you would like to edit, and click the jog dial.
Then the contents of the teaching point id displayed.
Change the data and click OK button to update the
teaching point.

[Interpolate] Specifies an interpolation from a previous

teaching point to the current teaching point (teaching
point to be registered).
[Air-cut/Weld] Select “Weld” if the current teaching
point to the next teaching point is welding section. Oth-
erwise, select “Air-cut”.
[Position name] Specifies a position variable of the
current teaching point.
[Manual speed] Specifies a robot travel speed from the
previous teaching point to the current teaching point.
[Wrist calculation] Normally set “0”. In case of a spe-
cial calculation, set 1, 2, 3 or 4.
(This field is not available if the teaching point is
“MOVEP”)
[Smooth level] Normally set “Default”. If you want to
change smooth level for each move command, select-
able from 0 to 10.
The default settings is “6” (standard smooth level).
For details of smooth level, refer to section”10.10
Smooth level” on page 122.

• If you want to specify the move command before regis-

tering a teaching point:
While holding down the R-Shift key, press the ENTER
key, then the move command setting dialog box is dis-
played. Complete the setting items and then register the
teaching point.

< Note >

Use the “Teach advanced settings” ( ) to

specify whether to display the MOVE command setting
dialog box at the time of registering a teaching point.
Normally it is set to display the MOVE command set-
ting dialog box if both R-shift key and the ENTER key
are pressed to register a teaching point. If only the
ENTER key is used to register a teaching point, the
MOVE command setting dialog box won’t be dis-
played.

30 OM1009082E17
 TEACH mode

4.10.2 Changing teaching points

(1) Open the file, and then move the cursor to the teaching
point you want to make position change. Change
(2) Make sure the edit type icon on the menu bar is set to

(Change).

(3) Turn on the (Robot motion) icon and move the

robot to the new position you want change to.
(4) Press the ENTER key, then the confirmation message
is displayed. Click YES to update the robot position
data.

Note
This operation (position change of a taught point) is not

available when the (Robot motion) icon is OFF.

4.10.3 Registration of teaching point deletion

(1) Open the file, and then move the cursor to the teaching
point you want to delete.
Delete
(2) Make sure the edit type icon on the menu bar is set to

(Delete).
(3) Press the ENTER key.
Then the teach pendant prompts you to confirm the
deletion of the robot position. Click OK button to delete
it.

Note
This operation (deletion of a taught point) is executed

whether the (Robot motion) icon ON or not.

OM1009082E17 31
 TEACH mode

4.10.4 Move commands for each interpolation

Welding robots

Move command Interpolation type

MOVEP PTP
MOVEL Linear
MOVEC Circular
MOVELW Linear weaving * Weaving amplitude point is registered as WEAVEP.
MOVECW Circular weaving

4.10.5 Maximum speed

The maximum speed is common to TA and TB manipula-
tors, which is 180.00 m/min.

4.10.6 How to switch the manual speed

The manual speed is the travel speed of the tool center
point (welding point) in operation. Use the function key to
Speed
change the speed.

(1) Open the program, and click the R-Shift key to display
Manual speed icon.
(2) Click the icon and switch the speed ranges; High, Mid-
dle and Low.

32 OM1009082E17
 TEACH mode

4.10.7 Wrist calculation (CL number)

CL # Calculation (Application)
0 Automatically calculate the wrist interpolation
based on the torch direction.
1 <For circular interpolation>
Use it when the tool vector is nearly perpendic-
ular to the circular plane.
(Tolerance: within 10 degrees).
2 <For circular interpolation>
Use it when the tool vector is not perpendicular
to the circular plane.
(Tolerance: 10 degrees or more).
3 <To avoid singular orientation>
Use it when the BW axis is a singular orienta-
tion with nearly zero degree. (i.e., TW axis and
RW axis are parallel.)
It can avoid singular orientation, however, since Tool vector
joint angles of RW, BW and TW axes are allo-
cated equiangularly, trajectory of the tool center
point line won’t be straight line. Therefore, it is
necessary to teach points close to each other.
Please note that it may not be possible to main- TZ TX
tain tool orientation constant.
4(*1) It calculates the wrist interpolation after allotting
the UVW parameter, which represents torch
angle, between teaching points.

(*1):
Differences between CL #0 and CL #4.
CL #4 is calculated by allotting the torch angle. Therefore, in boxing <Boxing welding for CL#0 and CL#4>
welding at a corner, welding operation is executed while keeping the
Movement of CL#0
torch angle “V” (the angle from the vertical surface). (See the right fig- Travel the shortest
Work
ure.) path

In general, it is better to use CL#4 for corner fillet welding than CL#0.

* Depending on positions of taught points, interpolation type, cooper-

ative movement or so on, CL #0 could be more suitable than CL Movement of CL#4
#4. Check the performance of both CL#0 and CL#4 using trace
operation and see which CL number is suitable to your application.
Torch angle V
CL#4 keeps this angle while welding.

OM1009082E17 33
 TEACH mode

4.11 Circular interpolation

With the circular interpolation, the tool center point of the ②
robot moves in circular arc.
The circular path will be determined by teaching at least MOVEC
three consecutive circular interpolation points (MOVEC). ① (Intermediate)
Linear ③
<Caution in teaching circular interpolation points> interpolation
Even though there are teaching points registered as MOVEC (Start) MOVEC (End)
MOVEC (circular interpolation) points, unless three or
more MOVEC points are registered in series, the robot rec-
ognizes the section as liner interpolation and makes a lin-
ear movement.

4.11.1 Teaching procedure

Prior to teaching circular interpolation points, make sure

the edit type icon on the menu bar is set to (Add).

Circular
(1) Teach “Circular start point”
(a) Press the R-Shift key, and press the function key
for circular interpolation. Then the add point data
displayed at the bottom of the screen becomes
“MOVEC”.
(b) Move the robot to the circular start point, and then
press the ENTER key.
(2) Teach “Circular intermediate point”
Move the robot to the circular intermediate point, and
then press the ENTER key. MOVEC
(3) Teach “Circular end point”
Move the robot to the circular end point, and then
press the ENTER key.
* The teaching point is regarded as the circular end
point when the next teaching point is registered with
an interpolation type other than circular.

<Supplementary notes>
If you want to specify MOVEC command parameters, turn
off the robot motion icon, and move the cursor to the teach-
ing point, and then click the jog dial. Then the setting dialog
box of MOVEC command is displayed. Edit parameters
and register.

34 OM1009082E17
 TEACH mode

4.11.2 What is “Circular interpolation”

The robot calculates a circle from three teaching points and B
moves on the circular arc.
A, B, C B, C, D
• If there are more than one circular arc sections in
series: C
If there are more than one circular intermediate points in C, D, E
A
a series of MOVEC points, the circular arc from the (Start point)
teaching point to the next point is calculated from the cur- D C, D, E
rent teaching point and the next two teaching points, E
(End point)
except for the circular arc to the circular end point (from
the previous point). The circular arc for the circular end indicates points to be used to calculate
*
point is calculated from the circular end point and the locus of each section.
previous two teaching points.
MOVEC
<Supplementary notes> MOVEC
(1) To create a path of two separate circular arcs in series (Circular arc split-off point)
(as per the right figure), register the circular end point MOVEC
of the first circular arc as the circular arc split-off point.
MOVEC
<How to register the circular arc split-off point>
(a) To register the split-off point in edit mode after reg-
MOVEC
istering the circular arcs.
• Open the file you want to work on.
• Move the cursor to the circular end point of the first
circular, and then click OK. Then the MOVEC
command setting dialog box is displayed.
• Mark the check-box of the “Circular arc split-off”
and then click OK.
(b) To register circular arc split-off point at the same
time as registering the circular end points.
• Press the R-Shift key to register the circular end
point. On the setting dialog box, click the interpola-
tion type.
• If the interpolation type is “MOVEC”, the “Circular
arc split-off point” check-box is editable. Mark the
check-box and register the teaching point.

(2) If the “circular arc split-off point” is registered in two

consecutive teaching points, the robot makes a linear
movement (linear interpolation) between the points.

(3) If consecutive circular interpolation points are closely-

positioned, changing position of one of the points can
cause significant change in robot movement (or circu-
lar arc path).
Make sure to give sufficient space between points
when teaching circular interpolation points. MOVEC(Split-off point) MOVEC(Split-off point)

Linear section

OM1009082E17 35
 TEACH mode

4.12 Teach weld section (Welding spec.)

Welding robots are provided with functions for operation
frequently used in welding (welding ON/OFF operation) for
easy operation.

4.12.1 Wire inching / Gas check

From the user function icons, turn ON the (Wire/gas

check) icon.
Then function icons are changed to wire inching and gas
check icons.
* For details of how to change wire inching speed, refer to
section “14. Arc welding machine settings.”

Wire/gas check

Function icons Functions

While holding down the key, the robot feeds the wire forward. The robot starts feed-
Wire feed forward ing the wire at low speed until the preset “changeover time” comes, and then it
changes the speed to high speed.
While holding down the key, the robot feeds the wire backward. The robot starts
Wire feed backward feeding the wire at low speed until the preset “changeover time” comes, and then it
changes the speed to high speed.
While the green lamp is on, the gas valve is open.
Each time you press the corresponding function key, the gas ON/OFF state is
Gas check
switched. (If the “gas check” is kept in the ON state, it is automatically turned off in
one minute.)

36 OM1009082E17
 TEACH mode

4.12.2 Teaching welding points and air-cut points

Register the welding start point and intermediate points as ① ② ③
“Weld” points, and the welding end point as “Air-cut” point.

Set “Weld” Set “Weld” Set “Air-cut”

(1) Arc start point:
(a) Press the R-Shift key, and set the function icon to ARC-SET CRATER
ARC-ON ARC-OFF
WELD.
Weld section
(b) Move the robot to the arc start point, and press the
ENTER key.

< Note >

ARC-SET command that specifies current value, volt-
age value and speed, and ARC-ON command that
specifies an arc start program, are registered in the arc
start point automatically.
(2) Intermediate point: WELD
Move the robot to an intermediate point, and press the
ENTER key.

< Note >

To change welding conditions at the intermediate
point, use ARC-SET command, AMP command that
specifies welding current, and VOLT command that
specifies welding voltage.
(3) Arc end point:
(a) Press the R-Shift key, and set the function icon to
Air-cut.
(b) Move the robot to the arc end point, and press the
ENTER key.

< Note > Air-cut

CRATER command that specifies crater current value,
voltage value and time, and ARC-OFF command that
specifies an arc-off program are registered in the arc
end point automatically.

OM1009082E17 37
 TEACH mode

4.12.3 Teach settings

By specifying the Arc-ON and Arc-OFF program, welding
conditions and crater conditions with the “Teach settings” Click
dialog box, the preset conditions will be automatically reg- >>
istered to the arc-ON and arc-OFF points respectively More Teach
when position data of those points are registered. settings

[User Coordinate] Specifies the user coordinate sys-

tem No. to be applied in manual operation.
(“0” represents the robot coordinate system.)
[Speed] Specifies the default robot travel speeds (High,
Middle or Low) to be displayed when switching the
speed range.
[CL] Specifies the default wrist interpolation type.
[Weaving pattern] Specifies the default weaving pat-
tern.
[ARCSET No.] Specifies the default weld table number
to be saved in the ARC-SET command when saving the
arc start point.
• Hide ARCSET/CRATER No. from the ADD screen:
Mark the check-box of this item if you do not want to dis-
play this item as a setting item on “ADD” dialog box.
[ARC-ON file name] Specifies the default arc start pro-
gram name to be saved in the arc start point.
(Setting range: ArcStart 1 to 5)
[Process No.(*)] Specifies an arc start process includ-
ing arc retry settings to be applied. (Setting range: 0 to
5)
[CRATER No.] Specifies the default CRATER condition
number to be saved in the arc end point.
[ARC-OFF file name] Specifies the default arc end
program name to be saved in the arc end point. (Setting
range: ArcEnd 1 to 5)
[Process No.(*)] Specifies an arc end process, such
as stick check. (Setting range: 0 to 5)
(*)
Process No.: By changing the process No., you can
specify a variety of arc start/arc end processes. For
details, please refer to section “14. Arc welding machine
settings”.

4.12.4 Hold and Restart in welding operation

When you press the Hold switch during welding operation,
the robot stops after executing ARC-OFF command stored
in the arc end point of the current welding section. At that
time, the robot does not execute CRATER command.

With restart operation, the robot resumes operation after

executing ARC-ON command stored in the arc start point
to re-start operation.

38 OM1009082E17
 TEACH mode

4.12.5 Linear weaving interpolation

To execute weaving operation, teach a weaving start point
(MOVELW), two amplitude points (WEAVEP) and weaving
end point (MOVELW). WEAVEP
② Main trace ④

• Procedure ① MOVELW MOVELW

Make sure the edit type icon on the menu bar is set to
(Add). ③ WEAVEP

(1) Teach “Weaving start point”

(a) Press the R-Shift key, and press the function key
for linear weaving interpolation. Then the add
point data displayed at the bottom of the screen
becomes MOVELW.
(b) Move the robot to the linear weaving start point,
and then press the ENTER key. linear weaving
(2) Confirming registration of amplitude points
(a) The message “To save the next teaching point,
click [Yes]. To quit setting an amplitude point, click MOVELW
[No].” is displayed.
(b) Click Yes, then the interpolation of the next two
points (depending on the applied weaving pattern,
the next four points) are automatically registered
as “WEAVEP”.
(3) Teach “Amplitude point1”
Move the robot to an amplitude point in one side
(amplitude point1), and then press the ENTER key.
(Register WEAVEP command.)
(4) Confirming registration of amplitude points
(a) The message “To save the next teaching point,
click [Yes]. To quit setting an amplitude point, click
[No].” is displayed.
(b) Click Yes.
(5) Teach “Amplitude point2”
Move the robot to the other side of the amplitude point
(amplitude point2), and then press the ENTER key.
(Register WEAVEP command.)
* If the applied weaving pattern is #4 or #5, teach two
more amplitude points (amplitude points 3 and 4) in
the same manner.

< Note >

If the weaving pattern 4 or 5 is applied, register two
more amplitude points (amplitude points 3 and 4) in
the same manner.

(6) Teach “Weaving end point”

Move the robot to the linear weaving end point, and
then press the ENTER key. (The teaching point is reg-
istered as MOVELW point.)

OM1009082E17 39
 TEACH mode

<Supplementary notes>
If you want to specify parameters of MOVELW and
WEAVEP commands, turn off the robot motion icon, and
move the cursor to the teaching point, and then click the
jog dial. Then the setting dialog box of MOVELW (or
WEAVEP) command is displayed. Edit parameters and
register.
• Weaving patterns: Register a weaving pattern number in
the weaving start teach point.
• Frequency/Main trace timer/Manual speed/Weaving
direction/Change direction: Register those setting items
in the weaving end teach point.
[Frequency] Specifies frequency of the weaving
speed. Specify it at the weaving target point.
[Main trace timer] Specifies time to hold the move-
ment in the weaving direction Please note the robot
remains moving on the main trace (toward the arc end
point) while the timer is on.
* The main trace timer is applicable to weaving pat-
terns 2 and 3. Amplitude timer
[Weaving pattern] Specifies a weaving pattern. Spec-
1
ify it at the weaving start point. (Setting range: 1 to 6)
*About weaving patterns: Main trace timer
• In case of synchronous operation with an external S
axis (e.g. in a circumferential welding of a pipe,
the external axis moves the work-piece while the
robot is executing welding operation at the same
position.) add “10” to each of the following weaving 2
pattern numbers. In such operation, teach points so
Amplitude timer
that the distance between the weaving start point and
the next point (target point) becomes 5 mm or more.
• In “Pattern 6”, weaving is executed by the wrist axis
in PTP movement. Register the amplitude points as
PTP point.
• Weaving patterns
Pattern 1 Pattern 2 Pattern 3
(Low-speed single weaving) (L shape) (Triangular)

E E E
1 1 1

2 2 2
S S S

Pattern 4 Pattern 5 Pattern 6

(U shape) (Trapezoid) (High-speed single weaving)

E E E
1 1 1
2 2
2
3 4 3 4 S
S S

Teaching points to move in PTP

40 OM1009082E17
 TEACH mode

[Weaving direction/Change direction of amplitude

Specifies how the weaving to be operated with refer-
ence to the vector direction of the line connecting ampli-
tudes (WEAVEP). The setting contents apply to the
robot movement toward the teaching position this set-
ting is registered.
* For patterns 11 to 15, as they are external axis-driven
movements, it is automatically set to “Reference to
amplitudes”.
* For patterns 6 and 16, since they are special patterns,
this function is not applicable.

Movements of “Weaving direction”

Simple weaving Reference to amplitude points

B1 B1

S E S E

B2 B2

Movement s of “Change direction of amplitude:

Change at teaching point In sync with the tool

Direction stays constant Turn direction

toward the next teaching point in sync with the tool

4.12.6 Supplementary explanations about weaving movements

• To continue (extend) weaving operation, add a (2) Amplitude x Frequency
Up to 60 mm•Hz (for patterns 1 to 5)
“MOVELW” teaching point to the arc end point. At that
time, the current weaving amplitude is continued in the (3) Angle of swing x Frequency
extended weaving operation. Up to 125 º•Hz (for pattern 6)
(4) [1/f - (T0+T1+T2+T3+T4) > A] must be satisfied.
• Unless a series of four (or six depending on the weaving where,
pattern) weaving points are taught and saved without f: Frequency (unit: Hz)
fail, the robot recognizes the section as liner interpola- T0: Timer set value saved in the weaving start point.
tion and makes a linear movement even points with T1 to T4: Timer set values of amplitude points 1 to
weaving move commands are included. 4.
• Restrictions of weaving parameter settings A= 0.1 (for patterns 1, 2 and 5),
= 0.75 (for pattern 3),
(1) Frequency = 0.15 (for pattern 4),
Up to 5 Hz (for patterns 1 to 5) = 0.05 (for pattern 6)
Up to 9.9 Hz (for pattern 6)

OM1009082E17 41
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4.12.7 Circular weaving interpolation

To execute circular weaving operation, teach three or more
points to determine a circular line and two amplitude points ④ MOVECW
(WEAVEP) and weaving end point (MOVELW). (Intermediate)

• Procedure WEAVEP
②
Make sure the edit type icon on the menu bar is set to ③ WEAVEP
(Add).
(1) Teach “circular weaving start point” ① MOVECW (Start) ⑤
(a) Press the R-Shift key, and press the function key Linear interpolation MOVECW (End)
for circular weaving interpolation. Then the add
point data displayed at the bottom of the screen
becomes MOVECW.
(b) Move the robot to the circular weaving start point,
and then press the ENTER key.
(2) Confirming registration of amplitude points
(a) The message “To save the next teaching point,
click [Yes]. To quit setting an amplitude point, click circular weaving
[No].” is displayed.
(b) Click Yes, then the interpolation of the next two MOVECW
points (depending on the applied weaving pattern,
the next four points) are automatically registered
as “WEAVEP”.
(3) Teach “Amplitude point1”
Move the robot to an amplitude point in one side
(amplitude point1), and then press the ENTER key.
(Register WEAVEP command.)
(4) Confirming registration of amplitude points
(a) The message “To save the next teaching point,
click [Yes]. To quit setting an amplitude point, click
[No].” is displayed.
(b) Click Yes.
(5) Teach “Amplitude point2”
Move the robot to the other side of the amplitude point
(amplitude point2), and then press the ENTER key.
(Register WEAVEP command.)
* If the weaving pattern 4 or 5 is applied, register two
more amplitude points (amplitude points 3 and 4) in
the same manner.
(6) Teach “Circular weaving intermediate point”
Move the robot to the circular weaving intermediate
point, and then press the ENTER key. (Register
WEAVCW command.)
(7) Teach “Circular weaving end point”
Move the robot to the circular weaving end point, and
then press the ENTER key. (Register WEAVCW com-
mand.)
<Supplementary notes>
If you want to specify parameters of circular weaving com-
mand (MOVECW), turn off the robot motion icon, and
move the cursor to the teaching point, and then click the
jog dial. Then the setting dialog box of MOVECW com-
mand is displayed. Edit parameters and register.
<Caution in teaching circular interpolation points>
Unless a series of five (or seven depending on the circular
weaving pattern) circular weaving points are taught and
saved without fail, the robot recognizes the section as liner
interpolation and makes a linear movement even points
with circular weaving move commands are included.

42 OM1009082E17
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4.13 Trace operation

Trace is used to check the actual position or conditions of
taught points which have been saved. With this operation,
it is also possible to change teaching point data.

• It use the (trace) icon and the motion function key

to trace points.
• Trace operation is available while the trace icon lamp

(green) is ON ( ), and not operable if the lamp is

OFF ( ).

4.13.1 Starting/Ending trace operation

Switching trace speed:
While holding down the (Trace forward) or It is possible to trace a weld section at a speed other than
taught speed. Use R-shift key to switch over High/Low of
(Trace backward) function key, press and hold down the
the trace speed settings, which are set in the “Advanced
Jog dial or key. Then the robot moves forward or settings.”
backward respectively until it reaches the next teaching
point.

• Make sure to press correct combination of keys (

and , or and ). The robot does not move

if wrong keys combination is pressed.

• The robot stops if the Jog dial or key is released.

• Turn off the trace icon lamp ( ) to exit from trace

operation.

4.13.2 Adding teaching points

Note
While the robot is moving forward in trace mode, the cursor Click *If you are creating a new file
is positioned on the target teaching point. The add point it is set to “Add” automatically.
>>
data displayed at the bottom of the screen displays the
move command of the target teaching point (where the cur- (Edit type) Add
sor is currently positioned.)

Turn ON the (Robot

Note
motion) icon lamp. Move If you want to edit the parameters of the newly added
the robot to the point you
Point to add want to add as a teaching teaching point, turn off the robot motion icon ( ), and
point, and save the point
move the cursor to the teaching point, and then click the
(1) With the Window change key, bring the edit window to jog dial. See section “4.10 Register teaching points” on
an active state. page 29 for details.
(2) Make sure the edit type icon on the menu bar is set to
* Unless it is switched, “Edit type” icon used in the pre-
(Add). Then press the Enter key. Then a new ceding edit operation is displayed on the manu bar.
teaching point is added to the line below where the
cursor is positioned.

OM1009082E17 43
 TEACH mode

4.13.3 Changing position of a teaching point

With trace operation, move

the robot to the position you Click *If you are creating a new file
it is set to “Add” automatically.
want to change to in trace >>
mode and update the taught (Edit type) Change
point. (The cursor is posi-
tioned on the teaching
point.)
Note
(1) With the Window change key, bring the edit window to If you want to edit other than position data of the teaching
an active state.
(2) Move the robot to the position you want the teaching point, turn off the robot motion icon ( ), and move the
position to be.
cursor to the teaching point, and then click the jog dial. See
(3) Make sure the edit type icon on the menu bar is set to section “4.10 Register teaching points” on page 29 for
(Change). Then press the Enter key. Then the details.

confirmation message is displayed. Click Yes to

change the position data of the teaching point. * Unless it is switched, “Edit type” icon used in the pre-
ceding edit operation is displayed on the manu bar.

4.13.4 Deleting teaching points

With trace operation, move
the robot to the taught point
you want to delete. (The cur-
sor is positioned on the
taught point to delete.)
Click *If you are creating a new file
it is set to “Add” automatically.
>>
(Edit type) Delete

(1) Make sure the edit type icon on the menu bar is set to
* Unless it is switched, “Edit type” icon used in the pre-
(Delete). Then press the Enter key. Then the ceding edit operation is displayed on the manu bar.
confirmation message is displayed.
(2) Click Yes to delete the teaching point.

4.13.5 Robot position and icons

The position of the robot tool (the tip of the wire protruding
from the welding torch), such as whether it is on a teaching
point, or whether it is on the path between teaching points,
is displayed by the icon on the program. Icon for
robot tool position
Icon Robot tool position

On a teaching point

Off a teaching point

On the teaching path

Out of teaching path.

None of above

Teaching path
Manual operation
Trace

44 OM1009082E17
 TEACH mode

4.14 Trace motion after editing

The following examples show the robot movement of trace
forward/backward operation after each editing in trace
operation
• Stop the robot on a teaching point and edit.

Trace forward Trace backward

Original robot motion

５
５ ５
３
３ ３
４ ４ ４

Manually moved the robot

５
５
３
４ ３ ５ ３
４ ４

Added a point

６ ６ ６

５ ５ ３ ５
３ ３ ４
４ ４

(Added the teaching point 6.)

Changed position of a point

５ ５ ５
３ ３
３
４ ４ ４

(Changed the position of point 4.)

Deleted a point

３ ５
３ ５ ３ ５
(４)
(Deleted the teaching point 4.)
( represents the position of the robot control point.)

OM1009082E17 45
 TEACH mode

• Stop the robot between teaching points and edit.

Trace forward Trace backward

Original robot position
3 5
3 5 3 5

4
4 4

Manually move the robot

3
3 5 3
5
5
4
4 4

Add a point

3 5 ３ ５
3 ５
4 ４ ６
4 ６
6(new)
(Added the point 6 between 4 and 5)
Change position of a point
5
3 5 5
4
(new) 3 3
(4) 4 4

(Changed the position of point 4

Delete a point

3 5
３ ５ ３ ５
(4)
(Deleted the point 4.)
( represents the position of the robot control point.)

46 OM1009082E17
 TEACH mode

4.15 I/O monitor

The function is applicable only in TEACH mode.
With the function, you can display the user I/O state and
also change the output state between ON and OFF.

If this I/O monitor function is used to change the output

state, the robot does not retain the ON/OFF state before t
went in the hold state at the time of restart.

(1) On the menu bar, turn ON the icon to display the

I/O monitor screen.

And turn ON the icon to display the output con-

trol icon.
(2) Select a terminal and change the output state with the
ON/OFF button.

Note
The robot does not retain the ON/OFF state of OUTPUT
terminals if ON/OFF state of an OUTPUT terminal is
changed using this I/O monitor function while the robot is in
the hold state.

4.16 Program test

It is a function to test a program in nearly effective condi-
tion while the robot is actually in safe settings state in
TEACH mode.(*) With the program test function, it is possi-
ble to check welding operation by actually generating arc.
With this function, the robot basically conducts the same
operation as operation in AUTO mode, including flow com-
mands, such as CALL and PARACALL commands.
The function also support two robots movements.

(*)
Safe settings state in TEACH mode:
A state that applies a speed limit to the “Manual/Override
speed limit” settings while the door stop function disabled
and the deadman switch function enabled.

<Supplementary notes>
• Use “Teach advanced settings” for detail “Program test” AUTO mode
settings. Mode
• If the mode switch is switched to AUTO mode while con- switch Switching Switching
ducting a program test, the mode is changed to AUTO at Mode switch Mode switch
the current position and the robot starts AUTO mode
operation from the current position if the program is
started. TEACH mode Program test

• If the mode is switched from the TEACH to AUTO during

a program test, switching the mode back to TEACH once ON/OFF
again won’t resume the program test. In that case, the
robot goes into a normal TEACH mode.

OM1009082E17 47
 TEACH mode

4.16.1 Operation

On the menu bar, turn ON the icon to bring the robot

to the program test state. Use function keys and user func-
tion keys to operate.

Both hands method Single hand method

Function key
(Default settings) (See “Teach Advanced settings.”)

• Press this key together with Jog dial or
to start the program test.
• Hold down the keys to continue the test.
key • Press this key to start and continue the program
test.
• Hold down the key to continue the test.

Press this key to end the program test.

User function keys

• If “Arc-test” is set to “Invalid” in “Teach Advanced settings”, there will be no (Arc lock) icon.

• If the (Arc lock) or (Program change) icon is pressed during the program test, the robot executes the arc
lock while continuing the program test.
• The program test, once in execution, cannot be terminated using a user function key.

• Execution status of functions in program test operation

Function Execution status Function Execution status
• Arc retry
Real-time display only
• Stick release Execute • Load factor
(No load factor error
• Overlap at re-start
• RT monitor
• Cube monitor
Execute • Weld monitor Skip
• E-Axis Range monitor
• AND condition monitor
Do not count the accumu-
• External weld off
Execute • Accumulated time lated welding time during a
input/output
program test.
• Weld off key Execute • OPR hold output Skip
• Holding output
• Flying start Skip Skip
• Running output
• Override Execute

48 OM1009082E17
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4.16.2 Override in program test

Press the user function key “F5” (for override), then the

override icon lamp lights up and the user function

icons are switched to those for override.

<User function keys and Icons for override function>

Switches the target welding condi-
(F1)
tion of the override operation.
Adjustment key to reduces the
(F2)
value.
Adjustment key to increase the
(F3)
value.

Determines whether to write the <Icons for override function>

(F4) result of the override operation on
the program or not.

Turns ON/OFF the override opera-

(F5)
tion.

4.16.3 Trajectory check with program test

It is a function to travel on the exact trajectory in actual
<Image of smoothing operation>
operation at the speed set for a program test.

When a large value is set as the smooth level, the robot

passes a corner inwardly away from the corner point,
which allows the robot to move around the corner smoothly
while maintaining the high speed. The faster the robot
motion speed is, the further away from the corner point the As the speed increases,
trajectory becomes. If the robot almost interferes with a jig the smooth level increases.
in trace operation in Teach mode, the robot probably inter-
feres with the jig in actual operation. This is because in
actual operation (or without speed limit in Teach mode), the
robot motion speed could be faster than that in Teach
mode, therefore the trajectory becomes further inward from
the corner point.
To avoid such differences in trajectory between in actual
operation in AUTO mode and in trace operation (in Teach
mode), use this trajectory check function. With the function,
the robot travels on the exactly the same trajectory as the
trajectory to be in Auto mode at the speed restricted by
Teach mode.

* For details of setting procedure, see Section “4.17.3

Program test” on page 51.

OM1009082E17 49
 TEACH mode

4.17 Teach advanced settings

It is to specify whether to validate individual advanced functions.
Advanced Click
Function
function >>
Weld section When the arc start point is shifted, all More Teach
shift taught points in the weld section are auto- Advanced
settings
matically shifted by the same amount.
Use of shift A function to determine whether to exe-
buffer data cute shift processing, such as sensing
result, in trace operation.
Program test This function allows you to test a pro-
gram including welding operation check
in safe settings state in TEACH mode.
Trace settings This function allows you to perform trace
operation at the speed other than the
preset manual speed.
R-shift key and It specifies key operation and whether to
teach point display a confirmation dialog box when a
settings teach point is registered.
Wire touch This function is applicable if the “Touch
detection in sensor (optional function)” or TAWERS-
teaching TIG has been added.
A function to stop the robot when the
torch end touches the workpiece.
Edit settings This function allows you to specify
default settings of the edit mode.
It specifies whether to display the line
number display.

4.17.1 Weld section shift

[Valid/Invalid] Specifies whether to use (Valid) this
function or not (Invalidate).
[Calc. error]
Undo all: Select it not to shift any taught points in the
weld section in case of a calculation error. (However, do
not undo the shift made on the arc start point.)
Convert except calc. error data: Select it to convert
data except error data in case of a calculation error.

Note
Although this function is set to valid, if both harmonic
movement section and normal section exist in the weld
section for the shift, this function is ignored. In that case, no
confirmation message for shift operation is displayed when
the shift is attempted.

4.17.2 Use of shift buffer data

Icon (Lamp status) Function

Trace operation using

(Green lamp is ON) shift buffer data.

Trace operation of teach-

(Light is OFF) ing points.

* it is factory set to “Invalid” at shipment.

50 OM1009082E17
 TEACH mode

4.17.3 Program test

[Method]
Single hand: Starts the test by pressing the L-function
key only.
Both hands: Starts the test by pressing L-function key
and Jog dial.
[Arc-test] Specifies whether to actually execute weld-
ing operation (generate arc) (Valid) or not (Invalid).
[Trajectory check] Specifies whether to apply trajec-
tory check function (Valid) or not (Invalid).
* For details of the function, see section “4.16.3 Trajec-
tory check with program test” on page 50.
Limit the E-axis speed: Mark the check-box to limit the
movement of the external axis to the set speed of
“Limit speed in Teach mode” (Set >>Management
settings >> System >> External axis >> Settings).

Note
While a file is open, although the setting dialog box is dis-
played, it is not possible to edit the settings.

4.17.4 Trace settings

[Speed settings]
High/Low: Specify whether to make the speed switch-
able between high and low, and respective speeds.
[0.01-15.00]
[Default cursor position] Select the initial cursor posi-
tion from “MOVE”, “High” or “Low”.
* The timing to move the cursor back to the default posi-
tion is as follows.
• When a program is open.
• When mode is switched from AUTO to TEACH
while keeping the program open.
• When the program is re-displayed using the window
change key.
[Progress CALL,JUMP,IF commands] Mark the
check-box to execute CALL, IF and JUMP command in
trace operation.

4.17.5 R-shift key and teach point settings

It specifies whether to use ENTER key only or ENTER key
and R-shift key to register a taught point to display the
confirmation dialog box and also whether to display a con-
firmation dialog box.

[Enter key to add] Whether to display the confirma-

tion dialog box when only the Enter key is pressed.

[Use R-shift and Enter keys to add] Whether to dis-

play the confirmation dialog box when both Enter and R-
Shift keys are pressed.

OM1009082E17 51
 TEACH mode

4.17.6 Wire touch detection in teaching

Note This function is applicable when “Touch sensor” function (optional) or TAWERS-TIG has been installed.

[Valid/Invalid] Specifies whether to use (Valid) the func-

tion. When the function is enabled (set to “Valid”), icons
for the function are added to the menu.
[Max. operation speed] Specifies speed limit while wire
touch detection is in process. Set range: 0.01 to 15.00

Icon (Lamp status) Function

(Lamp is off) Wire touch function is disabled.

* Icon is grayout

Wire touch function is enabled but Icon (Lamp color changes with status)
(Gray is ON) not active.

Wire touch function is active (not

detecting any wire touch.) Message appears
(Yellow is ON) The robot motion speed is limited
to the preset value of “Max. oper-
ation speed”.
Wire touch is detected. The red
light is on until the wire is sepa-
(Red ON) rated from the workpiece.

4.17.7 Edit settings

[Add/Change Default] Specifies the default settings of
the command edit mode in program edit mode.
Power ON: Select the default settings at power on from
“Add” and “Change”.
Make new file: Select the default settings when creating
a new file from “Add”, “Change” and “Keep”. “Keep”
means to apply the last default settings.
[Line number display] Specifies whether to display the
program line numbers while editing the program. Please
note that while running the program, the screen displays
the program line numbers.
Hide the line number to display more letters.

52 OM1009082E17
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4.18 Edit files (Basic operation)

It is possible to edit a file during teach or trace operation.

Turn OFF the icon lamp, then the edit window of the
teach pendant becomes active (editable).

4.18.1 Open a file

To edit a file, you need to open the file you want to edit.
(This procedure is necessary only if you want to edit a file Click * Select
other than the currently working program.) a file type
>>
<Icons for file types>
File Open Program Recent
(Program files) files files
Displays a list of all program files.

(Recent files)*
Displays a list of files recently used in Arc start Arc end
TEACH mode. (Excluding currently open program program
file.)
(Arc start program files)
Displays a list of arc start program files.
(Welding spec.)
(Arc end program files)
Displays a list of arc end program files.
(Welding spec.)
* About “Recent files”:
It displays 6 files at most (which depends on file sizes).
The icon becomes grayout if no recent file exists.

(1) Click the icons and open the list of files (Open file dia-
log box).
(2) Jog the dial to move the cursor to the file you want to
open, and click.
[Name] Specify the name of file to open.
[User] Indicates user name of the specified file.
[Comment] Indicates comments of the specified file.
[Type] Program/Arc start/Arc end.
Symbols indicate those files are protected.
Please refer to section “File protect” for details.
Unless otherwise specified, the explanation is
Note on the premise that the file you want to edit is
open.

4.18.2 Display a file on top of the screen

When you open more than one window, use this function to
display the specified file on top. You can edit the file that is
displayed on top.

OM1009082E17 53
 TEACH mode

4.18.3 Shift reset

It is a function to manually reset the shift data set by com-
Click
mands.
(1) Display either “SHIFT-ON data” or “Sensing data” on >>
View Display Shift data SHIFT-ON
the right pane of the screen, and then click the change data

icon on the screen.

(2) Check the check-box(es) of the shift data type you
would like to reset.

* Items on the “Confirm” dialog box may vary with the sys-
tem configuration.

4.18.4 Add a sequence command

Move the cursor to the line you want to add a sequence (Example)
Click * Select
command below it.
>> a command type
(Example: Add an OUT command) Add
(1) On the menu, select “Add command” and then “OUT”. command
IN/OUT
(2) On the OUT setting dialog box, set parameters.

54 OM1009082E17
 TEACH mode

4.18.5 Change a sequence command

Move the cursor to the line of the sequence command you
want to change, and then change the icon. Click * “Edit type” icon used in
Set parameters and click OK to update the change. preceding edit operation
>>
is shown.
• When you change “CALL” or “PARACALL” com- (Edit type) Change

mand:
Click a CALL (or PARACALL) command you want
to change, then the dialog box on the right to spec-
ify whether you wand to display the program to be
called by the argument or you want to edit the
command is displayed. Select “Command edit.”
and click OK.
If the CALL (or PARACALL) command refers to
variables, the program called by the argument is
displayed without displaying the dialog box on the
right.

4.18.6 Delete a sequence command

Move the cursor to the command you want to delete and * “Edit type” icon used in
Click
delete it. preceding edit operation
The teach pendant prompts you to confirm the deletion of >>
is shown.
the command. Click OK button to delete the command. (Edit type) Delete

4.18.7 Edit position of a taught point

It is possible to change the position of a taught point by
entering a numeral value.

(1) Move the cursor to the teaching point you want to edit,
and click it. Then the Change dialog box is displayed.
(2) Click the “Position name”. Then the position data of the
teaching point is displayed
* If an external axis is included in the mechanism, use
　 keys to switch Robot and the external
axis.
* Mark the check-box for “Angle” to display position data
in angle.
(3) Enter desired values, and then click OK.

OM1009082E17 55
 TEACH mode

4.18.8 Setting welding conditions - “Auto-edit of arc start/end commands”

Welding robots are provided with commands for operation
frequently used in welding (welding start/end sequences)
for easy operation.
• When creating a program: Top of the program
In teaching operation, by entering “Weld point” and “Air-cut
Arc start point
point” correctly, the preset detail welding conditions are
automatically added to each teaching point. You can Arc end point
change the welding conditions in each point individually
using file edit operation. See sections “4.18.4 - 4.18.6 Add/
End of the program
Change/Delete a sequence command“.

• When editing a program:

By editing “Weld point” or “Air-cut point”, arc start
sequence (ARC-SET and ARC-ON commands) or arc end
sequence (CRATER and ARC-OFF commands) is auto-
matically added to or deleted from the program.

When the point P3 (Arc start point) is changed to an “Air-cut” point, the arc start sequence (which originally
Example was under the P3) is automatically moved to the point P4, that means the P4 becomes the new arc start
point.

Change to
Air-cut point

Note: This “Auto-edit of Arc start/end commands” function is not applicable in the following cases.
• Changes using “Cut and Paste” operation.
• Editing a program that contains a welding command not used in the default welder.
• Editing a program default welder has not specified.

Sequence commands frequently used in welding operation

Command Definition How to set
ARC-ON Specifies welding start Select a welding start program including torch switch ON, welding
sequences. current detect. (Setting range: ArcStart1 to ArcStart5)
ARC-OFFNote) Specifies welding end Select a welding end program including torch switch OFF, wire stick
sequences. detect. (Setting range: ArcEnd1 to ArcEnd5)
ARC-SET Selects welding conditions. Specify welding current, welding voltage and welding speed.
CRATER Selects crater welding con- Specify crater welding current, crater welding voltage and crater
ditions. welding time.
AMP Specifies welding current. Specify welding current only to change wire feed speed.
VOLT Specifies welding voltage. Specify welding voltage only.

56 OM1009082E17
 TEACH mode

4.18.9 Slope control for welding conditions

The slope control makes smooth transition of welding con-
ditions and produces smooth welding bead.
For details of commands, please refer to section “15. Com-
mands” on page.
Welding
Command Function
method
Slope command for arc (MAG/ Smooth bead transition
ARCSLP
MIG) welding conditions
Slope command for low pulse
CO2 LPSLP welding conditions
MAG (TAWERS only)
MIG Slope command after arc
STARTSLP
start
Slope command before arc
CRATERSLP
end
Slope command for TIG weld-
TIGSLP
ing conditions
TIG
Slope command for filler wire
WFDSLP
feed speed

4.18.10 Welding start/welding end sequence programs

Five sequence programs each for welding start and weld-
ing end are factory set at shipment. They are stored in Arc-ON program ArcStart1 to ArcStart5
“Teach settings” in MORE menu.
Arc-OFF program ArcEnd1 to ArcEnd5
For details of the sequence programs, please refer to sec-
tion “ArcStart or ArcEnd sequence” later in this document.

4.18.11 File sort

A list of files displayed on the screen with file open opera-
tion or so can be sorted in the following orders.

(1) Click (sort) icon.

(2) Specify a sort order and click OK.

Sort order Description

Name (A to Z) Ascending sort of file names(*)
Name (Z to A) Descending sort of file names(*)
Time (New to Old) In order of time (from latest to old)
Time (Old to New) In order of time (from oldest to
new)
Size (Small to Big) In order of ascending size (small
to big)
Size (Big to Small) In order of descending size (big to
small)
* Ascending sort order is from symbols to numbers to
alphabet. While descending sort is in reverse order;
from alphabet to numbers to symbols.

OM1009082E17 57
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4.18.12 Save a file

Save the teaching data after teaching or editing in a file. If
you close the file without saving the data, you loose all Click
teaching data or the changes you have made. >>
File Save Save as

Save:
Overwrite the current file.

Save as:
Name the active file and save it.

4.18.13 Close a file

Close the file currently displayed on top.
Click
>>
File Close

4.18.14 File transfer

A function to save files, such as programs, in another folder
or to a memory card. Click
To transfer a file to a memory card, you need to either >>
insert a SD memory card into the SD memory card slot or File Transfer
insert a USB memory card into the USB port of the teach
pendant.
Note
• Do not remove the SD card or USB memory card from
the teach pendant while transferring a data. If removed,
file can be damaged. The robot does not function cor-
rectly with damaged file.
• If you transfer a file to a SD memory card, make sure that
the SD card is in “write possible” condition.

(1) Close all active program files if any.

(2) Click the folder in which the file you want to transfer is
saved. Then a list of files in the specified folder
appears in the right side window.
(3) Press the Window change key to bring the right win-
dow active.
(4) Click the file(s) to transfer from the list. (You can select
more than one file.)
“*” mark appears at the beginning of the selected
file(s).
(5) Then press the F3 (Next) key to display the “Select a
device at the destination” dialog box.
(6) Use the jog dial to select the destination (folder) and
press the Enter key.
(7) Then the dialog box to confirm the action appears.
(8) Click the OK button to transfer the file(s).

58 OM1009082E17
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4.19 File properties

4.19.1 File properties
It provides file information, such as file creation date or file
creator. Click
>>
(1) Specify a file you want to see the properties of. File Properties Properties
(2) Set parameters
[Program name] Specified program file name.
[Comment] You can add a comment using up to 30
characters.
[Mechanism] Applied mechanism.
If the mechanism number is changed, angles of all
newly added axes become zero (0). Data of a deleted
axis will be deleted from the program next time the pro-
gram is saved.
[Welder] The welder number used in the program.
* This setting item is available when “TAWERS charac-
teristic switching” has been added to the system.
[User coordinates] A user coordinate number used in
the program. It is possible to change the settings using
this dialog box.
* This setting item is not displayed if “Switching every
program” in “User coordinate system settings” has not
been selected.
[Program size] The program file size.
[Creator (User ID)] User ID of the program creator.
[Created] Date when the file was first saved.
[Modified] Date when the file was saved last.
[Original program] The original (or previous) file name
if the file was save using “Save as” or was renamed.
[Program edit] Current file protect state.
* With “Program edit disable” setting (Advanced set-
tings), you can disable program edit.
[Protected] Current protect level.
* You can change the protect level using this dialog box.

OM1009082E17 59
 TEACH mode

4.19.2 File protect

It allows you to set protection on a file basis. There are
three protect levels; “Protect all”, “Allow point change only”
and “None.” Click
* You can also set the file protection using the “Proper- >>
ties” setting dialog box (Protected). File Properties Protect

<Setting procedure>
(1) On the menu bar, click “File” and “Properties” and then
click “Protect” to display the setting dialog box.
(2) Select a file (or files) you want to change the protect
level. Then press “F3 (NEXT)” key.
(3) Select a protect level and then click OK.

[Protect All] The file is protected from any edit opera-

tion.
[Allow Point Change Only] Only position data of
teaching points can be changed. Other data, such as
commands, cannot be changed.
[None] The file is fully editable (No protection).

<Display>
A symbol for each protect level is added to the far left of the
protected program name on the file list screen.

Symbol Description
X Protect all
+ Allow point change only Symbol
(Blank) None

4.19.3 Rename a file

You can change the name of a file without changing con-
tents of the file.
Click

(1) From the list of files, select the file you want to rename, >>
and then click OK. File Properties Rename

(2) Enter a new file name, and click OK.

* You can enter up to 28 characters.

60 OM1009082E17
 TEACH mode

4.19.4 Delete a file

You can delete more than one file at one time.
* Please note that it is not possible to undo once deleted. Click
>>
(1) Click “Controller” in the System window to show a list
File Delete
of files.
(2) With the Window change key, move the cursor to the
file list window, and select the file(s) you want to
delete.
“*” mark appears at the beginning of the selected
file(s).
(3) Press “Next” F3 button to display the list of the file(s) to
be deleted.
(4) Click Yes to delete the displayed file(s)

OM1009082E17 61
 AUTO mode

5. AUTO mode
When the Mode select switch is
in the AUTO position, it is possi-
ble to operate a program created
in TEACH mode.

5.1 Start
There are two ways to start operation (run the program);
one is to use the start switch on the teach pendant (which
Note
is called “manual start”), and the other is to send a signal For the auto start method, please also refer to section “10.1
from an external device (which is called “auto start”). This Program start method settings” on page “103”.
document (basic operation) explains manual start method.

DANGER
Prior to start operation, make sure that no personnel are present within the safety
fenced area.
The operator shall be able to press the Emergency stop button at any time the oper-
ator observes danger.

(1) Position yourself outside of the safety fenced area and Operation box
lock the door of the safety fence.
(2) Place the mode select switch to the AUTO position.
(3) If the robot is provided with the operation box, press
the AUTO switch (to bring the robot in AUTO mode).
EMG STOP AUTO
< Note >
• The operation box is optional for some robot mod-
els.
• To ensure safe operation, the operation box must
be installed outside of the safety fence.

(4) Open the file you want to work on.

(5) Turn ON the servo power.
(6) Press the Start switch, then the robot starts operation
of the specified program.

<Supplementary notes>
• The program starts where the cursor is positioned.
• Each action once executed is indicated in the right pane
in order of execution.
• The executed actions are indicated with some time lag
as execution of action has priority over indication of
action. Sometimes actions may not be indicated if the
timing is off.

62 OM1009082E17
 AUTO mode

5.1.1 Initialization at start

At the start of a program, various settings are initialized in
order to prevent influence of commands execution of other
• Settings to be initialized at program start
program(s). Item Initialization
The initialization is applied to the settings shown in the Pulse settings It resets to the setting values of the
table on the right under the following conditions. welder data settings.
Pulse type
(1) Only the target program is open. Wave adjust * See section “14.2 Welder data set-
(2) The target program is not opened by CALL command. data tings (CO2 /MAG/MIG)” for details.
Sensor shift It executes SNSSFT-OFF.
Note movement It does not clear the sensor shift buffer.
The initialization is conducted by executing “Begin of Pro- Shift move-
It executes SHIFT-OFF.
gram” at the beginning of the program as long as the condi- ment
tions are satisfied and regardless of applied start method External axis
or applied operation unit. It executes EAXS_SFT-OFF
shift movement

5.2 Hold and restart

DANGER
Never enter into the safety fenced area. The robot may move suddenly where it is in
HOLD state.
Make sure that no personnel or any articles to interfere with the robot are present
within the robot work envelope prior to restarting the robot.

• tPress the Hold switch, then the robot becomes inactive

while the servo power remains in the ON state.
Teaching Operation
• Place the mode select switch in the TEACH position to
operate the robot in manual and trace operation.
• Switch the mode select switch to AUTO and press the Restart
Start switch to restart the robot.
Manual
<Supplementary notes>
While robot is in hold state, if you move the robot manu- Hold
ally and then switch the mode select switch to AUTO
position, the robot displays a warning message.
In that case, clear the warning message and then newly
start the robot, then the robot restarts operation from the
position it was manually moved to.

5.3 Emergency stop and restart

DANGER
Bring the robot to an emergency stop immediately when you observe hazardous or an
abnormal condition.
Make sure that no personnel or any articles to interfere with the robot are present
within the robot work envelope prior to restarting the robot.
(1) Press the Emergency stop switch to bring the robot to
an emergency stop.
Note
It is recommended to check restart position in TEACH
(2) After removing the cause, turn on the servo-ON and
mode before restarting the robot.
then turn on the start switch to restart.

OM1009082E17 63
 AUTO mode

5.4 Limit conditions of operation

You can run the specified program with some limitation(s),
such as deactivating some function(s) or limiting the robot
travel speed. For example if you mark the check-box of the
Arc lock, the robot executes operation without welding.

5.4.1 Settings
[Speed] Gives priority to the speed specified in this box
over the maximum speed set in teaching operation. Click
[I/O lock] Deactivates I/O related sequence com- >>
mands. Limit
condition
[Arc lock] Deactivates welding related commands.
• Do not lock WIREFWD/WIRERWD execution
Mark the checkbox to enable WIREFWD and WIR-
ERWD commands while the “Arc lock” is in the ON
state. The setting is useful in case of performing
wire cut operation while using touch sensor.
It also allows execution of WIREFWD and WIR-
ERWD commands when the “Arc-test” of the pro-
gram test is set to “Invalid”.
[Robot lock] Deactivates robot movements.

Note
• When the “Robot lock” is applied, although the robot
does not make any movements, the monitoring function,
such as cube monitor, is executed at the programmed
position in the running program.
Then, by disabling the “Robot lock”, the robot regains
movements and restarts operation based on the ongoing
program from the restart position (not from the pro-
grammed position). Therefore, the monitoring output sta-
tus at restart may not be the same as that in normal
program.
• “Robot lock” is not applicable to the external axis under
“External axis remote control” function.

5.4.2 Checking locked contents

The locked items and the speed limit are indicated on sta-
tus bar (lower right part of the screen). If there is no locked
items, the status bar indicates only the speed limit.
<Indication example>
• Lock: I/O Arc Robot 120.00 m/min
I/O lock, arc lock and robot lock.
Speed limit is 120.00 m/min
• Lock: Arc 30.00 m/min
Arc lock, Speed limit is 30.00 m/min
• Lock:120.00 m/min
No lock, Speed limit is 120.00 m/min
<Indication example when Speed limit I/O is ON>
• Lock: Arc [Input 30.00 m/min]
When “Speed limit I/O” is ON.
Arc lock, With “Speed limit I/O”, speed limit is 5.00 m/min

Note
If the speed limit set by this function is 180.00 m/min to the
robot whose maximum speed is 180.00m/min, then there is
no speed limit applied by this function to the robot.

64 OM1009082E17
 AUTO mode

5.4.3 Program unit

A function to specify a scope of continuous operation. Click
Program unit Stops after completion of each pro-
gram. >> or or

Program Step unit Continuous

Step unit Stops after completion of each step. unit
Continuous Performs a preset series of programs
and then stops.

5.5 Override
This is a function to fine-tune the welding conditions, such
as welding current, welding voltage and speed, on the run- • For override of the speed, the adjustable range is from -
ning program while executing welding operation. 25 % to + 25 % of the original taught speed.
• In weaving section, the override of the speed is disabled.
Press a function key for the adjustment icon of the welding
condition you want to fine-tune.
Adjustment icons Target welding condition Click
(ON)
Welding current >>
(User function key)

Welding voltage Adjustment icons

Speed

To adjust the increment (or decrement) amount per press

of adjustment icons for each welding condition, press the

key to display the setting dialog box.

• By assigning the (Override: Automatic storing) icon

to a user function key, you can specify whether to auto-
matically write the result of the override (fine-tuned data)
on the program to reflect it or not.
<Override: Automatic storing> icons and functions
icons Function
Reflect the result of the override opera-
tion on the program.
Do not reflect the result of the override
operation on the program.

< Note >

• To reflect the result, the icon has to be turned

on before executing the override operation and be
in the on state during the override operation.
• If the “Override: Automatic storing” icon is switched

from to after the override operation, the

result won’t be reflected to the program.
• If the “Override: Automatic storing” icon is switched

from to after completing the override

operation, the result will be reflected to the
program.

OM1009082E17 65
 AUTO mode

• Procedure to execute override operation with the

safety fence open.
(1) Turn on the override icon.
(2) While holding down a Deadman switch, switch the
Note
mode from AUTO to TEACH with the mode select • *In TEACH mode, robot motion speed in override opera-
switch. tion is limited to the preset maximum speed in teach
operation.
(3) Open the safety fence. (Then the door stop input of the
safety circuit is turned off.) • *If the welder is set to “Unitary”, by adjusting the welding
(4) Execute override operation. current, the welding voltage value is automatically
adjusted in conjunction with the adjusted current value.
(5) Close the safety fence. (Then the door stop input of the
safety circuit is turned on.) • When the override icon is turned on, the robot motion
(6) Switch the mode select key from TEACH to AUTO. speed is limited to the preset override speed limit.
(7) Release the Deadman switch.
(8) Turn off the override icon.

5.6 End of operation

To end the current operation, bring the robot in the hold
state and then close the file.

66 OM1009082E17
 AUTO mode

5.7 Advanced operation

Advanced operation includes switching of the screen dis-
play to the concurrently-running program for fine tune and
editing of a program while running a program.

5.7.1 Off-line edit

The “Off-line edit” edits a program directly while running a
Click
program. (ON)
• And that effect is informed with a message box when the >>
Offline File Open
(Off-line) icon is clicked on. program.

• And for this reason, no confirmation message; that is,

whether to update the edited program or not, is displayed
when the program is closed.
• During off-line edit operation, it is not possible to operate
the robot. Other than that point, the off-line edit functions
just like edit operation in TEACH mode.

Press the key to switch the edit type. The edit type is
switched from “Add” to “Change” and to “Delete” one at a
time.

It is not possible to edit the running program. If attempted,

a warning message to inform that effect is displayed.

5.7.2 Program change in parallel processing

In concurrent execution of programs by PARACALL com-
Click
mand and so on in AUTO mode, this function can switch
the on-screen program among the concurrent programs. >>
Override and off-line edit is executed to the on-screen pro- Program
gram. change

The program file name

currently displayed.

OM1009082E17 67
 File edit functions

6. File edit functions

Turn off the (Robot motion) icon lamp, and then oper-
ate the cursor in the edit window.

6.1 Cut
It removes data by the line from the file and stores them in Execution of Cut operation overwrites the previously saved
the clipboard. character-string data in the clipboard.

(1) Move the cursor to the first line of the data you want to
Click
cut.
>>
(2) Select the (Cut) icon from the menu. Edit Cut

(3) Use the jog dial or the key to change pages (

) to select (highlight) the range of lines you want

to cut and click to specify the range.
(4) Click OK on the confirmation message to remove the
highlighted data.
* Click “More” to repeat the cut operation by specifying
another range of lines to cut.

Note
“Clipboard” is a temporary storage of character-string data
to be used when you move or copy data.
If you want to insert the data you have just cut to a different
place or file, do Paste.

6.2 Copy
It stores data of the selected lines in the clipboard.

(1) Move the cursor to the first line of the data you want to
copy.
Click
(2) Select the (Copy) icon from the menu. >>
Edit Copy
(3) Use the jog dial or the key to change pages (

) to select (highlight) the range of lines you want

to copy and click to specify the range.
(4) Click OK on the confirmation message to copy the
highlighted data.
* Click “More” to repeat the cut operation by specifying
another range of lines to copy.

Note
If you want to insert the data you have just copied to a dif-
ferent place or file, do Paste.
Execution of Copy operation overwrites the previously
saved character-string data in the clipboard.

68 OM1009082E17
 File edit functions

6.3 Paste
It inserts the data saved in the clipboard either with Cut or
Copy operation into the file. Click
(1) Move the cursor to the line where you want to insert >>
the data. (The data will be inserted below the line Edit Paste Paste
where the cursor is positioned.)

(2) Click either “Paste” or “Paste (Reverse)”.

Paste: Paste
(Reverse)
Insert the data as saved in the clip-
board.
Paste (Reverse):
Insert the data in the reverse order.

Note
• “Paste (Reverse)” is useful to edit data for reciprocating
motion. Teach the first half of the motion and copy it and
then do Paste (Reverse) to complete the latter half of the
motion.
• You can Paste the data as many times as you want.

6.4 Find
It searches the command in the file that satisfies the condi-
Click
tion you specified
[Browse] Displays a list of commands can be searched. >>
[Next] To search forward: from the cursor position toward Edit Find
the end of the file.
[Backward] To search backward: from the cursor posi-
tion toward the beginning of the file.

OM1009082E17 69
 File edit functions

6.5 Replace
It replaces data in a program.
Click
(1) Select a section of data you want to replace.
>>
[Use jog dial to select] Use the jog dial or the key to
Edit Replace
change pages ( ) to specify the section for
replacement. The target program is displayed once
selected.

① Move to the start point

② Click.
③ Move to the end point
④ Click.
(Item group)
[Entire program] Replace whole data in the program.
[Specified labels] Use labels to specify the section for
replacement. Specify it on the replacement data setting
dialog box.
* It is not applicable to replace commands.
(2) Select an item group of replacement and display the <Replacement data setting dialog box>
replacement data setting dialog box.
(3) Specify data you want to replace with.
• When “Specified labels” (conversion section) and an
item group other than “Command” are selected.
[Type] Select either “Add” or “Replace”.
• Add: To specify a change amount from the preset data.
• Replace: To specify a value to replace with.
[Replace contents] *
* Contents vary with the replace item.
[Replace section] Setting item is available the conver-
sion section is set to “Specified labels”.

• When “Specified labels” (conversion section) and the

item group “Command” are selected.
[Command to find] Select a find method.
with argument: Replace only when all arguments match.
For example, the same move commands with different
CL number or speed unit are considered as mismatch.
command only: Check the command name only to
determine if it is the target command or not and disre-
gard all setting values of the arguments.
[Edit] Edits arguments of the command.
[Change] Change the command. Click the button, then
“Command group” and then ”Command”.
[Prompt on replace] Select it to display the execution
confirmation message. (See the figure on the right.) The
line where the cursor locates is the replacement target.
[Match case] Select it to apply case-sensitivity (distin-
guish uppercase letters from lowercase letters) if there
are character strings.
(4) After completing the replacement, the dialog box
shown on the right is displayed.
(5) Click “Yes” if you want to continue the “Replace” operation.

70 OM1009082E17
 File edit functions

6.6 Edit local variable

It is a function to change name and value of a local vari-
able, and also to increase the number of local variables to Click
be registered. >>
Edit Local
(1) Select a variable type you want to edit. variables
(2) Enter a number of local variable to be registered in the
box of the variable type you want to change.

6.7 Global data

It teaches “Robot” and “Position” variables of the global
Click
variables used throughout a program.
(1) Select “Robot position” or ”Mechanism position.” >>
(2) Specify a global variable name. Edit Global
data

<How to check the settings>

You can check the settings by moving the robot to the reg-
istered position in trace operation.
(1) Move the cursor to the variable.

(2) Turn ON the (trace) icon, and then hold down

(Function key) while jogging the jog dial or hold

down the key together. Then the robot stops at

the registered position. If the selected variable has been specified as valid vari-
< Note > able, the following dialog box is displayed.

• key is not applicable in the checking operation.

• The robot motion speed while holding down the
key corresponds to the H, M or L indication at
the upper right side of the screen.
Note
[Apply] To update the data.
For details of the variables, please refer to section “8. Vari-
[Invalid] To invalidate the data.
able settings”, and for details of the mechanism, please
[Cancel] To cancel the action and close the dialog box.
refer to the operating instructions of the external axis con-
troller.

OM1009082E17 71
 File edit functions

6.8 Option
Advanced edit function(s).
Click
[Re-number with the teach point] It is used to renum-
ber the teaching points in the program in the order of >>
execution. Edit Option
<Note>
Renumbering operation deletes data of teaching points
not in use.
[Conversion] It is used to shift teaching points in a pro-
gram.
[Conversion with Robot teaching] It is used to spec-
ify a conversion correction amount using the robot.
[Compensation of tool] It is used to switch to tool
compensation mode.
[Global variable for Adjustment of TCP] It is used to
switch to “Global variable setting for TCP (tool center
point) adjustment” mode.
[Torch Positioning Function] It is a function to per-
form tool positioning operation using the predetermined
reference point of the manipulator.

6.9 Conversion
6.9.1 Conversion type
Conversion types includes “Parallel shift”, “RT shift”, “Tool
pose shift”(*1), “Tool pose distribution”(*2), “”External axis
shift” and “Easy mirror” (*3)are available.
(*1) “Tool pose shift” shifts tool posture angle by
specified angle.
(*2)
“Tool pose distribution” shifts the tool posture
angle by distributing difference between the first
and last tool posture angles of the specified sec-
tion evenly in the section.

Target posture
Initial posture

(*3
“Easy mirror” shifts mirrored image to a plane
containing the reference point and RT axis center.

72 OM1009082E17
 File edit functions

6.9.2 Setup
With the Option screen, click “Conversion”.
Click
(1) Select a function.
(“Parallel shift” in the example figure on the right.) >>
Then click OK. Edit Option

(2) Specify the conversion section.

[Use jog dial to select] Use the jog dial or the key to

change pages ( ) to specify the conversion

section.
<How to specify the section with the jog dial>

1. Move the cursor

to the start point.

2. Click

3. Move the cursor

to the end point.

4. Click

[Entire program] Apply conversion to the entire pro-

gram.
[Specified labels] Use labels to specify the section to
convert.
* The calculation error occurs when a teaching point
after conversion is out of the robot motion range.
<Shift amount setting dialog box>

(3) Specify the shift amount

[Conversion] The specified conversion type is dis-
played.
[Save program name] Specify a program name you
want to save the conversion result to.
[Shift data] Specify shift amount.
[Conversion section] The specified conversion sec-
tion is displayed.
[Calc. error] Specify a process if a calculation error
occurs.
<Confirmation dialog box>
* The calculation error occurs when a teaching point
after conversion is out of the robot motion range.

(4) The message to inform the result is displayed.

<The error message>
If a calculated conversion point is out of the operating
range of the robot, the error message shown in the
right figure is displayed.

In such case, the point of convert error stays in the

original position. Click Detail to display the list of points
of convert error. All points not in the list were converted
successfully.

OM1009082E17 73
 File edit functions

6.9.3 Mirror transformation

With the Option screen, click “Conversion”.

(3) The message to inform the result is displayed.
(1) Select “Easy mirror”.
Then click OK.
If a calculated conversion point is out of the operating
range of the robot, the error message shown in the
right figure is displayed.

(2) On the newly displayed “Conversion” dialog box, In such case, the point of convert error stays in the
select the reference point. original position. Click Detail to display the list of points
of convert error. All points not in the list were converted
[Current position] Shifts based on a plane containing successfully.
the current position and the RT axis center.
[Position valuable] Shifts base on a plane containing
the position of registered robot variable and the RT axis
<Confirmation dialog box>
center.
[Angle] Shifts based on a plane containing the preset
RT angle and the RT axis center.

<The error message>

Click
>>
Edit Option

74 OM1009082E17
 File edit functions

6.10 Conversion with robot teaching

A conversion to teach the robot to specify a conversion
amount.
The conversion amount is calculated from the difference New position
between the taught point in the program and the new point.
In case of misalignment of the work or jig, you can shift the P001
whole program or selected range of the program by teach-
ing one new point. MOVEL P001 P006
As illustrated in the example in the right figure, move the MOVEL P002
cursor to the taught point P004, and then teach a new point P005
MOVEL P003 P002 P003 P004
P004. MOVEL P004
MOVEL P005 Original position
Note MOVEL P006
• This function is not applicable to a program with no
mechanism.
• This function is not applicable to a program with the
multi-cooperative robot control function.

6.10.1 Setting procedure

(1) Open the program you want to use this function.
Click
(2) Move the cursor to the taught point (MOVE command)
>>
you want to use as the reference point for conversion.
Edit Option
(3) Open the Option dialog box for setup.
(a) Select “Conversion with Robot teaching”, and click
OK.
(b) On the “Conversion” dialog box, select a function.

(c) Then, the confirmation message to start conver-

sion mode is displayed. Click OK.

(4) Move the robot manually to the new position of the ref-
erence point you have specified in the previous proce- (Confirmation message)
dure (2), and press ENTER key.

(5) Specify the conversion section.

[Entire program] Applies the conversion to the whole
program.
[Specified labels] Uses the label to specify the conver-
sion section.
[Use jog dial to select] Uses the JOG dial to specify
the conversion section. The target program is displayed
once selected.
<How to specify the section with the Jog dial>

① Move to the start point

② Click
③ Move to the end point
④ Click

OM1009082E17 75
 File edit functions

(6) Set parameters and click OK.

(Example: Parameters for “Parallel shift”)
[Conversion] Conversion type selected in previous
procedure.
[Save program name] A program name to save the
converted program as.
[Shift data] Conversion amount
[Conversion section] The section to apply the conver-
sion.
[Calc. error] Specifies an error handling. If a calculated
new point (after conversion) is out of the operating
range of the robot, it is regarded as the calculation error.
* The conversion amount the values calculated from the
reference point. (In the right figure, values X,Y and Z
(Shift data) are the calculated value (conversion
amount).

Setting dialog box for “Tool pose shift”

(Shift data) Calculation result
Rz

Rt Ry

Ｘ
Ｙ

<Confirmation dialog box>

(7) The message to inform the result is displayed.

If a calculated conversion point is out of the operating

range of the robot, the error message shown in the
right figure is displayed.
<The error message>

In such case, the point of convert error stays in the

original position. Click Detail to display the list of points
of convert error. All points not in the list were converted
successfully.

76 OM1009082E17
 File edit functions

6.11 Tool compensation

It is a function to calculate deformation value of the tool
and correct the taught program to compensate for the
deformation of the tool if occurred.

• The correction amount is unique to each tool offset. If the Taught point
tool compensation is applied to a tool offset, such tool Deformation
after deformation
compensation (or correction amount) is applied to all pro-
grams that use the same tool number.
• Once the tool offset value is changed, the applied tool
compensation is cancelled.The indicated value of the Taught point
tool offset of the compensated tool does not include the
correction amount, therefore, the indication is different
from the actual value of the tool offset of the compen-
sated tool.
• In edit operation, the robot moves to the compensated
taught points, that is, the same movements and angles
as in the actual operation.

Note
Depending on the degree of deformation, the tool compen-
sation may not work or may not be compensated within
your tolerance. Make sure to check robot movements of
the related programs in trace operation after the application
of tool compensation.

6.11.1 Settings
(1) From the list of Option, select “Compensation of tool”
Click
and click OK.
>>
Edit Option

(2) ON the on-screen message box, click OK.

Move the cursor to the taught point (robot variable) to
be used as criteria point for tool compensation.
Press ENTER key, and then operate either one of the
following methods.
(a) Teach point method:
Open the program for tool compensation, and then
start the settings.
With manual operation, teach the criteria point,
and then press ENTER key.
(b) Robot variable method:
With manual operation, teach the taught point of
the robot variable, and then press ENTER key.
In both (a) and (b) methods, calculate the correction
amount for tool compensation from the difference
between the current robot orientation of the point and
the robot orientation of the point before deformation.
(3) Click OK on the confirmation screen and end of the
operation screen to complete the operation.

Note
In case “Tool compensation” fails, either repeat the setting
procedure from the beginning or change the criteria point.

OM1009082E17 77
 File edit functions

6.11.2 Confirmation of tool compensation

You can confirm the completion of tool compensation on
the screen by checking “Compensated tool” indicated Click
> Tool offset > Tool offset
below the tool name entry box. (See the figure on the >>
right.) Set Robot

6.12 Global variable setting for TCP adjustment

It is an operation to register tool position data to a global
variable in order to calculate the tool offset value.
Refer to section “10.4 TCP (Tool center point) adjustment”
on page113.

6.13 Torch positioning function

Note This function is available only when TM manipulators are used.

It is a function to perform tool positioning using the prede-

termined reference point of the manipulator.

6.13.1 Preparation
(1) Specify the tool offset value of the tool for positioning.
(See section “10.2 Tool offset settings” for details.) Block for positioning
Make sure to clear the tool compensation, if set. (See
section “6.11 Tool compensation” for details.)
(2) Refer to the figure on the right and set the block for
positioning to the manipulator.

Note
Depending on the shift amount before adjustment, the
block for the positioning may collide with the tool at the
arrival at the reference point. Check whether they collide
with each other or not in trace operation and adjust the
torch fixing position if they do.
<Location of the block for positioning>
For details of the torch fixing position adjustment proce-
dure, please refer to section “Positioning welding torch“ in • For TM-1100 and TM-1400:See the above figure.
the operating instructions of the applied torch. • For other manipulator types: See the operating
instructions of the applied manipulator.

78 OM1009082E17
 File edit functions

6.13.2 Operation
(1) Specify the tool for positioning and click OK.
Then a program for the tool positioning is automatically
created.
(2) Move the robot to P1 position of the automatically cre-
ated tool positioning program in trace operation.
* P1 is the ready point of the tool positioning operation.
(3) Then, in trace operation, move the robot to P2 with
caution not to collide with the block.
* P2 is the positioning point.

< Note >

If the tool collides with the block on the way to P2,
adjust the torch fixing position.

(4) At P2, turn off the servo power, and adjust the torch fix-
ing position so that the TCP matches with the refer-
ence point of the block for positioning.
(5) Then, move the robot to P1.
(6) Close the file.
(7) Remove the block for positioning.

Note
• In case it is not possible to move the robot to the refer-
ence point, use the TCP adjustment function to newly set
the correct tool offset.
• If there is no mechanism with only robot, the warning
message shown on the right is displayed. Register a
mechanism with only robot by using a mechanism not in
use.
• The name of the automatically created program file is
“Torch Positioning Function”. If the same file name
already exists, the message asking whether to overwrite
or not is displayed. Click OK to overwrite. If you do not
want to overwrite the existing file, click Cancel and
change the file name of the existing file.

OM1009082E17 79
 View

7. View
This section explains screen displays available from the
View menu. Button Description
The View menu is available in both TEACH and AUTO Close the currently active window.
modes.
To previous page / To next page
/
Those buttons function as per the description unless
otherwise specified.

7.1 Display change

7.1.1 Position display
It indicates the current position of the robot control point • When the power is restored, the reset position is cleared.
(XYZ), angle of each axis, and pulse counts. At that time, resume function is disabled even if the func-
tion is running.
(1) XYZ display
[XYZ] Position of the robot control point on the robot
coordinate system. Click
[UVW] Tool orientation. >>
U: Angle rotating around the axis parallel to Z-axis
View Display Display
including the robot control point while retaining the angle change position XYZ
of V. XYZ
V: Angle from the vertical surface.
W: Twist angle of the wrist while fixing the direction of the tool.
[Length] Direct distance from the position where the Angle
position reset was applied

[ (Relative)] When the icon lamp is on, the XYZ

(UVW) display uses the position where the position Pulse
reset was executed as the origin point. While when the
icon lamp is off, the XYZ (UVW) display uses the abso-
lute position (robot coordinate) as the origin point.

[ (Reset)] Click the icon to reset position data. The

tool end point is regarded as the origin point.
(2) Angle display
Angle of each axis; RT, UA, FA, RW, BW, and TW.
(3) Pulse display
Encoder pulse of each axis; RT, UA, FA, RW, BW, and TW.
Angle Pulse
<Supplementary notes>
• If the tool center point (TCP) is not correct due to
improper tool offset, tool collision and so on, the dis-
tances to be displayed in the window may not be correct.

• When (Relative) icon is off, the display indicates

distances from the origin point of the robot coordinate to
the tool center point (TCP).

• When (Relative) icon is on, the displays for the

external axis and slave robot are relative display.
• If the position data are indicated on more than one page, the
Reset operation resets data on all pages. Except, in a multi-
cooperative robot control system, if there is a slave robot
whose line is not connected at the time of position reset, the
coordinate of the slave robot won’t be reset.

80 OM1009082E17
 View

7.1.2 Torch angle

It indicates torch angle to the weld line.
Click
>>
View Display Display Torch
change position

Title angle

Angle of advance/retreat

7.1.3 User IN/OUT

It indicates ON/OFF state of each user I/O port. You can
Click
have two display types; List (Terminal name) and List
(detail). >>
View Display Display List
change I/O terminal (Terminal name)
Note
Terminals in ON state are indicated in green, and terminals
in OFF state are in gray.
List (Terminal name) List
[JUMP] Click the icon, then a list of the terminal num- (detail)
bers is displayed to specify a terminal of jump destina-
tion.
[Output control] Click the icon, then a dialog box to
edit ON/OFF state of output terminals is displayed. Edit
the terminal(s) if any.
[RST] Click the icon to reset the output state.
[DEC/HEX] Click the icon to switch the display of 詳細
表示 in “Decimal without symbol”, “Decimal with sym-
bol”, or “Hexadecimal”.

List (detail)

OM1009082E17 81
 View

7.1.4 Status IN/OUT

It indicates ON/OFF state of status I/O ports.
Click
Note >>
Terminals in ON state are indicated in green, and terminals
View Display Status
in OFF state are in gray. change In/Out

7.1.5 Variable
It indicates values stored in global variable.
Click
* Value stored in each variable is displayed on the right of >>
Byte
the colon (:)) View Display Display
change variable
<When “Byte” is selected>

Integer

Long

Double

7.1.6 SHIFT-ON data

Click
Displays integrated sensing results
>>
Sensing data of all applied sensors, such as
touch sensor. View Display シフトデータ Sensor data
change
Displays the shift amount currently
SHIFT-ON data in execution by means of SHIFT-
ON command.
SHIFT-ON
data

82 OM1009082E17
 View

7.1.7 Accumulated time

It displays the accumulated time of each of the robot con-
Click
trol items.
>>
[Controller ON time] Amount of time when the power View Display Accumulate
switch to the controller is in the ON state. (Time from change time
when the switch is turned on til when the switch is turned
off.)
[Servo ON time] Amount of time when the servo power
switch is in the ON state. (Time from when the servo is
turned on till when the servo is turned off.)
[Program running time] Amount of program execution
time shown in cycle time. (Time from when the start of
the program til when the file is closed after completion of
the program.)
[Arc ON time] Amount of time the torch switch is in the
ON state. (Time from when the torch switch is turned on
til when the torch switch is turned off.)

7.1.8 Load factor

It displays the load factor of each axis at the current robot
Click
orientation to the rated value in percentage.
>>
View
Load factor
Load factor of each axis at the cur- Display Load factor
Load factor change
rent robot orientation.
<When “Load factor” is selected>
Average The average load factor of each
load factor axis of the program executed. Average
load factor
Peak The maximum load factor of each
load factor axis of the program executed.
Collision sensi- Collision sensitivity and collision
torque while operating the robot. Peak
tivity monitor (*) load factor

(*):For
details, please refer to section “10.6 Collision sensi-
tivity monitor.” Collision
sens monitor

OM1009082E17 83
 View

7.1.9 Operate state

It indicates operation state and program schedule.
Click
[Running state] Indicates the current operation state. If
the current program calls another program, its hierarchi- >>
cal structure is indicated in tree view. View Display Operate
change state
[Reserve state] Indicates scheduled programs.

Note
If manual start method is applied, it indicates start state.

“Running state” “Reserve state”

7.1.10 Program call

If program call method is applied, it identifies and specifies
Click
the program to be started.
>>
[Set] From the program select dialog box, specify the View Display Program
program you would like to start. change call

Note
As for “Program call method”, please refer to section
“10.1.6 Program call method” on page 109.

84 OM1009082E17
 View

7.2 Cycle time

It measures and displays the cycle time of a program.

7.2.1 Settings
Specify program(s) to display its cycle time.

Click
>>
[Browse] Displays a list of registered programs to View Cycle time Cycle time
select from. settings

Program name

Comments

7.2.2 Display
Cycle times of the specified programs are displayed.
Click
<Supplementary expression>
>>
• It displays a cycle time while the program is running,
that is, from when the program start to when it is View Cycle timeCycle time

stopped.
Total cycle time
• You can reset a cycle time at any time by pressing the
Program name
Comments
(reset) button.
Cycle time
of each program
• Restart after a halt, an emergency stop or an error stop
won’t reset the cycle time to zero. Arc on time
of each program
• Cycle times for two programs are displayed on one

page. Click or key to change the display.

Reset button

7.3 List of open files

It displays the specified program on top of the screen. A
program displayed on top becomes the editable program. Click
>>
• Move the cursor to the program you want to bring on top View Window
of the screen, and click OK.

• Every time you click the (Window), the program on

top of the screen is switched to another one in order,
from last-opened program.

OM1009082E17 85
 View

7.4 Arc weld information

It indicates arc welding status.
Click
>>
View Arc weld
info.

Icon Screen display and remarks

Current/
Voltage

Weld input

[Rst]: Press it to reset the accumu-

lated value of the tip change time
monitor.
TIP
CHANGE

If the applied wire feeder uses a dig-

ital controlled welding unit (19200
bps type only), it is possible to moni-
Monitoring tor status of the wire feed motor.
feeder

86 OM1009082E17
 View

7.5 Wire usage

With TAWERS, it is possible to display the length of wire
consumed in welding operation, that is counted on a char-
acteristics basis. Click
　>>
You can record two types of consumed wire length: Wire View Arc weld Wire
info. usage
usage A and Wire usage B. Click or to switch
the display between the two.

Note
It is possible to turn on the specified output when the length
of the wire applied exceeds the preset wire length. For
details, please refer to section “14.1.17 Weaving settings”
on page 198.

• How to reset:
To reset the counted consumed wire length, click Rst of
the intended wire usage type (A or B) then on the Confirm
dialog box, mark the check-box of the characteristics you
want to reset and click OK. Only the consumed wire
length of the marked characteristics are reset.

Note
• Use the values displayed on the Wire usage screen only
as a guide. They may be slightly different from actual
consumed lengths.
• The indicator can count and display up to 999999.99 m.
If the consumed wire length exceeds the limit, the display
remains 999999.99 m.

OM1009082E17 87
 Variable settings

8. Variable settings
8.1 Variables
• A quantity capable of assuming any of a set of values,
whose value can be changed by such actions as substi-
tution, replacement, arithmetic operation, logic operation
etc. in combination with sequence commands.
• Variables can be classified into 2 types; one is called a
LOCAL VARIABLE which can be used only in one pro-
gram, and the other one is called a GLOBAL VARIABLE
which is common to all programs.
Local variables
Variables used in a single program.
‘L’ and an identifier are automatically added to each local
variable name.
• It is necessary to specify and register a variable name to
each global variable in order to use over an entire sys-
tem.
Note
It is possible to name each variable to distinguish each.
Global variables
Variables used in across all programs.
‘G’ and an identifier are automatically added to each global
variable name.

L G
<Identifier> <Identifier>
B : Byte 3-digit number B : Byte 4-digit number
I : Integer I : Integer * For position type, variables
L : Long integer up to 999 are 3-digit number.
L : Long integer
R : Real number R : Real number
• “L” is not attached in front of the A : Robot
P : Position identifier “P”. P : Position
• It is not necessarily followed by D : 3-Dimensional
3-digit number. T : Rotary/Shift

*Global variables name (Including the identifier) can be

changed to any 8-alphanumeric character name.

Identifier Variable type Definition

B Byte
I Integer
L Long integer
R Real number
A Robot
P Position
D 3-Dimensional
T Rotary/Shift
1 byte integer (Setting range: 0 to 255)
If the variable represents ON or OFF, assign ‘0’ for OFF and ‘1’ for ON.
2-byte integer (Setting range: -32768 to 32767)
It can be a negative value.
4-byte integer (Setting range: -2147483648 to 2147483647)
It can be a negative value.
4-byte real number. Decimal fraction can be assigned. (-99999.99 to +99999.99)
It can be a decimal number (including number after decimal point.)
X, Y and Z position data of the teaching points on the robot coordinate system. It doesn’t
include positions of the external axis. Use this variable type in a system where the robot is
positioned on a shift device, when you want to move the robot only to the home position
regardless of the position of the shift axis.
Teaching points including position of an external axis.
The teaching points, such as P001, P002, and P003, registered in teaching operation are
local position variables.
A variable to store XYZ position data, such as point coordinate value and vector value.
Use it for a 3D shift by means of SHIFT-ON command.
A variable to specify rotary/shift conversion numerically.
Use SHIFT-ON command to execute rotary/shift conversion.

88 OM1009082E17
 Variable settings

8.2 Global variable settings

The number of global variables can be changed with “Num-
ber of global variables” settings.

Item Description Q’ty

Click
GB: Unsigned 1 >>
Sets 1-byte integer variable. 10
byte
Set Variable
GI:Signed 2byte Sets 2-byte integer variable. 10

GL:Signed 4byte Sets 4-byte integer variable. 10

GR:Real number Real number variable. 10

GA:Robot type Robot variable. 50

GP:Position type Position variable 50

GD:3D
Three dimensional variable. 50
(3-Dimensional)
Number of * Select it to change the number of
Global variables* global variables.

• Setting procedure
[Variable name] Displays the selected variable name.
[Current value] Displays the current set value of the
selected global variable.

OM1009082E17 89
 Variable settings

8.3 Application examples of variables

8.3.1 Byte variables
(1) Group input
A byte variable that stores a 1-byte (means 8 bits) value.
When an 8-bit group input is received by the byte vari-
able, the terminals of the group input are allocated to
and stored in ones to 128s of the byte variable as binary
number respectively. The value is the sum of the denary
number(s) of the digit(s) whose terminal is (are) “ON”.

8-bit group input

D07 D06 D05 D04 D03 D02 D01 D00
128 64 32 16 8 4 2 1 Value

Example 1 OFF OFF OFF OFF OFF OFF OFF OFF 0

Example 2 OFF OFF OFF OFF OFF OFF OFF ON 1

Example 3 OFF OFF OFF ON OFF ON OFF ON 21

Example 4 OFF ON ON OFF ON OFF ON OFF 106

Example 5 ON ON ON ON ON ON ON ON 255

If the byte variable is used for 4-bit group terminals, the

terminals are allocated to and stored in ones to 8s of the
byte variable. As for output, 16s to 128s are ignored. As
for input, 16s to 128s are treated as “OFF”.

Ignored 4-bit group

D03 D02 D01 D00
Output value 128 64 32 16 8 4 2 1
Example 1 0 OFF OFF OFF OFF OFF OFF OFF OFF
Example 2 1 OFF OFF OFF OFF OFF OFF OFF ON
Example 3 21 OFF OFF OFF ON OFF ON OFF ON
Example 4 106 OFF ON ON OFF ON OFF ON OFF

Example 5 255 ON ON ON ON ON ON ON ON

90 OM1009082E17
 Variable settings

(2) Logic operation

It is possible to use the byte variable in logic operation.
In that case, logic operation is executed on a per-bit
(digit) basis.
< Note >
The NOT operation is executed to 8 bits.
To execute a NOT operation to 4 bits, execute AND
operation to the results of NOT operation and 15
(00001111 in binary). Then you can get NOT values only
of the low 4 bits.

For example, logic operations of byte variables LB001=3 and LB002=10 are

• AND (Logical multiplication): • XOR (Exclusive OR):

LB001 0000 0011 LB001 0000 0011
LB002 0000 1010 LB002 0000 1010
LB001 AND LB002 0000 0010 =2 LB001 XOR LB002 0000 1001 =9

• OR (Logical AND): • NOT (Logical NOT):

LB001 0000 0011 LB001 0000 0011
LB002 0000 1010 NOT LB001 1111 1100 =252
LB001 OR LB002 0000 1011 = 11

8.3.2 Position variables

A local variable that is created automatically when a teach-
ing point is taught in teaching operation. As they are vari-
ables, such as P001, P002 and P003, it is possible to
change to a result of a calculation and also to reuse them.
For example, after moving the robot from P001 to P002 to
P003 if you want to move the robot to P001 position again,
instead of actually moving the robot to the P001 position
again, you can use either re-register or copy a taught point.

1) “Re-register” a taught point

• After completing teaching of P003, press the
ENTER key once again. Then P004 is registered. MOVEL P001, 7.5m/min
• Move the cursor to P004 and click it. MOVEL P002, 7.5m/min
• The “Change” dialog box of the teaching point is MOVEL P003, 7.5m/min
displayed. Click the position name. MOVEL P001, 7.5m/min ← Newly added point.
• Click Browse button. On the displayed dialog box,
click “Local variable” and then click “P001”.
Press ENTER key to register the “P001”.

2) “Copy” the P001

• After completing teaching of P003, copy the move
command, “MOVEL P001”. MOVEL P001, 7.5m/min
• Move the cursor to “MOVEL P003” line and paste MOVEL P002, 7.5m/min
the data. MOVEL P003, 7.5m/min
Note MOVEL P004, 7.5m/min ← Pasted point
• When copy and paste P001, although the variable name
in the pasted line becomes P004, the contents of P004
are the same as that of P001. As P004 is a new variable,
changing contents of P001 won’t change the contents of
P004.
• You can creatively use those methods.
Use the “Re-register” method (and keep the same vari-
able name) if you may want to execute batch correction
to the variable in the future. Use the “Copy” method if
you want to treat the copied point independently.

OM1009082E17 91
 Variable settings

8.3.3 Rotary/Shift
1) Rotary/shift variable
• Use SETEL command to assign a value to the variable
during operation.
• Use GETEL command to take the assigned value.
Z
Rz
[X, Y, Z] Parallel shift amount in each (X, Y, Z) direction.
[Rx, Ry, Rz] Rotary shift amount in each (X, Y, Z) direc-
tion. Rx
Ry
X
Note Y
Rotary shift rotates in the order from Rx to Ry and to Rz.
The direction of right-hand screw to the direction of axis is
the (+) direction. Rotation: Rx Rotation: Ry Rotation: Rz
Z
Z
Ry Z
Y Y
Rx
Rz
X
Y X X

2) Rotary/shift conversion

Coordinate
Rotary/Shift
system
ROBOT
TOOL Parallel or rotary shift based on X, Y
or Z axis of the specified coordinate
USER system.
HARMO
Three-point conversion on the basis
USER(3D)
of User coordinate system.

<USER coordinates> <USER(3D) coordinates>

Note (2)Rotary shift
• With ROBOT, TOOL, USER or HARMO coordinate sys-
tem, rotary conversion is executed at the position after Rotary shift
(1)
the parallel shift is performed. (2)
Parallel shift
• With USER (3D) coordinate system, rotary conversion (1)
after parallel shift uses the user coordinate system on Parallel shift
which parallel shift is performed as the origin point.
(1)
Parallel shift
<Origin of the USER coordinate system:>
Origin: One of the three points which define the user coor- USER USER
dinate system. coordinate system coordinate system
X-axis: The direction of the line that connects the first and
the second points.
X-Y plane: The plane defined by the first, the second and
the third points.

92 OM1009082E17
 Input/Output settings

9. Input/Output settings
9.1 User Input/Output settings
• User Input/Output terminals are used to connect with
another system equipment to exchange signals.
• Input terminals receive signals from the robot, while out-
put terminals send signals from the robot.
• Users can connect external devices with the user Input/
Output terminals freely to input/output signals from a pro-
gram.
• Aside from this, there is another type of terminals named
“Status Input/Output” terminals tasks of which are fixed.

9.1.1 User I/O terminal type

User Input/Output terminals are classified Terminal type Description Terminal type Description
into 1, 4, 8 and 16-bit Input/Output (multi-ter- I1# 1-bit input O1# 1-bit output
minal) types.
I4# 4-bit input O4# 4-bit output
I8# 8-bit input O8# 8-bit output
I16# 16-bit input O16# 16-bit output

9.1.2 Setting procedure

1-bit User input Sets 1-bit input terminal. Click

1-bit User output Sets 1-bit output terminal. >>
Set IN/OUT
4-bit User input Sets 4-bit group input terminal.
4-bit User output Sets 4-bit group output terminal.
8-bit User input Sets 8-bit group input terminal.
8-bit User output Sets 8-bit group output terminal.
16-bit User input Sets 16-bit group input terminal.
16-bit User output Sets 16-bit group output terminal.

[Terminal name] Indicates a terminal name.

[Usage] Indicates the function allocated to the terminal.
[Signal logic] Specifies whether the signal should be
positive logic [Positive] or negative logic [Negative].
[Change terminal group] Arranges terminals in
groups
[Hold] Specifies whether the output terminal should
retain the ON state at Hold
[Emergency stop] Specifies whether the output termi-
nal should retain the ON state at Emergency stop

<User input> <User output>

Select
Select a name
a name

1-bit input 4-bit input

1-bit input 4-bit input

OM1009082E17 93
 Input/Output settings

9.2 Status IN/OUT

Dedicated input/output terminals to output signals depend-
ing on the robot state or to change the robot processes
according to the input signal.

9.2.1 Status INPUT

• Dedicated Status input terminals
Status INPUT Description
External servo ON • Turn ON the servo power from an external device if the following conditions are all satisfied.
input Condition 1: Status output signal “Ready output” is in ON state.
Condition 2: Mode select switch is set to AUTO mode.
Condition 3: The robot is not denying any input from an external device due to an emergency
stop or an error.
• The input must be processed by the change of the signal state from OFF to ON.
• The input signal must be kept ON for 0.2 seconds or more.
• If the servo is turned OFF and back ON again within 1.5 seconds interval, the message "Retry to
turn on servo" is displayed. And the servo won’t be turned on.
Error release input • Turn ON this input signal to release the error state of the robot from an external device.
• The input must be processed by the change of the signal state from OFF to ON.
• The input signal must be kept ON for 0.2 seconds or more.
Start input • Turn ON this input signal to run a program or restart a program in a hold state.
• The input signal will be ignored in the following conditions.
• The servo power is OFF.
• Mode select switch is not in AUTO position.
• Hold input is ON.
• In override state.(Mode select switch is in TEACH position.)
Hold input • Turn ON this input signal to bring the operating robot into a hold state.
• Even if the signal is turned off, the robot remains in hold state. To restart the robot, input “Start
input” signal or Restart input from an external device.

Note
While the signal is in ON state, restart, manual and trace operations are disabled.
Operating mode • If this input signal is turned on when the mode select switch is not in AUTO mode, the warning
input message for the operator to switch to AUTO mode is displayed on the teach pendant.
• Turn off the operating mode input or switch the mode select switch to AUTO mode to clear the
message.
Teaching mode • If this input signal is turned on when the mode select switch is not in TEACH mode, the warning
input message for the operator to switch to AUTO mode is displayed on the teach pendant.
• Either turn off the teaching mode input or switch the mode select switch to AUTO mode to clear
the message.
OPR confirm input • In case of using the operation box, turn ON this input signal to release the interlock occurred at
the time of switching to AUTO mode. (You can also use the AUTO mode switch on the operation
box to release the interlock.)

Note
• The interlock at the time of switching to AUTO mode occurs if the controller is equipped with the
operation box either as standard (for UL or CE specification) or as optional.
• It is necessary to complete the management settings for the operation box to enable this input.
Please refer to “13.8 Operation box” on page 181 for details of settings.

94 OM1009082E17
 Input/Output settings

9.2.2 Status OUTPUT

• Dedicated Status output terminals
Status OUTPUT Description
Alarm output • The signal is output when the robot goes in an alarm condition. The servo power goes OFF.
• Unless power is turned OFF, the output signal remains in ON state.
• While this output is ON, all other output signals are turned off.
Error output • The signal is output when the robot is in an error condition.
• The signal is turned OFF when the error is released.
Operating mode • The signal is output in AUTO mode (including override.)
output
Teaching mode out- • The signal is output in teaching mode (excluding override.)
put
Ready output • The signal is output when the robot is enable to turn on the servo power.
Note
It goes OFF when the robot is in an alarm condition or when the ‘Emergency stop’ input is ON.
Servo ON output • The signal is output when the servo power is ON and also the robot is enabled to start operation.
Running output • The signal is output while running a program (in AUTO mode) (including override.)
• It is in OFF state while the robot is in a hold or emergency stop state. It is turned ON again when
the robot is re-started.
Holding output • The signal is output when the running program is stopped in AUTO mode.
• The signal is output while the robot is in a hold state due to an error or a hold input. It is turned
OFF when re-started.
• The signal is in OFF state while the robot is in an emergency stop state or alarm condition. The
output is turned on when the robot goes in ready-to-operate state after the emergency stop is
reset and the servo power is turned on.
Note
When the mode select switch is changed to TEACH position, the signal is turned off. Place the
mode select switch to AUTO position and then turn the servo power on, then the signal is turned on
once the robot goes in ready-to-operate state.

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 Input/Output settings

9.2.3 Status I/O to be allocated to user terminals

(1) Display “Status input/output” dialog box.
Click
(2) Select a status input/output to allocate to the user >>Status Input/Output
>>
input/output terminal.
Set IN/OUT

Status OUTPUT Description

Emergency stop • The signal is output when the emergency stop is in ON
output state.
• The signal is turned off when the emergency stop is
released.

Note
In teaching mode, if the Dead Man’s switch is OFF, the
‘Emergency stop’ output of the safety card and the ‘Emer-
gency stop’ output of the status output do not correspond
to each other. In such case, the ‘Emergency stop’ output
of the safety card goes open, and the ‘Emergency stop’
output of the status output goes OFF.
Weld off When this input is received, the robot goes into the weld
off state and outputs the signal. The output is turned off
when the weld off state is released.

<Supplementary notes>
It is not possible to release the weld off state by operating
the teach pendant.

Individual error • The signal is output when a specific error occurred. Up

output to 50 errors can be allocated.
• The output is turned off when either the error release
input is turned on or the error message window on the
screen is cleared.
• [Status error output isn’t turned ON when individual
error occurs.]: Select it not to turn on the error output
when the errors specified as “individual error” occurred.

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 Input/Output settings

Status OUTPUT Description

Program reset • When the input is received, it closes the running program.
input • The input can be received under the following conditions.
- The robot is in hold or emergency stop state.
- The program start method is set to “Auto”.
• In AUTO mode, if a file is opened while this input in the ON state, the file is closed as soon as it is
opened.
• During operation, if the robot goes in a stop state with this input ON, the running program is closed
at the same time as stopping the robot.
OUT-Reset Input When the input is received, the user output, program
reserved output and output strobe are reset.

Once the outputs are reset, the each terminal is switched

to the state at power-on.

<Supplementary notes>
• The input is effective only in AUTO mode.
• The input won’t be received when a file is open. In other
words, the input can be received when all files are
closed after completing a program.
• Status outputs, such as allocated outputs for cube mon-
itor or allocated status outputs for user terminals, are
capable of receiving inputs, however, they cannot be
reset.

• To reset an output in TEACH mode, click (reset)

icon on the “Display I/O terminal” screen.
Home return [Valid/Invalid] Specifies the validity of the function.
output [Output terminal] Specifies the output terminal name to
be allocated to the user output terminal.

It outputs the signal to the specified output terminal when the robot reaches the home position after
executing GOHOME command. The output goes OFF when the robot moves out from the home posi-
tion.
• Once the output is turned on, the output remains ON even if the robot goes in an emergency stop
state.
• The output goes OFF when external axis that is a mechanical component of the program
“GOHOME” command is in execution moves out from the home position.
• This “Home return Output” has priority over the “I/O lock”, that is, when this output is set valid, the
output is turned ON although I/O lock is activated.
• If the GOHOME command is executed while the “Robot lock” is active, the signal is output to the
specified output after the robot reaches the home position with internal processing.

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 Input/Output settings

Status OUTPUT Description

OPR Hold output The signal is output to the allocated terminal only when
the robot goes into a stop state including error stop while
running a program.

<Difference from “Hold state output” of the status output>

AUTO mode Running a In hold After End of

File open
All file closed program (Error stop) re-start operation
OPR Hold
OFF OFF OFF ON OFF OFF
output
Holding
OFF ON OFF ON OFF OFF
output

Ext. re-start input If this input is set to “Valid”, restart operation after the hold
state is available only by inputting to the terminal allo-
cated in this settings.

<Supplementary notes (when the input is set to valid.)>

• “Start input” of the status input is not applicable in restart operation.
• This input is applicable only in AUTO start method. The input is ignored in Manual start method.
• Re-start won’t be executed when the “Hold input” is ON.
• Re-start won’t be executed in override state in TEACH mode.
• Re-start won’t be executed if the program in hold state is closed.

* In case there is a running program in parallel, the program reserved after may be re-started.
Please refer to the following figure.
（Example 1） （Example 2）
Number select method ProgC Reserve Master method
ProgA Auto open

ProgA END ProgC ProgA END ProgA

PARACALL
PARACALL

Pr ogB
ProgB

Hold Re-start
Hold Re-start

Start permission [Valid]: Manual and auto program start is enabled only
input when the specified input received the start permission
input.
If the start permission input is turned off during starting
operation, the robot goes into an error stop.

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Status OUTPUT Description

Restart permis- An output to indicate whether it is operation after the hold
sion output state in AUTO mode or not.
[Valid]: The output is turned ON:
• When the robot is started in AUTO mode.
• When the robot reaches a taught point forward/back-
ward operation in TEACH mode.
The output is turned OFF:
• When the running program is closed.
• When the cursor is moved, a command is edited or
manual operation is executed in TEACH mode.
OPR standby
input
DANGER
Do not enter the safety fenced area while the robot is in the
“Operation standby” state. The robot is in operation mode
during “Operation standby” state.

It is an eco-friendly input. It turns off servo power and puts

the robot in “Operation standby” state. When the robot is
in operation standby state, it is possible to resume opera-
tion by turning on servo power and restarting.

[Traveling stop type] Specify how the robot goes in the

OPR standby state.
• Hold and servo off: Slow down to stop operation, and
then turn off servo power.
• Servo off: Turn off servo power just like emergency
stop.
[With welder unit turned off]
* Available only to TAWERS robots.
It also turns off TAWERS welding power unit.

Note
• The OPR standby input is not accepted in TEACH mode.
• When the robot is in Auto mode, it is not possible to turn on the servo power while this input is on.
(Due to software processing, it is not possible to use this input as safeguard; an input to prevent
servo power to be turned on.)
• With TAWERS robots, when the robot servo power is turned off, power to the wire feeder is also
turned off.

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 Input/Output settings

Status OUTPUT Description

Speed limit I/O It is an input to limit travel speed while the input is ON. It is
useful in the “return to origin” operation after an error con-
dition. Then the robot can travel back to the origin safely
at the temporarily limited speed.
• When this input is turned on during operation, the
robot’s travel speed is limited to the preset travel speed.
Then the specified speed limit output is turned ON. And
then the applied speed is displayed on the status bar
(lower right) of the teach pendant.
• In Teach mode, it is not possible to limit the travel
speed, and the speed limit output is turned OFF.

Note
• The input limits the speed to the preset speed only while the input is on. As soon as the
input is turned off, the robot moves at the programed travel speed.
• If the actual traveling speed is lower than the preset speed limit, turning this input on does not
switch the speed.
• If the pre-set speed limit is lower than the actual traveling speed, the robot stops its movement for
a moment at speed switching, which may affect bead shape if it is during welding operation.
• The “Speed limit output” goes on whenever the “Speed limit input” is turned on. It doesn’t relate to
the speed.
• The input is activated when the mode select key is switched to “Teach” during override operation.
• Turning on/off this input while welding stops the operation for a moment due to the timing of switch-
ing speeds, which may affect welding bead shape.
• The input is effective in the external axis remote control operation.
• The input is effective during error recovery operation.
* For a system using the multi-cooperative robot control, if the “Speed limit input” of the master robot
is turned on, the speed of the slave robot is also limited during the line connection status.
Error input An input to bring-stop the robot operation to an error stop
immediately after the occurrence of a specified error or
trouble in external equipment.

• Specify an error from the error codes E1910 to E1919.

• Specify an input terminal to be used as error input and
enter comments to be displayed at the occurrence of
the error.
• The setting item; “Skip this error in TEACH mode” is
selectable in TEACH mode.
<Supplementary notes>
• The errors specified here are recorded in the error history when the error input is switched from
OFF to ON. If the error input chatters (i.e. switches on/off) repeatedly, the error may be kept
recorded in the error history.
• Occurrence of this error won’t turn off the servo power.
• Manual and trace operation are available while the error input is in the ON state.
• A program won’t be started if the error input is ON. If the error input remains ON, the robot goes in
the “Error input error” state.
• If the error input is turned on during program test operation, the robot goes into an error state
regardless of the setting status of “Skip this error in Teach mode.”
Wire output The specified output is turned on while wire is fed. This
signal can be used to monitor the wire feed status.
It is possible to specify output terminals for wire feed for-
ward (+) and backward (-) separately.
Specify either gas ON/OFF state or torch ON/OFF state
you want to turn on in synch with the wire output during
operation.
Note
If neither one of them is selected, the wire output may not
be turned on even though the wire is actually fed.

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Status OUTPUT Description

Hold Input Logic It is to use the “Hold” input as normally closed input.
• Select whether the logic to be either positive logic or
negative logic.

Arc-on output The output that is turned on while executing welding oper-
ation to notify that the arc is on.
Select “Retain the ON state at HOLD” to keep the output
ON if the robot goes into a stop including hold, error stop
and emergency stop, during welding operation. The set-
ting has a priority over the “Hold” setting of the User I/O
terminal settings.
<Usage> Selectable
(1) Use it to identify whether or not the Output: ON Output: OFF
arc is On state by turning on the
externally provided lamp during
welding operation.
(2) Use it to keep the arc ON (instead Arc start point Weld section Arc end point
of bringing the robot in the hold (Arc ON) (Arc OFF)

state) when a subtle error occurred
as stopping the robot in the middle
of welding operation can cause
poor welding result.
(3) Use it as an interlock to bring the
robot to an error state if the shading
curtain is open during welding oper-
ation.
Instead of stopping the robot at the arc end point,
you can program to stop the robot at the next taught
point after the arc end point; that is to keep the
“Arc-on” output until the next taught point after
the arc end point.

<Supplementary notes>
• As the “Arc-on” output is turned ON after detecting the arc generation, there may be a slight delay
in turning on the output.
• If this output is used with “Flying start” function, as the arc-on output interlocks with arc generation,
the output status may be switched a little bit before the robot reaches the target taught point.
• While the robot is in the arc lock state, as there is no arc generation, the arc-on output won’t be
turned on.
• When “Retain the ON state at HOLD” is set to ON, the output remains ON if the robot goes into a
hold state during welding operation. At that time, if the arc lock is applied, the output is turned off. In
that case, releasing the arc lock does not turn on the output. The output is turned on when the arc
is generated next.
• Even thought the “Retain the ON state at HOLD” is set to ON, the arc-on output is turned OFF if the
mode is switched to TEACH mode while the robot is in hold state. At that time, switching the mode
back to AUTO does not restore the arc-on output. However, if the override icon has been turned on
before switching the mode to TEACH mode, the arc-on output is retained.
• When “Retain the ON state at HOLD” is set to ON, if the operation is force-quit by closing the stop-
ping program, the arc-on output is turned OFF.
• In case that a robot controls multiple welders simultaneously, such as multi-welders function, the
arc-on output is turned ON as long as any one of the welders is in welding operation.
• Even though “Retain the ON state from the arc end point to the next taught point.” is set to ON, if
there is no mechanism in the running program, the arc-on output is turned off at the arc end point.
• The “instantaneous no arc” doesn’t turn off the arc-on output, however, as the “instantaneous no
arc” brings the robot to a hold state, the arc-on output state depends on the “Retain the ON state at
HOLD” setting.
• In multi-cooperative robot control, the arc-on output status of a slave robot depends on the settings
of the slave robot.

OM1009082E17 101
 Input/Output settings

Status OUTPUT Description

Battery con- The specified output is turned on at power-on if the motor
sumed output battery of the manipulator or an external axis runs out.

Normal mode out- • The specified output is turned on if the controller starts
put in normal condition.
• It is turned off if an alarm goes off.
• Correcting the error doesn’t turn off the output. It is
turned off when the power is turned off.
• It is turned on in the same timing as the READY output
when the power is turned on.
• It is not turned on if the controller is in one of the follow-
ing modes when the power is turned on.
- Encoder reset mode
- Overrun release mode
- Skew error recovery mode
- Forced origin adjust mode
Warning output The specified output is turned on when a warning is indi-
cated.
The output is in the ON state while indicating the warning,
and then turned OFF when the warning is cleared.

Note
The output is not turned on when a warning about the
safety circuit, such as “Spared Emergency stop” and
“Panel Emergency stop”, and warning arising from HOLD
or PAUSE command is indicated.
Teach Pendant [TEACH mode output]: A signal is output when the
switch status out- mode select switch of the teach pendant is in the TEACH
put side.
[AUTO mode output]: A signal is output when the mode
select switch of the teach pendant is in the TEACH side.
[ ]: Mark the checkbox then the following processing will
be executed.
(1) In AUTO mode, if the override is ON, the robot stays
in AUTO mode even though the mode select switch is
switched to TEACH side.
(2) In Multi-cooperative robot control condition, if the
slave icon is used to put the robot in the slave state,
regardless of the mode select switch setting of the
slave robot, the mode specified by the mode select
switch of the master robot is applied.
• When the robot is in “Slave icon auto connection”
state, nether of the mode (TEACH/AUTO modes)
outputs is turned on.
• In cases where a master robot is connected,
if the master robot is in TEACH mode, regardless
of the mode select switch setting of the slave
robot, the slave robot turns on the TEACH mode
output,
In the same way, if the master robot is in AUTO
mode, the slave robot turns on the AUTO mode
output.

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10. Standard settings

10.1 Program start method settings
Allocate the terminal to which the external signal to start
the robot operation is transferred to the user I/O terminal,
and then to set the start method.
• There are two types of start methods; ‘Manual’ and
‘Auto’. In Auto-start method, there are two different
selection methods; ‘Program select method’ and ‘Master
method’.
• Auto start method does not use the Start button on the
teach pendant. It uses start input signal from an external
device.

Start Select
Description
method method
Manual Use the Start button on the teach pendant to operate a program.
Use an external signal input to operate a program.
Master Start the specified program when the start signal is received from an external device.
It is possible to start programs whose program numbers are 1, 2, 4, 8, 16, 32,
Signal
64, 128,256 and 512.
It is possible to start a program whose program number is equal to the sum of
Auto Binary the numbers you specified. It is possible to start programs of program numbers
Program from 1 to 1023.
select A set of preset four terminals is used to specify each digit of the program number
BCD you want to start. It is possible to start programs of program numbers from 1 to
399.
A specified terminal is used to start the allocated program. With this method, it is
Program call
possible to allocate up to four programs.
Program name is indicated as “ProgXXXX” where XXXX is the result of the specified calculation.
Note Example: If the result is 16, then the program name becomes “Prog0016”.

10.1.1 Start method settings and I/O allocation

Specify a start method you want and then allocate signals,
such as signal to specify a program number and start Click
related signals, to user I/O terminals. >> Prog start method
>>

Set Standard
[Start method] Selects either Manual or Auto. settings

[Program select] A setting item for “Auto start method.

Select either Program select method of Master method.
* Setting items after this setting vary with the selection
of “Program select”.
[Error when Operation unit is not Program •••]
Mark it: to bring the robot to an error condition; “E1011
Operation unit is not ‘Program unit’”, if the program unit
is not “Program” when a program is started/re-started
with auto program start method.
To release the error, set the program unit to “Program”.
Blank (no mark): to operate according to the preset
program unit even if the program start method is
“AUTO”.

OM1009082E17 103
 Standard settings

1) When “Program select” is selected.

<Program sel. method>

[Method] Select one from Signal, Binary or BCD.
[IN/OUT allocation] Display IN allocation/OUT alloca-
tion window, and then set/edit I/O terminal allocation.
<Master Program>
[Program name] Specifies a master program name to
be called by “Top of file open Input” setting.
[Top of file open input] An input terminal to be used to
call the master program.
* The input does not function in TEACH mode.
[Top of file output] Specifies an output terminal to be
used as begin-of-master program output when the cur-
sor is at the beginning of the master program.
* The output is always in OFF state in TEACH mode.

Select method: Signal, Binary, BCD

< INPUT Allocation box > < OUTPUT allocation box>

Select method: Program call

< INPUT Allocation box > < OUTPUT allocation box>

104 OM1009082E17
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2) When “Master method” is selected

<Master method>
[Start file] Specifies a master program name.
[Re-open input] Specifies an input that brings the robot
to wait-for-the master program to restart, after shutting
down the master program. Use the Browse button to
display a list of selectable input terminals.
[Top of file open input] An input terminal to be used to
call the master program.
* It does not function in TEACH mode.
[Top of file output] Specifies an output terminal to be
used as begin-of-master program output when the cur-
sor is at the beginning of the master program.
* The output is always in OFF state in TEACH mode

About “Top of file open input”

• When the robot is in a hold state with files open, turning on the allocated input closes all open files and opens the master
program. The cursor is positioned at the beginning of the master program.
• During operation, even if the input is turned ON during operation, the input is ignored and the master program won’t
open.
• When the start method is set to “Program select”, the master program is closed after end of program execution.
Even if a master program is pre-set, switching the mode select switch from TEACH mode to AUTO mode doesn’t auto-
matically start the master program.
• When the start method is set to “Master method”, the master program opens once again after end of program execution.
At that time, the cursor is positioned at the beginning of the master program getting ready to start the program.
If the master methods is set, the master program automatically opens by switching from Teach mode to AUTO mode.

10.1.2 Common specifications

• If a program is reserved while running another program,
the reserved program will be started automatically after
completing the currently running program.
• It is possible to reserve up to 16 programs. (17th pro-
gram onwards are disregarded.)
• When the program select is ignored, “Reserved output”
won’t be output.
• Input ‘Cancel’ clears all selected programs except the
currently running program. The program continues oper-
ation without stopping.
• To check the program select status, click View >> Dis-
play change >> Operate state >> Variable type.
• Click File (on the menu bar) >> Close to terminate the
currently running program and clear all selected pro-
grams.

OM1009082E17 105
 Standard settings

10.1.3 Signal method

• When the start input is turned ON, the program pre-allo-
cated to the same number is reserved.
• Once the start input is received, the robot starts the
reserved program.
• With this method, programs pre-allocated to 1, 2, 4, 8,
16, 32, 64, 128, 256 and 512 can be reserved.
For example, if the input number is “16”, then Prog0016
is reserved.

< Timing chart >

0.2 s or more

Program reserve XXX input

T1

Reserved output XXX

T2 0.5 s T2 0.5 s

Output strobe

Hold status output

Td 0.2 s or more

Start input

Running output
0.2 s or more

Program reserve YYY input

T1

Reserved output YYY

Start Prog0XXX. Start Prog0YYY.

Start Prog0XXX.

Note
Symbol Description
• Keep the input signal in the ON state for 0.2 second or XXX Program number you specified; 001, 002,
more.
YYY 004, 008, 016, 032, 064, 128, 256 or 512.
• “Start input” can be received after “Output strobe” or
“Hold status output” is turned on. Period for receiving “Program reserve input”.
T1
About 0.1second.
• “Program reserve input “is received after previous
T2 Period to complete file open
reserved output is turned on.
Delay time not required.
• At the end of the running program, the robot automati-
Td Start input can be received once “Hold status
cally starts the next reserved program if any.
output” has turned on.
• Keep “Output strobe” in the ON state for 0.5 second or
more. While “Output strobe” is in the ON state, “Input
strobe”, “Program reserve input”, and cancel input are
ignored.

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10.1.4 Binary method

It calculates the sum of ‘Program reserve input’ numbers in
ON state when the ‘Input strobe’ is turned ON, and
reserves the program corresponding to the sum.

Example: (O: Input is ON, Blank: Input is OFF)

Program reserve input
Sum Program name
512 256 128 64 32 16 8 4 2 1
O O O O O O O O 999 Prog0999
O O O O 550 Prog0550
O O O 50 Prog0050
O O 17 Prog0017
O 1 Prog0001

< Timing chart >

0.2 s or more

Program reserve XXX input

T1
T1
Reserved output XXX

Program reserve YYY input

T1
T1
Reserved output YYY
0.2 s or more 0.2 s or more

Input strobe
T2 T2

Output strobe
0.5 s 0.5 s

Hold status output

Td

Start input

Running output

Start Prog0ZZZ Start Prog0YYY

Start Prog0ZZZ

Note
Symbol Description
• Keep the input signal in the ON state for 0.2 second or XXX Program number you specified; 001, 002,
more.
YYY 004, 008, 016, 032, 064, 128, 256 or 512.
• “Start input” can be received after “Output strobe” or
“Suspended output” is turned on. The sum of the program reserve input termi-
nal numbers which are in the ON state. (In
• “Program reserve input” is received after previous ZZZ
the above timing chart, the sum of XXX and
reserved output is turned on. YYY.)
• At the end of the running program, the robot automati- Period for receiving “Program reserve input”.
cally starts the next reserved program if any. T1
About 0.1second.
• Keep “Output strobe” in the ON state for 0.5 second or T2 Period to complete file open
more. While “Output strobe” is in the ON state, “Input Delay time not required.
strobe”, “Program reserve input”, and cancel input are Td Start input can be received once “Hold status
ignored. output” has turned on.

OM1009082E17 107
 Standard settings

10.1.5 BCD method

• BCD stands for binary-coded decimal code.
• It specifies each digit of a number as a binary number
using program reserve inputs 1, 2, 4 and 8 for the 1st
digit, 16, 32, 64 and 128 for the 2nd digit and 256 and
512 for the 3rd digit.
• The value when the input strobe is turned ON is reserved
as the reserved program
• You can use a rotary switch of BCD specifications sold
locally for easy operation.

Example: (O: Input is ON, Blank: Input is OFF)

Program reserve input
512 256 128 64 32 16 8 4 2 1
Sum Program name
3rd digit 2nd digit 1st digit
200 100 80 40 20 10 8 4 2 1
O O O O O O 399 Prog0399
O O O O 226 Prog0226
O O O 32 Prog0032
O O 11 Prog0011
O 1 Prog0001

Timing chart

Reserved XXX input

T1
T1
Reserved XXX output

Program reserve YYY input

T1
T1
Program reserve YYY output
0.2 s or more 0.2 s or more

Input strobe
T2 T2

Output strobe
0.5 s 0.5 s

Hold status output

Td

Start input

Running output

Start Prog0ZZZ. Start Prog0YYY.

Start Prog0ZZZ.

Note Symbol Description

• Keep the input signal in the ON state for 0.2 second or
XXX Program number you specified; 001, 002,
more.
YYY 004, 008, 016, 032, 064, 128, 256 or 512.
• “Start input” may not be received if it is input within 0.2
The sum of the program reserve input termi-
second after turning on “Input strobe”.
nal numbers which are in the ON state. (In
• The next “Reserve input” is received in 0.1 second after ZZZ
the above timing chart, the sum of XXX and
the preceding “Output strobe” signal is turned off. YYY.)
• At the end of the running program, the robot automati- Period for receiving “Program reserve input”.
T1
cally starts the next reserved program if any. About 0.1second.
T2 Period to complete file open
Delay time not required.
Td Start input can be received once “Hold status
output” has turned on.

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10.1.6 Program call method

When the start input is turned ON, the program pre-allo-
cated to the input terminal is reserved.
Please refer to section “7.1.10 Program call” on page 84 for
the program setting procedure.
Once the start input is received, the robot starts the
reserved program.

< Timing chart >

0.2 s or more

Station A:
T1
Program reserve XXX input
Station A:
Reserved output XXX
T2 0.5 s T2 0.5 s

Output strobe

Hold status output

Td 0.2 s or more

Start input

Running output
0.2 s or more

Station B
Program reserve YYY input T1

Station B
Reserved output YYY

Reserve ProgAAAA Reserve ProgBBBB

Start ProgAAAA

Note
Symbol Description
• Keep the input signal in the ON state for 0.2 second or ProgAAAA A program allocated to Station A
more.
ProgBBBB A program allocated to Station B
• “Start input” can be received after “Output strobe” or
“Hold status output” is turned on. Period for receiving “Program
T1
reserve input”. About 0.1second.
• “Program reserve input “is received after previous
T2 Period to complete file open
reserved output is turned on.
Delay time not required.
• At the end of the running program, the robot automati-
Td Start input can be received once
cally starts the next reserved program if any.
“Hold status output” has turned on.
• Keep “Output strobe” in the ON state for 0.5 second or
more. While “Output strobe” is in the ON state, “Input
strobe”, “Program reserve input”, and cancel input are
ignored.

OM1009082E17 109
 Standard settings

10.1.7 Master method

It automatically starts the program registered as a master
program.

• When the mode select switch is placed in AUTO posi- • After completing the program, the program is reopened
tion, the pre-set master program opens and goes in with the cursor positioned at the beginning of the master
ready-to-start state. program.
• Then input the start input to start the master program.

Timing chart

AUTO
Mode select switch
TEACH
T1
Open
Master program

Close
Hold status output
Td 0.2 s or more

Start input

Running output

Note
Symbol Description
• Keep the input signal in the ON state for 0.2 second or
Sum of the time it takes to switch modes
more.
from TEACH to AUTO and the time it takes to
• The time it takes to switch modes from TEACH to AUTO open the master program.
with mode select switch varies with TEACH mode state. T1 The switching time varies with TEACH mode
Time to open the master program depends on the pro- state, such as program editing.
gram size. Time to open the master program depends
• When the master program is shut down, the program on the program size.
remains closed.In such case, to open the master pro- Delay time not required.
gram, it is necessary to set a “re-open input”. The “re- Td Start input can be received once “Hold status
open input” starts the master program from the begin- output” has turned on.
ning.
• This master method is useful to a complex start method,
such as interlock. Use flow commands to write start con-
ditions in the master program, then you can freely edit
conditions, such as individual program start using
sequence commands, interlocking method, and criteria
of the start conditions, on the teach pendant.

110 OM1009082E17
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10.2 Tool offset settings

10.2.1 What is tool offset

• Tool offset is the dimension surrounding the tool control
point orientation of tool to be attached to the TW flange
surface of the robot, such as a welding torch or gripper.
• The robot calculates the position of its control point (tip of
the tool) and the direction of the tool (the direction of
travel in the tool coordinate system) based on the values
set up.
• If the tool offset is not correctly set, the robot cannot con-
trol travel speed of the tool tip or correct interpolation
movement (linear, weaving, etc.) during operation.
• Improper tool offset also cause improper movement
when using the tool coordinate system in manual opera-
tion.
• The robot can handle up to 10 tool offset values (stan-
dard) and switch between them as needed during opera-
tion.
Note
You can change the number of tool offsets in the “System
data adjustment” settings. (Setting range: 1 to 30)

10.2.2 Definition of XYZ type tool offset

It uses 6 parameters, X, Y, Z, Tx, Ty and Tz, to determine
the tool offset.

• The position of the control point:

It is determined by the parameters of X, Y and Z, and is
indicated by the flange coordinate system (see the right
figure) whose origin is the TW-axis rotation center on Fz Fy
the flange surface.
Fx
X
Control
point

Y Z

• The direction of the tool coordinate:

It is set by the parameters of Tx, Ty and Tz, and is deter- 1. (Tx)
mined by rotating the X, Y and Z axes in the order of Tx, X-axis rotation
then Ty and then Tz. Flange
coordinate
system
Tz Ty
2. (Ty)
Y-axis rotation
Tx
3. (Tz)
Y
Z-axis rotation
Z
X
Direction of tool

OM1009082E17 111
 Standard settings

10.2.3 Definition of L1 type tool offset

It uses 5 parameters, L1, L2, L3, L4 and TW, to determine
the tool offset. TW rotation center
When the BW axis is at –90 degrees, define the intersec-
tion point of RW-axis and TW-axis as “point P” and the
plane on which the control point travels by moving only the
TW-axis as “plane Q”. And define the plane perpendicular Flange surface
to plane Q, on which the intersection point of TW rotation
center and plane Q exists. Plane of L1,
L2 and L3
L1 Distance (in millimeters) between point P and
plane Q.
L2 Distance (in millimeters) between the control
＋
point and the TW rotation center. Plane Q
TW
L3 Distance (in millimeters) between the intersec-
tion of the extension of the tool direction and
the flange surface and the TW-axis rotation Point P
center.
L4 Distance (in millimeters) between the control
L3
point and the plane R.
TW Tool setting angle (in degrees) measured from
TW=0
L1

* For details of each parameter, refer to manual of applied Control

equipment. point

L4
L２
L2

10.2.4 Setting procedure

Set the operation point of the manipulator, where interpola-
tion of the robot is controlled to move correctly. Click
[Tool name]: Type the tool name (the identifier of each >> Tool >> Tool
>>
offset offset
tool) you want to work on. (Up to 20 characters.) Set Standard
settings
[L1 form]: Mark the check-box to apply the L1 form to set
parameters.
Clear this box to apply the XYZ form.
[Safety holder]: Specifies whether the robot should be in
the [Hold] state or in the [Servo OFF] state when the safety
holder is activated.

*Default: Click this button to reset the tool offset values to

the factory setting (default).

112 OM1009082E17
 Standard settings

10.3 Standard tool settings

Click
>> Tool >> Standard tool
It specifies the default tool to be used in new teach pro- >> offset
grams. That is, the tool specified here will be initially dis- Set Standard
played when you create a new program. settings

[Standard tool]: Specifies the default tool.

10.4 TCP (Tool center point) adjustment

10.4.1 What is TCP adjustment

Tool center point (or TCP) is specified by calculating the
tool offset value using the specific teaching position data
entered in.
As the specific teaching position data for one point, teach
six positions that are three positions on the X-Z plane of
the tool coordinate and three positions on the X-Y plane of
the tool coordinate.
Note
Tool mounting angle (or TW value) is not included in the
calculation. Correct TW value of the target tool needs to be Teach 3 positions Teach 3 positions
on X-Z plane of the tool on X-Y plane of the tool
set previously.
For the second point, match the TW axis center to the
direction of the adjusting jig used in teaching the first point. * Please prepare a jig that can specify the position of a
teaching point just like the above figures.

10.4.2 Procedure

1) Register TCP data

(1) From the option list, select “Global variable for Adjust-
ment of TCP”. Click
>>
Edit Option

OM1009082E17 113
 Standard settings

(2) Select a tool for TCP adjustment.

(3) Then the list of robot variables is displayed on the

screen. Register the first position. Position 1: Align the directions of tool (wire feed direction) and
• Register a point near where the tool direction (the adjusting jig.
direction wire is fed from the welding torch) and
adjusting jig direction match as the first point.
(The first position on the X-Z plane. Refer to the fig- Tool
direction
ure “Position 1” on the right.)
• Move the cursor to an invalid robot variable, and
press ENTER key.

(4) To put a name to the registered data, enter a variable (Side view) (Front view)
name and then click OK.

(5) Register the second position.

• Move the Y axis of the tool coordinate system to
bring the TW center line and the adjusting jig direc-
tion parallel to each other. Then register a point
near there as the second position on the X-Z plane.
<Note>
The Only Y axis of the tool coordinate system can
rotate. Position 2: Parallelize the directions of adjusting jig and
TW axis center.
Move the cursor to the variable you want to register
the second position to, and then press ENTER key. TW axis
center
(6) Then move the Y axis and register the third position on
the X-Z plane.
(7) As the fourth position, register the same position as
the first position.
(Side view) (Front view)
(8) For the fifth and sixth positions, teach positions on the
X-Z plane of the tool coordinate. Position 4: Align the directions of tool (wire feed direction) and
<Note> adjusting jig. (The same as Position 1)
For the fifth and sixth positions, only Z axis of the tool
coordinate system can rotate.

(9) Click to close the list of robot variable

screen.
Then a dialog to confirm updating the adjustment is
displayed. Make sure to save the adjustment. (Side view) (Front view)

2) Calculate TCP offset value

(1) Display the TCP adjustment dialog box.
Click
If all six points have been registered properly, the reg-
istered variable names of the points are displayed in >> >> TCP adjust
the P1 to P6 entry boxes. Set Standard
settings

(2) Click Calc.

(3) Click OK.

114 OM1009082E17
 Standard settings

(4) Then, a confirmation dialog box is displayed.

Click OK.

(5) Check with the “TOOL” setting dialog box if the TCP
offset values have been updated.

<Before> <After>

OM1009082E17 115
 Standard settings

10.5 Collision detect

It is a function to stop the robot motion instantaneously by
means of our kinematics-based collision detection. The
Note
robot simultaneously goes in flexibly controllable state (flex This function is provided aiming to minimize the impact of a
mode) to ease the impact of the collision, which, as a collision. It does not ensure the avoidance of damage to
result, minimize damage to equipment. equipment.

DANGER
Do not enter the safety fenced area while robot is in operation.
This function is not a function that assures personal safety.

10.5.1 Load parameter settings

Set the load parameters correctly. If the load parameters
Click
are not correctly set, the robot can wrongly detect collision
or the robot arm can be flipped up after collision. >> >> Load parameters
Set Standard
(1) Select a load parameter number(*) from the list on the settings

left pane, and set parameters.

[Default]] Press it to display the “Standard load setting”
dialog box. (Lower left in the right figure.)
[Collision sensitivity] Press it to set collision sensitiv-
ity. Setting range: [0.0 to 100.0] % (100 % for the most
sensitive leve.l)

(2) Set parameters and click OK.

Note
Setting the collision sensitivity higher does not only
increase the collision detect sensitivity but also increase
the flexibility of the flex mode after collision. Therefore, dis-
tortion of equipment caused by the collision can be
relieved.

(*) About “Load parameter numbers”

No. Contents
1 Standard load parameters
Standard load parameters
with peripherals that are our
2
standard torch and wire
feeder.
They are factory set to the
3-6
load parameters of [1] or [2]
Sensitivity (Factory setting)
Although the collision detect is effective, there is almost no
0%
flexibility.
Lower the sensitivity if a false detection occurs under the fol-
lowing conditions.
• Crooked torch cable or torch cable contact.
• Start operation immediately without warming up in a cold
temperature environment.
RT, UA, FA: 20 % • In weaving operation, large values are set to frequency
RW, BW, TW: 80 % and width.
• In Arc-lift function, large values are set to the “up width”
and/or “Lift-down time”.
• Singular orientation exists in the programmed movement.
• Load other than our standard equipment is installed to the
robot. (Correct the load parameters.)
If you want to increase the collision sensitivity, use one of the parameter numbers
”3” to “6” according to the applied load and set load parameters correctly.

116 OM1009082E17
 Standard settings

Note
• If the collision sensitivity is set higher than it should be
due to wrong load parameters, or if it is failed to update
the load settings in the program (LOAD command) when
the mass at the tip of the robot is significantly changed
due to opening/closing operation of the grippers or so,
the gravity compensation in flex mode may not work
properly, as a result, the robot loses its gravity balance.
Be aware that once robot loses its gravity balance, the
robot may be continuously in motion even after passing
the collision point. (If the robot passes the collision point
significantly, the error “E7053: Collision detect hold limit
error” occurs and the servo power is shut off.)
• In cold climates, false collision detection may occur on
the initial start-up of the day. Although the ambient tem-
perature gets warmer if the temperature inside the robot
is low, the grease viscosity is high. The thick grease
causes to put an extra load on the motor, resulting in
false collision detection. If occurred, either execute
warm-up operation or decrease the sensitivity.

10.5.2 Collision detect settings

After setting or changing the load parameters and collision
Click
sensitivity, check to make sure that the collision detect >> Load parameters
functions correctly in the program. >>
(Standard load number)
Set Standard
• To change the load parameter number, change the settings
“Standard Load No.” on the “Collision detect” setting dia-
log box and click OK.
• Even if the “Standard Load No.” on the screen has
already shown the Standard load number you want to
change to, click OK to confirm the setting value.

[Collision ease at Safety holder input] Sets to “Valid”

if you want to detect a collision and apply the collision
detect processing when the safety holder input is turned
on.
[Servo mode after collision detect]
Servo OFF: After reducing the speed due to detection Note
of a collision, the robot goes into the flex mode and then For ”Collision ease at Safety holder input”, use the safety
stops the servo motor in about 0.5 second. holder input. Prior to operation, check to make sure the
Hold: After reducing the speed due to detection of a col- connection of the safety holder.
lision, the robot comes to the hold state in flex mode.
[Standard Load No.] Specifies the load parameter
number to be applied when the LOAD command is not
executed. (When the LOAD command is executed, the
load parameter number specified last is applied.)

10.5.3 Application example

CAUTION
Set the load parameters correctly. If the load parameters are not correctly set, the robot wrongly
detect collision or the robot arm is flipped up after collision.
Prior to operation, check the load parameters once again.
(1) If a collision occurred
The error “E7050: Collision detected **” occurs.
Note
(“**” represents the collided axis.) In the event of changing the load to be applied to the robot
manipulator due to tool change or so, it is necessary to
(2) Restore the collided robot change the load parameter number. Use the LOAD com-
The robot goes in the flex mode. To exist from the flex mand to change the load parameters.
mode, turn off the servo power. If “Servo mode after
collision detect” is set to “Servo OFF”, the robot auto-
matically exits from the flex mode when the servo is
turned off.
(3) Turn off the servo power and turn it on again.
(4) Move the robot manually, then re-start the program.

OM1009082E17 117
 Standard settings

10.5.4 Standard torch load parameters

(1) Standard torch:
Refer to the following table and specify the standard
torch setting (long or short).
(2) Torch with special specifications:
Apply the load parameters described in the operating
instructions of the applied torch holder.
(3) With MAG Force:
Refer to the “Load parameters for MAG force” in the
following table and enter the load parameters respec-
tively.
(4) How to calculate the load parameters
See “Appendix: An example of calculating load param-
eters” later in this document.

Standard torch load parameters

Standard torch setting
Torch type Load parameters for MAG force
(Short / Long)
Mass 2.79 kg
Offset X 66.9 mm
Y -1.0 mm
390 mm Z 120.3 mm
1 Long
45º
Inertia X 0.00608 kg•m2
Y 0.03942 kg•m2
Z 0.03397 kg•m2
Mass 2.60 kg
Offset X 50.5 mm
Y -0.7 mm
340 mm Z 121.2 mm
2 Long
45º Inertia X 0.00957 kg•m2
Y 0.02486 kg•m2
Z 0.01802 kg•m2
Mass 2.51 kg
Offset X 49.0 mm
Y -0.8 mm
290 mm Z 121.8 mm
3 48º Short
Inertia X 0.00802 kg•m2
Y 0.02457 kg•m2
Z 0.01744 kg•m2
Mass 2.51 kg
Offset X 99.0 mm
Y -1.6 mm
350 mm Z 109.1 mm
4 Short
45º Inertia X 0.00551 kg•m2
Y 0.02509 kg•m2
Z 0.02020 kg•m2
Mass 2.60 kg
Offset X 106.7 mm
Y -1.5 mm
400 mm Z 110.7 mm
5 Short
45º
Inertia X 0.00562 kg•m2
Y 0.03234 kg•m2
Z 0.02735 kg•m2

118 OM1009082E17

10.6 Collision sensitivity monitor
Setting the collision sensitivity too high can cause false
detection of collision. Setting the collision sensitivity too
lose can lead false operation as it may fail to detect colli-
sion quickly.
This collision sensitivity monitor is useful as it tells you the
assignable (“Recommended”) value of the collision sensi-
10.6.1 How to monitor the collision sensitivity
(1) Specify conditions, such as speed and smooth level,
correctly.
(2) Install the load, including wiring work and TW mount-
ing angle, correctly.
(3) Set the load number and enter the load parameters
and collision sensitivity to be applied correctly. Use
either standard load number or LOAD command to
specify the applied load number. (LOAD command set-
ting has priority over the standard load number set-
ting.)
In case of installing load for the first time, set the colli-
sion sensitivity for all axes to 0 %.
(4) Open the collision sensitivity monitor and click the
(Reset) icon.
(5) Run all motion programs to be used. (Use actual pro-
grams and repeat them. No special test program is
needed.) It is preferable to run motion programs with
many motion cycles.
(6) Display the “Collision sensitivity monitor” screen.
Refer to the “Recommended” values on the “Collision
sensitivity monitor” screen and re-enter sensitivity val-
ues.
<Collision sensitivity>
[Recommended] Assignable value of the collision sen-
sitivity calculated based on the collision torque.
[Set value] Current set value of the collision sensitivity.
[Collision torque] Detected maximum collision torque
* Rst: Click it to reset values on the screen.
“Recommended” value Adjustment
Lower than the “Set value” Decrease the sensitivity
(setting value).
Higher than the “Set value” Increase the sensitivity
(setting value).
Note
• It does not change the set values to the “Recommended”
collision sensitivity values automatically.
• In case there are more than one load, set appropriate
load parameters for each load.
• When a collision is detected, lower the collision sensitiv-
ity of the collided axis and then monitor the collision sen-
sitivity at the collided point to check the “Recommended”
collision sensitivity once again.
OM1009082E17
Standard settings
tivity in the current robot operating condition including
motion program, load, installation and so on. Such data
can be used to check validity of the load parameters for
collision detection and also to review the settings.
Click
>>
View Display Load factor Collision
change Sens monitor
Note
• In order to avoid false detection of collision by changing
collision sensitivity significantly, the “Recommended” col-
lision sensitivity values are limited to [Set value + 30] %
at maximum. If [Set value + 30] is indicated as “Recom-
mended” value, there may be more room to increase the
collision sensitivity. Reset the collision sensitivity monitor
and run the program once again.
• Values of the “Collision sensitivity” indicated on the
screen can be update when a load number is newly
specified or when a LOAD command is newly executed.
The values of the “Collision torque” indicated on the
screen can be updated only with a value higher than the
currently indicated one unless they are reset (by clicking
the reset icon). That is, when a load number is newly
specified or when a LOAD command is newly executed if
a value of the new “Collision torque” is smaller than the
one on the screen, the value on the screen remain
unchanged.
• If the collision sensitivity is set to 80% or higher, it also
becomes sensitive to environmental changes, such as
temperature and age, in other words, it may wrongly
detect environmental changes as collision. Therefore, it
is recommended to periodically check the recommended
collision sensitivity using this “Collision sensitivity moni-
tor”.
• The set values are retained even though the power is
turned off or other programs are executed. It is neces-
sary to delete the current data by clicking the reset icon
and set new values if installed load, load parameters,
collision sensitivity or other conditions is changed.
119
 Standard settings

10.7 Soft-limit settings

The operable range of each axis can be limited by means
Click
of software, this is called “Soft-limit”. >> Soft-limit
>>
Enter the range of movement (Minimum/Maximum) of each Set Standard
axis. settings
Click “Default” button to set the ranges for all axes to the
maximum for the applied model.

10.8 Jog settings

“Jog” is a type of operation to move the robot a little at a
time. The “Jog settings” is to set the robot travel distance Click
corresponding to the jog dial increment. >> >> Jog
Set Standard
[Cartesian] Specifies the robot travel distance in carte- settings
sian movement per one click of the Jog dial.
[Rotational] Specifies the rotational locomotion angle
of the robot per one click of the Jog dial.

120 OM1009082E17
 Standard settings

10.9 Speed limit settings

10.9.1 Manual/Override speed limit

It specifies the maximum robot travel speed in manual
operation. It also specifies the maximum speed at the tip of Click >>Speed >>TCP speed
the tool and mechanical interface part (tool mounting part) >> limit limit
in override operation. Set Standard
It also specifies the speed limit of the external axis during settings
override.

[Manual /Override speed limit]] Specifies the maxi-

mum speed in manual operation and while override is
ON
Setting range: “0-12.5” in % or “0-15.00” in m/min
* The setting ranges may vary with applied robot con-
troller and manipulator.
[Set the limit for override separately] Mark the
check-box to limit the speed of the external axis to the
set value of the “Limit speed in TEACH mode” settings
when the override is on.
For details, please refer to the operating instruction of
the external axis controller.

Note
It doesn’t limit the speed of the external axis if the external
axis is not included in the system.

10.9.2 Joint speed limit

It specifies the maximum travel speed for each joint axis.
Click
Specify a percentage to the rated motor speed. >>Speed >>Joint speed
>> limit limit
[Speed limit] Specifies percentage to the rated motor Set Standard
speed. settings

[Re-trace speed] Specifies the speed limit at re-trace

after the robot makes a warning hold.
[Trace limited] Specifies if this (joint speed limit) set-
tings is applied in trace operation.
[Warning hold] Select “Valid” to make a warning stop
when the travel speed exceeds the preset speed limit.
Select “Invalid” to continue robot operation at the speed
limit when the travel speed exceeds the preset speed
limit.
[Default] Resets the settings in this dialog box to the
factory settings at shipment.

OM1009082E17 121
 Standard settings

10.10 Smooth level

It specifies how smooth the robot makes a turn at the cor-
Click
ner when the smooth level in a move command is set to >>Standard
“Default” >> smooth level
It is factory set to “6” at shipment. Set Standard
settings
• If the smooth level is “0”, the
Taught point
robot passes through the
exact taught point (at the Smooth level = 0
corner), therefore, it
appears as if the robot
makes a brief stop at the
corner.
• The larger the smooth level Increase
is, the smoother the turn smooth level.
becomes, that is, the trajec-
tory of the robot at the cor-
ner becomes farther inward curve (farther from the
taught point at the corder.)

<Supplementary notes>
• The smooth level specified in a move com-
mand has priority over the default set value. : P003
(the smooth level specified ina mode com- MOVEL P002 (default) Level=default
mand is applied.) MOVEL P003 (8) Level=default
The right figure shows the example of the MOVEL P004 (default)
robot trajectory when the smooth level :
“default” is specified in MOVEL P002 and Level=8
P004 while smooth level “8” is specified in P002
P004
MOVE P003.

122 OM1009082E17
 Standard settings

10.11 Language
Language to be used on the teach pendant is localizable.
Click
>>Language
[LanguageSpecify the language to be used in the screen >>
display.
Set Standard
A list of languages selectable is displayed. settings
[Select LanguageSelect a combination of languages to
be used.

< Note >

To switch the language, power needs to be restored.

Note
• After selecting a language and clicking OK, if the mes-
sage “Message file version is old. Some message is
not correctly displayed.” is displayed, the version of the
message file is older than the software version of the
teach pendant. In that case, some message may not be
displayed in the specified language or may be garbled.
Please consult Panasonic representatives.

• After turning on the power switch, if either one of the fol-

lowing messages is displayed, please consult Panasonic
representatives.
(a) “There is no message file. TP is displayed in
English.”
The English message is displayed if there is no
message file of the selected language. And the
language of the teach pendant becomes English.
(b) “Message file version is old. Some message is
not correctly displayed.”
The message is displayed if the version of the
message file of the specified language is old. In
that case, some message may not be displayed in
the specified language or may be garbled.

OM1009082E17 123
 Advanced settings

11. Advanced settings

11.1 Login and Logout

By logging on with the registered User ID, you can record
Click >> User >>Login
the data of the programmers, and with the registered user
level, you can stratify the robot settings and protection of >> ID
the existing programs, and then manage them. Set Advanced
settings
(1) Click the Login.
(2)-a (2)-b

(2) On the “LOGIN” dialog box, enter the user ID. (There
are two ways.)
(a) Direct entry.
• Type the pre-registered user ID in the User ID”
entry field.
• Click OK.
(b) Select one from the list of pre-registered User IDs.
• Click Browse button to display “Select user ID”
dialog box.
• Select one from the list, and click OK.

(3) Then type the password and click OK to logon.

(4) To end using the robot system (after completing the

work or so), click Logout.

124 OM1009082E17
 Advanced settings

11.2 RT monitor settings

WARNING
Never enter into the safety fenced area although the robot is stopped by this function.
Take measures so that people know if the robot is stopped by the RT monitor function.

11.2.1 What is the “RT monitor” function?

• The “RT monitor” monitors the angle of the RT axis to
find out the direction the robot is facing to. You can set
the monitoring area freely.
• There are two functions in the RT monitor:
(a) It outputs a signal while the robot is in the speci-
fied monitoring area to inform whereabouts of the
robot.
(b) It deters the robot to enter the monitoring area by
inputting a signal externally. The robot stops at the
boundary of the monitoring area when an external
signal is input.
Application example:
Use this function to avoid two robots being in the work
area at the same time.
In the below figure, as the robot on the left is in the
monitoring area, the RT monitor output is output.
By connecting the RT monitor output terminal of the
robot on the left side to the RT monitor input terminal of
the robot on the right, the robot on the right will stop at
the boundary of the monitoring area.
Stop

<Supplementary notes>
• Use this function to avoid collision when multiple robots
are used and interference may be the case depending
on the direction robots are facing to.
• Use this function in a system where a conveyer is Monitoring
Output ON area
located close to the robot. With this function, you can Input ON
stop or reduce the speed of the conveyer when the robot
is facing to a specific direction, or you can disable the
robot to travel toward the conveyer while the conveyer is
in operation.

11.2.2 “RT monitor” setting procedure

* You can specify two different RT monitor settings (RT01
and RT02).
Click
[Valid/Invalid] Specifies whether to apply this function >> Area >>RT
(Valid) or not (Invalid). >> monitor monitor
[Face/Side] Set Advanced
settings
• Face: To monitor within the set range.
• Side: To monitor outside of the set range in the
robot work envelope.
[Auto re-start] Mark the check-box to specify whether
to re-start operation automatically or not if the input sig-
nal is turned off when the robot has been in the ready
state just before entering the monitoring area by the
input signal.
[Error-stop in Teach mode] Mark the check-box to
specify whether to stop the robot or not when the input
is turn ON and the robot enters the monitoring area i
TEACH mode.
[Settings] Specifies monitoring range.
[Input terminal] Specify an input that stops the robot at
the boundary of the monitoring area when the input is
turned on.
[Output terminal] Specifies an output terminal that
stays in ON state while the robot is in the monitoring
area.

OM1009082E17 125
 Advanced settings

11.3 Cube monitor settings

WARNING
Never enter into the safety fenced area although the robot is stopped by this function.
Take measures so that people know if the robot is stopped by the RT monitor function.

11.3.1 What is the “Cube monitor” function?

• The “Cube monitor” monitors if the tool center point of
the robot is within the specified monitoring area. Application example:
• It is called “Cube monitor” as a rectangular solid area is Use this function when two robots share same work
specified as a monitoring area. area.
In the below figure, as the robot on the left is in the
• By monitoring the movement of the tool center point (the monitoring area, the Cube monitor output is turned on.
tip position of the tool) with this function, it is possible to Connect the output to the input of the robot on the
prevent interference (collision) of robots if multiple robots right to stop the robot on the right at the boundary of
are used in one work area. the monitoring area.
• You can prevent interference with the following two func-
tions of Cube monitor.
(a) It outputs a signal while the robot is in the speci-
fied monitoring area to inform whereabouts of the
robot.
(b) It stops the robot by inputting a signal externally.
Stop
• You can specify the number of monitoring areas. (See
section “13.2 System data adjustment” for setting
details.) Monitoring area
Output ON Input ON

11.3.2 “Cube monitor” setting procedure

* The specified output goes ON while the robot is in the
preset monitor area regardless of the mode.

Click >> Area >>Cube

[Valid/Invalid] Specifies whether to apply this function >> monitor monitor
(Valid) or not (Invalid). Set Advanced
settings
[Auto re-start] Mark the check-box to specify whether
to re-start operation automatically or not if the input sig-
nal is turned off when the robot has been in the ready
state just before entering the monitoring area by the
input signal.
[Error-stop in Teach mode] Mark the check-box to
specify whether to stop the robot or not when the input
is turn ON and the robot enters the monitoring area i
TEACH mode.
[Input terminal] Specify an input that stops the robot at
the boundary of the monitoring area when the input is
turned on.
[Output terminal] Specifies an output terminal that
stays in ON state while the robot is in the monitoring
area.
[P1/P2] Specifies two opposite corners of the cubic
monitoring range.

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11.4 E-Axis Range Monitor

• It is a function to turn ON an output when an external
axis is positioned within a specified area.
• Like RT monitor and Cube monitor, it is possible to bring Click
the robot to an error stop before the external axis enters >> Area >>E-Axis Range
>> monitor Monitor
the specified area.
Set Advanced
• You can specify the number of monitoring areas. (See settings
section “13.2 System data adjustment” for setting
details.)

[Monitoring] Specifies whether to apply this function

(Valid) or not (Invalid).
[Ext Axis] Specifies an external axis to be monitored.
[Range] Specifies the monitoring range. (Enter smaller
number to the left entry box.)
[Multi rotation] mark the check-box to support the
multi rotation axis.
[Auto re-start] Mark the check-box to specify whether
to re-start operation automatically or not if the input sig-
nal is turned off when the robot has been in the ready
state just before entering the monitoring area by the
input signal.
[Error-stop in Teach mode] Mark the check-box to
specify whether to stop the robot or not when the input
is turn ON and the robot enters the monitoring area i
TEACH mode.
[Input terminal] Specify an input that stops the robot at
the boundary of the monitoring area when the input is
turned on.
[Output terminal] Specifies an output terminal that
stays in ON state while the robot is in the monitoring
area.
*Multi rotation: It is a function to determine whether or not a multi rotation type positioner is within the monitoring area
with apparent angle, that is, the angle from the zero (0) degree position to the apparent location, not the
actual angle of rotation.
The following are all within the range if the monitor range is set to “0 to 90” degees.

0° 45° 0° 405° 0° －315°

270° 90° 270° 90° 270° 90°

180° 180° 180°

Note
• This function is not applicable in case that no external
axis is connected.
• If [Error-stop in Teach mode] is applied and the robot is
brought to an error stop, the “Error output (status output)”
is turned ON in TEACH mode.

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11.5 AND condition monitor

• It is a function to turn ON an output if all conditions of a
combination of monitoring functions (RT monitor, Cube Click >> Area >>AND condition
monitor and E-Axis Range monitor) are satisfied. >> monitor monitor
• It is also possible to bring the robot into an error stop by Set Advanced
Settings
inputting a signal externally if the conditions are satisfied.
[Monitoring] Specifies whether to apply this function
(Valid) or not (Invalid).
[AND condition] Specifies [Type of area monitor],
[Area number] and [ON/OFF (Within/Out of the area)].
[Auto re-start] Mark the check-box to specify whether
to re-start operation automatically or not if the input sig-
nal is turned off when the robot has been in the ready
state just before entering the monitoring area by the
input signal.
[Error-stop in Teach mode] Mark the check-box to
specify whether to stop the robot or not when the input
is turn ON and the robot enters the monitoring area i
TEACH mode.
[Input terminal] Specify an input that stops the robot at
the boundary of the monitoring area when the input is
turned on.
[Output terminal] Specifies an output terminal that
stays in ON state while the robot is in the monitoring
area.

11.6 Programming (Teach) Folder settings

This function allows the user to define the default folder in
Click
which teaching programs will be saved.
>> >> Folder settings
Select either “Edit folder” or “TP edit environment”. Set Advanced
settings

11.6.1 Edit folder

The “folder settings” related icons are displayed as user
function icons for the user function keys F1 to F3.
Press a key of the function you want to work on.

To create a new folder

under the selected folder.

To rename the selected

folder.

To delete the select folder.

• Press the Cancel key to end.

11.6.2 Default folder

[Folder of teach program] It specifies the default
folder to save a program in. The folder specified here
also becomes the default folder of “Open a file (program
file” operation.

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11.7 Resume settings

It is a function to resume operation before turning off power
when power is turned on next. It is possible to apply the
function when power is restored after an alarm condition. Click
>> >> Resume
[Use resume] Mark the check-box to enable the Set Advanced
resume function. settings
[Use resume after alarm condition] Mark the check-
box to resume operation when power is turned on after
occurrence of an alarm. That is, if the check-box is clear,
the resume function is not applied when power is
restored after an alarm condition.

Note
• The “Resume” functions when power is turned off in
AUTO mode and back on again in AUTO mode without
switching modes. If mode has been switched before
restoring power, the “Resume” does not function.

• In case “A5000 System alarm” or “A5010 Abort” occurs,

or in case “Encoder error” or “Battery error” occurs when
power is restored, the “Resume” does not function as
data to resume operation may be damaged.

• Unless the alarm message box “The robot was in an

alarm condition when power was turned off.” is closed,
servo ON or restart won’t be executed.

11.8 Coordinate system settings

Specify a coordinate system to be used when operating the
robot with the teach pendant.
Click
>> >> Select coordinate
[Cartesian] Change movements of the cartesian coor-
dinate system Set Advanced
Absolute: Move in the absolute coordinate system. settings
Relative: Change the X-Y direction with reference to RT
axis.
[Cylindrical] Mark it to enable the cylindrical coordi-
nate system.
[User coordinate:] Mark it to enable the user coordi-
nate system.
• Switching every program:
Mark the check-box to allow you to specify a user
coordinate number on a program basis.
< Note >
• When a program with a different user coordinate
system is opened, the coordinate system is
changed to suit the newly opened program.
• With the following two operations, you can change
the coordinate system manually.

A) Use “Teach settings” dialog box.( > )

B) Use a user function key.
[Tool projection coordinate:] Mark it to enable the
tool projection coordinate system.

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11.9 User coordinate system settings

11.9.1 What is user coordinate system?
It is a coordinate system a user can define.
For example, if you want to use a tilted table, you can move
the robot on the table by defining the user coordinate sys-
Zu
tem based on the table surface as a plane. Which can
improve work efficiency. P3 Yu

Use three points: P1, P2 and P3, to define a user coordi-

nate system.
P1
where,
• P1: Origin of the user coordinate system.
P2
• P1P2: X-axis direction (Xu axis) of the user coordinate
Xu
system.
• P1P2P3: X-Y plane of the user coordinate system.
• Axis perpendicular to the Xu-Yu plane (right-handed
coordinate system): Z-axis (Zu-axis) of the user coordi-
nate system.

11.9.2 Setting procedure

[P1] Origin of the user coordinate system
[P2] It determines X-axis direction whose origin is P1.
[P3] With P1 and P2, it determines X-Y plane. Click
[Browse] Select P1, P2 or P3 and click browse to >> >> User coordinate
select a position from the global position data. Set Advanced
[Clear] Click it to cancel the user coordinate system settings
settings you have made.
[OK] Click to update the user coordinate system set-
tings you have made.

<Supplementary notes>
• To ensure an accurate system definition, be sure to
teach points that are as far apart as possible.
• The positions P1-P2-P3 determine the Y-axis and Z-axis
direction. Be sure that your points are correct to ensure
the desired results.
Z
Y

3 3
1 1

2 2
X

1 1
Y
2 2
3 X
3
Z

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11.10 Favorite commands

A function to register frequently used commands as favor-
ite command group.

11.10.1 Setting procedure 1 (From “Edit favorite commands” screen)

(1) On the “Edit favorite commands” screen, click Add.
Then the Command list screen is displayed. Click
>> >> Favorite command
(2) Move the cursor to the command you want to add to
Set Advanced
the favorite command group, and click OK. settings
(3) Then the “Edit favorite commands” screen is displayed
having the selected command in the list.

• How to take off a command from the group

On the “Edit favorite commands” screen, move the cursor
to the command you want to

11.10.2 Setting procedure 2 (From “Command” screen)

(1) While displaying the intended command on the screen,

press the user function key “F1” for (Favorite).

(2) Then the confirmation message is displayed.

Click Yes to add the command to the favorite group.

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11.10.3 To use a favorite command

From the command list screen of the “Favorite” command
group, select a command you want to add to the program Click
and click OK.
>>
Add Edit favorite
command command
* There is no command in the command list of the favorite
command group at shipment.

11.11 Customize function keys

11.11.1 User function keys
It is a function to change the settings of user function keys
Click
F1 to F6 at the bottom of the teach pendant. >> Key >>User function
(1) Select an operation type (Edit, Teach, or Auto) of the >> customize keys
user function keys group you want to work on, and Set Advanced
settings
then click OK.
[Edit] User function keys to be displayed in edit opera-
tion (when the robot move key is OFF).
[Teach] User function keys to be displayed in TEACH
mode (when the robot move key is ON).
[Auto] User function keys to be displayed in AUTO
mode.
(2) Mark the check-box of the page number (P1 to P5) you
want to edit, then click “Edit” button of the specified
page number. (The example in the right figure shows
when you want to edit P2.)
[F1 to F6 icons] When the check-box of a page num-
ber is marked, the icons currently assigned to the page
are displayed.
[Edit] Click to display the setting dialog box to custom-
ize the User function keys of the page.
(3) Then the “Customize Function keys” dialog box of the
page is displayed.
To each function key, specify a desired function from
the lift. (Press the triangle button at the left side of the
entry box to display the list of the functions. For the list
of the functions, see Ҭ List of assignable functions to
each operation type.”
(4) Click OK to display the previous setting dialog box.

Note
In case of using more than one page to customize function
keys (i.e. P2, P3...), assign “Change page” icon to one of
the function keys (F1 to F6) on each page (in the figure on
the right, the change page function is assigned to F6). If
the “Change page” function is not assigned on a page, it is
not possible to display user function icons on the next or
previous page.

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♦List of assignable functions to each operation type

EDIT (Robot move key: OFF) TEACH (Robot move key: ON) AUTO

(None) (None) (None)

Change page Change page Change page

Window Trace Arc lock

Wire/gas check Program test XYZ

(Edit type) Wire/gas check Angle

Add command (Edit type) Display I/O terminal

Cut Change Robot E-Axis (*2) Display status IN/OUT

Copy Select coordinate system Current/Voltage

Paste Interpolation Weld input

Paste (Reverse) Speed Accumulate time

Teach settings Add command Operate state

Option Air-cut/Weld Sensor data(*1)

Find Teach settings SHIFT-ON data

Replace Save Program files

Save Program files Recent files

Program files Recent files Close

Recent files XYZ Weld condition

Close Angle Override: Automatic storing

XYZ Torch angle

Angle Display I/O terminal

Torch angle Display status IN/OUT

Display I/O terminal Select mechanism(*2)

Display status IN/OUT Harmo-coordinate sys.(*3)

Ctrl key Harmonious

Weld condition User coordinate

Ctrl key

OM1009082E17 133
 Advanced settings

EDIT (Robot move key: OFF) TEACH (Robot move key: ON) AUTO

Quantitative move

Weld condition

Interlock release

Relative position movement(*4)

Fixed tool(*5)

<Note> (*1): Available when “Touch sensor” function (option) is added.

(*2): Available when “External axis” or “Multi-cooperative robot control” function (option) is added.
(*3): Available when “Harmonic movement function” (option) is added.
(*4): Available when “Multi-cooperative robot control” function (option) is added.
(*5): Available when “Fixed tool” function (option) is added.

11.11.2 Switching and displaying user coordinate system

It switches user coordinate number and displays coordi-
nate data based on the user coordinate system.

1) How to switch user coordinate numbers

With the (Robot motion) icon ON state, press the Note

user function key for “Change page” until the
(user coordinate) icon is displayed.
Then press the user function key for
nate).
• Every time you press the user function key, the user
coordinate number is increased by one until the largest
preset user coordinate number. Then go back to “0” to
repeat. For example, if the preset user coordinate num-
bers are 1 and 2, then every time the user function key is
(user coordi- pressed, the numbers “0”, “1” and “2” are displayed one
by one in this order, and then go back to “0” to repeat.
• The coordinate number “0” is for robot coordinate sys-
tem.

2) How to display coordinate data

Display the “User coord.” dialog box.

Click
>>
* The (User coord.) icon is not active if the user View Display Display User
change position coord.
coordinate system is not set enabled.
User coordinate number
* The coordinate number “0” is for robot coordinate sys-
tem.

“User coordinate” icon

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11.11.3 Robot move key

It is a function to switch coordinate systems of the function
Click
key for wrist movements. >> Key >>Robot
>> customize move key
From the list, select a wrist motion of the coordinate system Set Advanced
you want to change. (Click the triangle button on the left settings
side of the entry box to display the list.)

* The right figure is a setting to change the wrist motion of

the cartesian coordinate system to that of the tool coor-
dinate system. And the wrist motion of the tool coordi-
nate system to that o the cartesian coordinate system.

11.11.4 External axis key

It is a function to change display positions of external axis
Click >>External axis
keys. (This function is applicable when an external axis is >> Key
used.) >> customize key
Select a page to specify a set of display positions. Setting Set Advanced
is available from “PAGE 2”. settings
[I to VI] Specify an external axis number you want to
assign to.

<An application example>

In a system with two sets of 2-axis positioners, change the
display positions of the external axis keys as follows for
easier operation.

［I］ ［II］ ［III］ ［IV］ ［V］ ［VI］ Select

PAGE2 G1 G2 - G3 G4 - a page

OM1009082E17 135
 Advanced settings

11.11.5 Ctrl key

It is a function to change output status during teaching
operation. You can set up to five types of control (Ctrl1 to
Ctrl5) using the user function keys.

1) Settings
To use it, perform the following two steps.
(1) Specify an output terminal to be controlled by a Ctrl key.
(2) Then allocate the Ctrl key to the user function key. Click
>> Key >>Ctrl key
>> customize
<Procedure>
Set Advanced
(1)Specify an output terminal. settings
• Display the Ctrl key setting dialog box (see the figure on <Ctrl key setting dialog box>
the right).
• On the left pane, select a Ctrl key (Ctrl 1 to Ctrl 5) you
want to work on.
• Set the parameters on the right pane, and click OK.
[Valid/Invalid] Specify whether to apply the function
(Valid) or not (Invalid).
[Output terminal] The output terminal number whose
output is changed by the Ctrl key operation.
[Browse] Click it to display a list of output terminals to
select from.

(2)Allocate the Ctrl key to the user function key.

Refer to section “11.11.1 User function keys” and allo-
cate the Ctrl key(s) (Ctrl 1 to Ctrl 5).

< Note >

The “Ctrl” key can be allocated to either “EDIT” or
“TEACH.” It cannot be allocated to “AUTO.”

2) An application example
• Display the page of the user function keys the Ctrl keys
have been allocated.
• Press the user function key corresponding to the Ctrl key
icon you want to work on. Each time the Ctrl key is
pressed, the output status of the Ctrl key icon is switched
(either ON to OFF or OFF to ON).
* Status of the Ctrl key and appearance:

ON Green lamp is on.

OFF Lamp is off (black)

<Supplementary notes>
• The Ctrl keys are not available in AUTO mode.
• When the Ctrl key is dimmed , the Ctrl key is not
• In case of emergency stop, the Ctrl key icon lamp and
available. It is due to one of the following reasons. actual output status may not match.
• Ctrl key is set to “Invalid.” • Status of the Ctrl key icon lamp is logic of the output ter-
• Output terminal is set to “0: None.” minal which depends on how the logic of the output ter-
• The output terminal allocated to the Ctrl key is cur- minal has been specified.
rently used for status output or monitoring. (During
status output or monitoring operation, it is not possi-
ble to change output status.)

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11.12 Program edit disable

It is a function to disable to edit program using the teach
pendant on whole programs. Click
>> >> Disable program editing
• Program edit disable:
Set Advanced
[All disable] Disable all programs. settings
[Position enable] Only position data is editable.
[All enable] all programs are editable.

< Note >

“All enable” doesn’t include protected files. Those files
remain not editable.

• If the data and the program have different mecha-

nisms:
[Disable paste] Disable copy and paste of commands
between programs with different mechanisms.
[Disable opening of the file] Disable opening of a file
whose mechanism has been changed.
[Set all-0-angle point as an error] Disable a move
command to move to where joint angles of all robot axes
become 0 degree. <Confirmation message>
* If structure of the mechanism is changed and a robot Disable paste” is ON
is added, a teaching point with joint angles of all robot
axes at 0 degree is registered for convenience. If this
item is selected, execution of registration of such
teaching point is prohibited.

Cancel the paste operation.

All three setting items are factory selected (effective) at
shipment.
Disable paste” is ON
When copy or paste operation between programs with
different mechanisms is attempted, a confirmation
message is displayed. The message varies with the
“Disable paste” setting.

Yes: No:
Paste the data. Cancel the paste operation.

11.13 Screen saver

It is a function to turn off the screen after a specified time of
no operation in order to extend the life of the LCD. Click
Setting range is 10 to 120, increment of 10. >> Screen saver
>>
[Invalid] Do not shut off the screen despite being in no Set Advanced
settings
operation state.
[Monitor on when error occur] Mark the check-box to
turn on the screen if an error occurred while the screen
in shut off state.

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11.14 Initial display in AUTO mode

11.14.1 General
It is a function to specify the status display to be displayed whenever mode is switched to Auto, “Weld conditions” dis-
initially on the right pane when the mode is switched to play showing current and voltage status is displayed auto-
Auto. matically.
For example, if you would like to monitor welding condi-
tions while operating, select “Current/Voltage” here. Then

11.14.2 Settings
From the advanced settings screen, select “Initial display in
Auto” and click OK. Click
[Initial display in Auto] Select a status you would like to >> Initial display in Auto
display initially from the list (see the table below). >>
Set Advanced
settings
[Display timing] Select a timing you would like to display
the specified initial display.
• Power ON only: The specified initial display is displayed
only when the power is turned ON.
At that time (when the power is turned on) if the mode is
set to Teach, the specified initial display won’t be dis-
played.
• Power ON and mode change to Auto: The specified
initial display is displayed when the power is turned ON
and when the mode is switched from Teach to Auto.

List of status displays

Status Display item(s) Note

Running state The currently running program name

If it is a called program, then the relationship
with the calling program.

Current/Voltage Preset and measured current and voltage val-

ues.

XYZ Torch end position; XYZ and torch orientation;

UVW.

Angle Angle of each robot axis.

Display I/O terminal User input and output status

Display status IN/OUT Status input and output status.

Weld input Welding input and output status.

Sensing data Touch sensing result (shift amount) It is displayed only when the
touch sensor option is valid.

SHIFT-ON data Amount of the shift executed by SHIFT-ON

command

Accumulate time Controller ON time, servo ON time, program

running time and arc on time.

Program call The program to be called by the “Program call” It is displayed only when the
auto start method. “Program call” auto start method
is selected.

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11.15 Error handling

WARNING
Make sure that no personnel are present within the safety fence before turning ON the error
handling input. The robot starts the error handling motion immediately after the error handling
input is turned ON.

11.15.1 What is “Error handling”?

A function which is turned on by an external input signal
when the robot comes to a welding error stop, such as “no
arc”, during welding operation. When this function is exe-
cuted, the robot automatically retracts the tool (welding
Automatic
torch) in the tool direction for the preset distance from the retraction
current position (where the error occurred). When it is re-
started after removing the cause of the welding error, the
Resume operation
robot moves the torch back to the point where the opera- after removing the cause
tion was suspended to resume welding operation. of the welding error.

• With the function, it is possible to move the robot to an

idle position for tip change or other works arose from a
welding error occurred during welding operation without
Welding error
switching to manual operation using the teach pendant. occurred!
• The function is applicable regardless of the interpolation
type applied in welding operation.
• The function is applicable to welding errors. (Errors
whose error codes starts with “W” and the code number
“W**”, where “**” represents a number.)
• The function is not applicable to an error occurred when
the robot is in the stopped state.

<Status of I/O signals >

The following figure shows status of each I/O signal when
the error handling function is ON.

Retraction Error corrected,

starts and restart operation.

Occurrence of Retraction Return to the point

Welding error ends where the error occurred

ON
Retraction start OFF
input
ON
Retracted output OFF

ON
Hold status output
OFF
ON
Error output OFF

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11.15.2 Setting procedure

From the list of the advanced
function, select “Error Han- Click
dling”. >> >> Error Handling
Set Advanced
Valid/Invalid]: Select whether settings
or not to enable this “Error
handling” function.
[Move distance]: Sets a dis-
tance from the point where the
welding error occurred to the point where the robot moves
in the tool direction* (idle position) with linear movement.
(Set range: 1 - 200 mm.)
[Input to escape]: Sets an input terminal (User input) No.
to execute the error handling function.
The robot starts the error handling function when the input
terminal specified here is turned ON.
[Completion output]: Sets an output terminal (User input)
No. to output the completion of retract movement (the robot
reaches the idle position.)
And it goes off when the robot gets away from the idle posi-
tion.
Select “0: None” if the output is not necessary.

11.15.3 Operation procedure

The below shows the operation procedure of the “Error
handling” function using an example when the robot comes
to a welding error stop, such as no arc or torch contact. Welding error
occurred!
Note
Do not close the error dialog box.
Please note that the error handling function won’t be exe-
cuted if the error dialog is closed.

(1) Check to make sure if the robot does not interfere with
the jig or the work while retracting.
(2) Turn ON the preset user input for the tool handling
Preset
function.
“Move distance”
Then, the robot makes a retraction movement. The
speed is limited to either to 10 m/min or the preset Retraction
speed limit whichever is lower.

When the robot reaches the idle position, the preset

user output is turned ON. Turn on the preset
(If the preset user output is “0”, there will be no output.) “User input”
(3) Remove the cause of the welding error.

(4) Press the START button to restart the operation.

The user output is turned OFF and the robot moves

back to the point where the error occurred to resume
the welding operation. Welding conditions before the
stop are referred

Resume
welding operation

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11.15.4 Relations with other functions

Function Response of this “Error Handling” function
Arc overlapping The robot performs the overlapping process when the operation is
restarted after the error handling process.
Resume If the resume function is turned ON in the process of retraction, the
retraction is ignored even thought the preset input is turned on after
power has been newly turned on. The robot resumes operation after
returning to the point where the error occurred.
* The robot resumes the operation in the same manner if the resume
function is turned ON after the completion of the retraction or during
restart process.
External axis harmonic movement If the “Error handling” function is used in the section this function is
applied, only the robot performs the retraction movement but not the
external axis. (i.e. the external axis maintains the current position.)
Multi-cooperative robot control It the function is set, “Error Handling” function is not applicable.
RT Monitoring If a monitoring is turned ON in the process of retraction or re-start, the
Cube Monitoring monitoring function takes priority (over the error handling function)
and stops the robot.

Note
(1) Make sure that robot does not interfere with the jig or
the work along the retraction route prior to starting
operation.
(2) Even if the welding wire and the work are fused, the
robot starts the retraction process when the preset
input is turned ON while the robot is in the welding
error stop state.
(3) This error handling function is applicable only when the
robot comes to a welding error stop. If the robot opera-
tion is terminated due to other reasons such as hold or
an error other than welding error, this function does not
function even though the preset input is turned ON.
(4) If the error dialog box is closed, this error handling
function is deemed invalid. Therefore, even if the pre-
set input is turned ON, it won’t function.
(5) If the preset input has been in ON state when the weld-
ing error occurs, the robot won’t perform the retraction
movement. In that case, turn the preset input OFF and
back ON again.
(6) If the preset input is turned ON again during or after
the retraction movement, the robot won’t repeat the
retraction process.
(7) The retracted output is turned ON only when the robot
reaches the preset idle position. The output won’t be
turned ON if the robot goes in hold stop or an error
stop during the retraction process.
(8) The retraction movement will be interrupted by the fol-
lowing operations. At that time, with restart operation,
the robot moves to the point where the error occurred
and resumes operation.
• The robot goes in a hold stop or emergency stop in the
process of the retraction movement.
• The robot goes in an error stop such as soft-limit error
in the process of the retraction movement.
• If manual operation is executed while the robot is in
either one of the above state.
(9) The robot resumes the program from the idle position
without returning to the point where the error occurred
if the following operation is executed in the process of
this function.
• Move the robot to a teaching point in trace operation.
• A teaching point is exited.
(10) This function does not function if an error occurred dur-
ing a program test.

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11.16 Hot edit

11.16.1 What is “Hot edit”?
It is a function to execute parallel shift of given welding
points without stopping the robot operation.
With this function, it is possible to apply shift to a running
program. Therefore, you can correct deviation of a weld
line caused by deviation of the workpiece or teaching error
without stopping the production line.

You can choose directions of the parallel shift from robot

coordinate system, tool coordinate system or preset user
coordinate system. You can specify the maximum shift
amount up to 9.99 mm in one shift.
Note
• It is not possible to use this function in a mechanism
without robot or a mechanism with slave robots.
• In a mechanism with a robot and external axes, this func-
tion does not shift the position of the external axis.

<Timing to execute shift processing>

• If the selected program is not in operation:
The shift processing is carried out immediately.
• If a running program is selected:
The shift processing is executed when the robot
reaches the first arc start point after the execution of P001
“Hot edit” function. If it is necessary to shift the point to
start the shift processing, the robot moves to the shift
position of the point after executing the shift processing
P002 P002’
on the original position of the point. In case of the figure
on the right (P002 is the original position of the shift pro-
cessing start point and P002’ is the shifted position of
P002), the robot moves to P002’ through P002.

11.16.2 Preliminary settings

Set validity of the Hot Edit function and the maximum shift
amount in one shift. Click
>> Hot edit
>>
Set Advanced
[Valid/Invalid] Specifies whether to use (Valid) this settings
function or not (Invalid).

* When it is set to “Invalid”, the icon won’t be

displayed in Auto mode.

[Maximum shift data] Set range: 0.01-9.99 (Unit: mm).

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11.16.3 Operation procedure

In Auto mode, select from the menu.

(1) Select a desired program you would like to apply the

hot edit function to.
Both running and not-running programs are selectable.

(2) Select a weld line that has teach points for parallel
shift.

<Weld lines not applicable>

- Weld lines that use global variables to specify teach
points.
- Weld lines in a harmonic movement section.

: Displays the next page.

: Displays the previous page

(3) Select teach points for parallel shift.
[Select all]: Selects all teaching points.
[Cancel all]: Deselects all teaching points.

: Displays the next page.

: Displays the previous page

(4) Select a coordinate system to be used as the refer-

ence shift(*), and input shift data. Then click OK to start
the shift processing.

(*): For
details see “11.16.4 Definition of “Coordinate sys-
tem for shift”” on the next page.
• User coordinate system: Only registered numbers
are displayed as options.

(5) After updating the shift data, the screen on the right is
displayed.

[Yes]: Select it to display the weld line setting dialog

box (the screen in the above procedure (2)) to specify
a weld line in the same program.
[No]: Select it to end the Hot edit function.

Note
The “Hot end” function is not applicable in offline edit oper-
ation.

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 Advanced settings

11.16.4 Definition of “Coordinate system for shift”

• Cartesian: Robot coordinate system Z direction
When “Cartesian” is selected, the points are shifted in the
direction of X, Y and Z of robot-locked Cartesian coordi-
nate system as per the figure on the right.

X direction Y direction

• Tool: Tool coordinate system

When “Tool” is selected, the points are shifted in the
direction of X, Y and Z of tool coordinate system as per the
figure on the right.
If the tool number is changed in a program, the new tool
number is applied.
Y direction:
a direction perpendicular
(Example) TOOL 1:TOOL01 to this paper toward you.
| MOVEL P003
TOOL 2:TOOL02
| MOVEL P004
z MOVEL P005 (Arc start)
Z direction X direction
| MOVEL P006 (Arc end)
In the above program, the tool coordinate system of the
tool No.2 is applied to shift P005 and P006.

• User: User’s coordinate system Z direction

When “User’s” is selected, the points are shifted in the
direction of X, Y and Z of a coordinate system desig-
nated with reference to the customers workpiece as per
the figure on the right.
Since the shift takes place on the coordinates of the
workpiece, it is easy to identify the shift directions X, Y X direction
and Z. Y direction

11.16.5 Relations with other functions

Function Response of “Hot Edit” function

Arc retry
Flying start:
Multi-cooperative robot control
Twin harmonic operating
External axis harmonic movement
Arc retry is executed at the arc start point after completion of shift processing
of Hot edit.
The flying start function does not function during the period from designation
of a program to end of Hot edit function.
A program having slave robot(s) is not selectable.
A weld line of harmonic command is not selectable.

144 OM1009082E17
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11.17 Restart after Servo-OFF

11.17.1 Outline
Smoothing is applied to our robot when the robot turns a
taught point on the corner in order to realize smooth and
high-speed movement. Taught point Taught point
When the robot is restarted after making an emergency
stop during smooth operation, the robot considers that it
has past through the taught point on the corner, and exe-
cutes the operation toward the point after the taught point
on the corner from the restarted point. Smoothing
In such case, if there is a jig near the corner, the robot may
interfere with the jig on the way to the next point. (See the
“Example 1” in the following table.)

This function is provided to avoid such interference by let Taught point

the robot move to the taught point nearest from the
stopped point, and then restart operation.

Examples of restart operation after an emergency stop during smooth operation at the corner point B.
“Toward the next point ” method “Toward the nearest point” method (Default setting)
The robot moves to the closest taught point from the
The robot moves direct to the taught point C as the
stopped point (point B in the below figures) to restart
robot considers that it has past through the point B.
the operation.

B B
C C

② Restart ② Restart

Example 1 Jig Jig

① Emergency stop ① Emergency stop

A A

B B
② Restart C ② Restart C

Example 2 Jig Jig

① Emergency stop ① Emergency stop

A A

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11.17.2 Settings
Select “Restart after Servo-OFF.”
Click
Specify the parameters and click OK.
>> >>Restart after Servo-OFF
[Next point (at running speed)]: Select it to move the Set Advanced
robot to the next point to restart (conventional method). settings
[Near point (at speed specified below)]: Select it to
move the robot to the nearest taught point to restart.
[Move speed]: Specify the robot travel speed toward the
“nearest taught point”. (0.01 - 15.00 m/min)

Note
• If the taught speed is smaller than the “Move speed”
specified here, the taught speed is applied.
• If an emergency stop is executed in a weld section, the
“Next point” method is applied regardless of the settings.
• If the mode is switched to TEACH mode after an emer-
gency stop, the robot restart operation by executing the
command where the cursor is positioned. (that is, in the
middle of the program.

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11.18 Preprocessing of WAIT / IF command

It is a function to preprocess the WAIT_IP, WAIT_VAL or IF
command and pass through the point without waiting the
preset time if the condition is satisfied at the preprocessing
time. It can reduce the tact time.
Note
The processing time changes if this function is set valid.
Make sure to do sufficient process verification prior to
using the function.

<Example: At the time of preprocessing the command:>

• If the condition is satisfied, then the :
Preprocessing Not satisfied
robot passes through the P2. MOVEL P1
MOVEL P2 Re-process
• If the condition is not satisfied, then the
P1
robot re-processes the command at the WAIT_IP i1#001=ON T=0.00
P2, that is, wait for an input at the P2. MOVEL P3 Satisfied
: P2 P3

11.18.1 Settings
Check the checkbox of the “Preprocess WAIT, IF com-
mands” to enable this function.
Click
>> >>Through point process
Note
• As this function does not re-examine the condition at the Set Advanced
settings
taught point if the condition is satisfied at the time of pre-
processing, Therefore, the function is not suitable for a
taught point an input change occurs immediately before
the point.
• The “Smoothing” is applied when the robot passes
through the taught point.
• To execute the command without applying this function
(i.e. without preprocessing) while turning ON this func-
tion, insert a DELAY command before the WAIT or IF
command. [Default] Reset to the factory settings (OFF state)
• If 17 or more WAIT and/or IF commands (in total) are
registered between two taught points, the preprocessing
of command won’t be executed even though it is enabled
in the settings.

11.18.2 Setting “Preprocess WAIT, IF commands” function individually

By using PREPROC command, it is possible to apply the
“Preprocess WAIT, IF command” function to specific points.
Note
Depending on the conditions (for example, delay command
exists, WAIT condition is not satisfied, JUMP command
exists, and so on.), the robot may instantaneously stop at
the taught point.
<Example>
If you want to preprocess the commands between the certain move commands, :
add the PREPROC ON command at the top of the command group. MOVEL P1
In the program on the right, the commands following the PREPROC ON, MOVEL P2
IF I1#001=ON• • • PREPROC ON
SET LI001=0, IF I1#001=ON• • •
are preprocessed. SET LI001=0
MOVEL P3
:

OM1009082E17 147
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11.19 Preprocess SHIFT-ON/OFF commands

The robot makes an instantaneous stop at a teach point
with SHIFT-ON or SHIFT-OFF command. However, w this
function enabled, the robot recognizes those teach points
as preprocess points, in other words, the robot proceeds
preprocess the commands includes SHIFT-ON/OFF of
those points without making an instantaneous stop.

11.19.1 Settings
Check the checkbox of the “Preprocess SHIFT-ON/OFF
commands” to enable this function.
[Default]: This function is factory set in the OFF position at
shipment. Click
>> >>Through point process

• Please note that if any arithmetic operation com- Set Advanced

settings
mand is registered in the same point and before
the SHIFT-ON point, the robot makes a stop at the
point regardless of the settings of this function.
(Example) MOVEL
SETEL GD.X GD001 = 1.00
SHIFT-ON GD001

Those arithmetic operation commands are ADD, SUB,

MUL, DIV, SET, SETEL, CNVSET(*), CLEAR and [Default] Reset to the factory settings (OFF state)

GETPOS(*).
（(*): As for CNVSET and GETPOS commands, the
robot makes an instantaneous stop even though the
commands are added after the SHIFT-ON command.)

• The robot makes an stop even if the variable of the

arithmetic operation command is not for SHIFT-
ON command. To avoid such situation, edit the
program so that the add the calculation of the vari-
ables GD or GT for SHIFT-ON command to the
teach point before the one SHIFT-ON command is
registered.

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11.20 Advanced error recovery

11.20.1 What is “Advanced error recovery”?
A function that allows the robot to automatically recover
from the error condition or escapes to the preset position
(marked step) for easy recovery in case of a weld error.
This function can reduce time and work load required for
an error recovery.
Note
While executing the advanced error recovery function, the
following functions are not operable.
• Error handling
• Resume
<Remarks on usage>
• This function can be adapted to other uses, for
example, it can be used to skip a certain weld sec-
tion or part of the weld section and continue welding
operation from the next weld section.
• It is possible to skip recovery process and restart
welding operation, therefore, you can skip welding
points where the error occurred and move on to the
next welding point to continue welding operation.
• While the robot is in error recovery processing, it is
possible to switch the mode to TEACH mode to exe-
cute manual operation or wire inching. (It is not pos-
sible to execute trace operation or program edit.)

• Basic movements
(1) When a weld error occurred while running a program,
the robot makes a weld error stop
(2) The robot escapes to the preset taught point (called
“marked step” (*1)) with back-step(*2) or forward-
step(*3).
(3) The robot stops at the marked step, or
executes the specified program(*4) and stops at the
marked step.
(4) With the external input, the robot follows the trajectory
of the program back to the taught point where the error (4)Returning to the point
(3)Recovery
occurred. where error occurred.
(5) Then, the robot restarts operation.
(5)Restart
(*1) An escape position during recover
Marked step processing. (2)Back stepping
Use R_MARK command to specify.
(*2) Robot movements on the trajectory (1)Error occurs
Back-step toward the beginning of the program.
(*3) Robot movements on the trajectory
Forward-step toward the end of the program.
(*4)Specified A recovery program, such as tip
program replacement and nozzle cleaning, to
be registered as execute statement.

• The function is not applicable under the following conditions.

• The mechanism of the applied program is an external
axis only.
• The multi-cooperative robot control function or the twin
harmonic operating function is in operation.
• The sensor shift or shift based on SHIFT-ON command
is in process.
• The shift based on arc sensor or auto extension is in pro-
cess.
parameter settings (“Use of recovery function”) in the
next section.
• There is no R_MARK command registered on the trajec-
tory (neither back-step nor forward-step).
• One of the following commands exists between the posi-
tion where the error occurred and R_MARK command.
CALL, GOHOME, JUMP, HOLD, PAUSE, RSTREV,
TCHSNS and SHIFT ON/OFF.

• The “Advanced error recovery” function is set to “Invalid”. • The override or offline edit is in process.

• The error occurred was not subject to the “Advanced • The program called by PARACALL command, whose
error recovery” function. (For details please refer to the mechanism contains an external axis is in operation.

OM1009082E17 149
 Advanced settings

11.20.2 Settings
1) Parameter settings
From the list of advanced settings, select the “Advanced
error recovery”.
Then complete the parameters on the displayed dialog box Click
and click OK. >> >>Advanced error recovery
Set Advanced
[Valid/Invalid] Select whether or not to enable this settings
function.
[Input for • • • /Output for • • •] Specify an input/out-
put terminal for each.
[Speed limit] Specify the speed limit during the recov-
ery processing.
[Use of recovery function]
Only welding error: The function is applicable only to
weld errors (Error codes start with “W”).
Any ‘hold’ situation: The function is applicable to all
errors.

In case of “Stick” or “Stick time out” error:

If the robot is stopped by either “Stick” or “Stick time out”
error, the robot executes stick check before starting the
recovery processing. If the stick error is still detected, the
robot makes an error stop. If the “Re-start” setting of the
“Stick release” function has been set to valid, then the
robot executes stick release operation.

2) Setting a “Marked step”

Register R_MARK command.
• With the program you want to apply the advance error
recovery function, register the R_MARK command in the
taught point you want to move the robot to for the recov-
ery processing in case of a specified error. (To be spe-
cific, the robot actually escapes to the taught point of the
first move command after the R_MARK command
toward the beginning of the program. (in the back-step
direction).
For details of setting procedure, please refer to section
“Flow commands”.)
• If you would like to execute an error recovery program,
such as nozzle cleaning and wire cut at the marked step,
enter the desired recovery program as the CALL argu-
ment to R_MARK command.
• PARACALL, STOP or GOHOME command cannot be
used in a recovery program. If executed, the warning
message “E1380: The command which cannot be exe-
cuted.”is displayed.

11.20.3 Operation
This section explains operation with an example program
using the advanced error recover function whose “Use of
recovery function” setting is “Only welding error”.

(1) When a weld error occurs, the robot

Moving direction
makes a weld error stop.
P1 P2
Based on the error state, the robot deter- P9 P10
mines which step to take, either “back- Forward-stepping
step” or “forward-step” and then turn on P3 Back-stepping
the specified input. P8
R_MARK command R_MARK
Back-step: Applied to escape to the (Marked step) P4 P7 command
P5 P6
marked step toward the beginning of the (ARC-ON) Stopped
(ARC-OFF)
(Marked step)
by an error
program.
Forward-step: Applied to escape to the marked step skip the weld section in which the error occurred and
toward the end of the program. (Use it if you want to continues operation from the next weld section.)

150 OM1009082E17
 Advanced settings

•Supplementary notes on “Back-step” and “Forward-step”

• They only move the robot to the marked step on the
main trace in the specified direction. Even though
there is a weaving section on the way to the marked
step, the robot does not execute weaving operation.
• The robot moves at the speed registered in the
move command. Even when the robot is moving in
a weld section, the speed registered in the move
command is applied (Not the speed registered in
the welding conditions.) If the speed registered in
the move command (of the “Advanced error recov-
ery” settings) exceeds the speed limit, the speed is
limited to the speed limit.
• “Restart” operation is not available while the robot is
in the stopping state after the “Back-step”/”Forward-
step”. To restart the robot at that stage, stop the
“Advanced error recovery” function.
• The “Back-step” won’t be executed if there is no
R_MARK command registered on the trajectory
toward the beginning of the program. At that time
the error message “E1360: R_MARK command
does not exist” is displayed.
• The “Forward-step” won’t be executed if there is no
R_MARK command registered on the trajectory
toward the end of the program. At that time the error
message “E1360: R_MARK command does not
exist” is displayed.
• To stop the “Back-step” operation along the way,
execute hold operation. Turning off the “Back-step”
input doesn’t stop the “Back-step” operation.
To resume the “Back-step” operation, turn on the
“Back-step” input once again.
To return the robot to the position stopped by the
error, turn on the “Input for returning to stop point”.
(The same is applied to ”Forward-step”.)
• while holding the “Back-step” operation, turning on
the “Forward-step” input does not change to the
“Forward-step” operation.
(The same is applied to “Forward-step”.)

• The robot reaches the marked step. (In this

Moving direction
example, the robot took the “Back-step”
P1 P2
operation.) P9 P10
To be specific, the robot actually escapes to
the taught point of the first move command P3 Back-stepping
after the R_MARK command toward the P8
R_MARK command
beginning of the program. (Marked step) P4 P5 P6 P7
If there is no move command between the (ARC-ON) Stopped
(ARC-OFF)
by an error
R_MARK command and the beginning of
the program, the robot stops at the last (* R_MARK command is registered between P3 and P4.)
move command before reaching the
R_MARK command.

• Once the robot starts “Back-step” operation, the “Output

for recovery function status” is turned ON.

• The “Output for recovery function status” is turned OFF

by completing or stopping the recovery processing.

• The message “Error recovery function is executing” is

displayed at the lower right of the screen. The message
is displayed until the function ends.

• Once arrived at the marked step, the

Mo ving direction
robot executes the program specified <CALL command>
Robot executes a preset program,
P1 P2
as CALL argument, and then stops at and then returns to and stops at the P9 P10
marked step.
the marked step.
While the robot is stopping at the <”NOP” command> P3
Back-stepping
Robot stops at the
marked step, the “Output for being the marked step P8
marked step” is turned on. P4
R_MARK command P5 P6 P7
(Marked step) (ARC-ON) Stopped (ARC-OFF)
by an error

•Supplementary notes on “R_MARK command

• If hold operation is applied while executing the tion.
called program of the R_MARK command, turn on To restart the original program, stop the recovery
the “Back-step” input to resume the operation. Exe- processing and execute restart operation.
cuting restart operation doesn’t resume the opera-

OM1009082E17 151
 Advanced settings

• The called program is executed at the speed of
move command specified in the program.
• The robot moves from the marked step to the begin-
ning of the called program according to the interpo-
lation type and speed specified in the move
command. Make sure the robot does not interfere
with jig or work-piece.
• After returning to the marked step, if the robot is
moves manually, turn on the “Back-step” input to
return the robot to the marked step.

(2) Turn on the “Input for returning to the

Moving direction
stop point”.
P1 P2
Then the robot returns to the position P9 P10
stopped by the error to end the
“Advanced error recovery” function. P3
Returning
P8

R_MARK command P4 P5 P6 P7
(Marked step (ARC-ON) Stopped (ARC-OFF)
by an error

•Supplementary notes on “Returning to the stop point”

• It only moves the robot to the stop point.
• The robot moves at the speed registered in the
move command. If the speed registered in the move
command (of the “Advanced error recovery” set-
tings) exceeds the speed limit, the speed is limited
to the speed limit.
• Even though there is a weaving section on the way
to the stop point, the robot does not execute weav-
ing operation.
• Turning off the “Returning to the stop point” input
doesn’t stop the “Returning to the stop point” opera-
tion.
To stop the operation, execute hold operation.
To resume the “Returning to the stop point” opera-
tion, turn on the “Returning to the stop point” input
once again.
• While executing the program called by the
R_MARK command, the “Returning to the stop
point” input is disabled.

(3) Restart to continue the program.

11.20.4 How to end “Advanced error recovery” function

It is possible to end the “Advanced error recovery” function
during the recovery processing. Please note that once the
recovery processing is ended, it is not possible to resume
the processing.
Procedure
Execute either one of the following operations while stop-
ping the recovery processing.
• Turn on the “Input for ending recovery function”.
• With the teaching pendant,
From the menu bar, click “Input for ending recovery func-

tion” icon.

•Supplementary notes on ending procedure

• It is not possible to force-quit the running main pro-
gram while executing the “Advanced error recovery”
function.
• To force-quit the main program, end the “Advanced
error recovery” function and then perform a force-
quit.

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11.20.5 Restart of the “Advanced error recovery” function

The robot movements after restart vary with how the func-
tion was ended as follows.
Condition when the function was ended. Movements after restart

1 When the robot is in the hold state during “Back- The robot resumes operation from the position it was held. For
step” or “Forward-step” operation. example, in case that the function was ended at a position
between P4 and P5 during “Back-step” operation, if the robot is
re-started after executing manual operation, the first movement
2 When the robot is stopping at the marked step. of the robot is to move to P5.
Moving direction
③Manual operation ④ Re-start
P1 P2
P9 P10
②Finishing
①Held while
3 When the robot is in the hold state while returning P3 back-stepping

to the error stopped point. R_MARK command

P8
(Marked step)
P4 P5 P6 P7
(ARC-ON) Stopped (ARC-OFF)
by an error

4 When the robot is in the hold state while executing The robot does not execute the remaining part of the called
the called program. program.
The robot first returns to the marked step and then starts with
the command right after the R_MARK command.

11.20.6 TEACH mode operation during the “Advanced error recovery” operation
It is possible to switch the mode to TEACH mode and
move the robot manually.
However, the contents of the program won’t be displayed.
• Manual operation types
Available
• Manual operation (except trace operation)
• Inching and gas-check
• I/O monitor (Output status change and output reset)
• Display change
Not available
• Tracing
• Editing
• Cursor operation

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11.21 IO comment import/IO comment export

11.21.1 Outline
• “IO comment import” is a function that facilitates change
of user I/O terminals data settings, such as terminal
name and comment, using csv file (comma-separated
variables: a text file that uses commas to separate vari-
ables) created on a PC and so on. With this function,
names and comments of the user I/O terminals can be
set easily at the time of installation.
• “IO comment export” is a function to export I/O terminal
data, such as terminal names and comments to a mem-
ory card as CSV file. This function is useful to make a
copy of I/O settings of a robot to another robot

11.21.2 Applicable terminals

User input terminals: 1-bit, 4-bit,8-bit, 16-bit

User output terminals: 1-bit, 4-bit,8-bit, 16-bit

11.21.3 File format

One line is for one setting. Separate each data, such as
setting name, terminal name, comment, with a comma (,) Example
.
; Input terminals
• Setting name: I1#0001, Auto start terminal 1,
Name is distinguished by the software, therefore, it is I1#0002, Auto start terminal 2,
necessary to follow the rules below. 　　(Snip)
• Name should be written in one-byte characters. I1#0040, Auto start terminal 40,
• Name should be written in the following format. I4#0001, Auto start terminal1,
　　(Snip)
I1#0001 I4#0010, Auto start terminal 10,
Terminal #: Enter a four-digit number or
I8#0001, Auto start terminal 1,
smaller including “0”.
Terminal size: 1: 1-bit, 4: 4-bit, 8: 8-bit, 16:16-bit
　　(Snip)
I8#0005, Auto start terminal 5,
Terminal type: I: Input, O: Output, I16#0001, Auto start terminal 1,
I16#0002, Auto start terminal 2,
• Terminal name: I16#0003, Auto start terminal 3,

Up to 20 bytes. ; Output terminals

O1#0001, Auto start terminal 1,
• Comment line: O1#0002, Auto start terminal 2,
　　(Snip)
Start the line with a semicolon(;), then the line is recog- O1#0040, Auto start terminal 40,
nized as a comment line and is skipped in the import O4#0001, Auto start terminal1,
processing.
　　(Snip)
This format is useful to keep the file neat.
O4#0010, Auto start terminal 10,
O8#0001, Auto start terminal1,
Note 　　(Snip)
If a file containing more than the specified number of char- O8#0005, Auto start terminal 5,
acteristic is imported, characters after the specified number O16#0001, Auto start terminal 1,
are ignored. O16#0002, Auto start terminal 2,
O16#0003, Auto start terminal 3,

154 OM1009082E17
 Advanced settings

11.21.4 How to import I/O comments

(1) Save the created setting file to the memory card.
(2) Insert the memory card into the teach pendant of the
target robot (the robot to apply the settings). Click >>IO comment import export
(3) From the “Advanced settings” menu list, select “IO
>>
comment import export”, then, a dialog box is dis-
played. Select “IO comment import”. Set Advanced
settings
(4) Select the memory card, and then specify the setting
file you would like to import.
(5) The import completion message is displayed to inform
the end of import operation.

Note
• In case that the created setting file contains an error,
instead of stopping the import processing, skip the line
containing the error and then move to the next line to
continue the processing. At the same time, the following
message is displayed.

The line number in the message represents the line with

the error. If plural lines contain errors, the smallest line
number among the error-contained lines is displayed.
• Probable errors are as follows:
(a) The terminal number exceeds the setting range.
(b) The format of the setting name is wrong.
(c) The comma is not in one-byte character.
• If a setting name is duplicated, the contents of the larger
line number are applied.

11.21.5 How to export I/O comments

(1) Save the created setting file to the memory card.
(2) Insert the memory card into the teach pendant of the Click >>IO comment import export
target robot (the robot to apply the settings).
>>
(3) From the “Advanced settings” menu list, select “IO
Set Advanced
comment import export”, then, a dialog box is dis- settings
played. Select “IO comment export”.
(4) Select the memory card, and specify the file name,
and then click OK.
The default file name is “IOdata.txt”. Change the name
as needed.
(5) The export completion message is displayed to inform
the end of export operation.

Note
In case of insufficient memory or write protected memory
card, the setting file data won’t be stored and the message
“Failed the file save process. Please save the file once
again.” is displayed.

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11.21.6 How to import IO comment of a G2/WG controller

It is possible to import IO comments exported from a G2/ Format of the comments before and after the import are as
WG controller (conventional model) to a G3/WG controller. follows.
Format of IO comment of G2/WG controller Terminal name of G3/WG controller
(Before import) (After import)
“Setting name”, “Terminal name” (up to 8 bytes),
→ Terminal name+(1 byte space)+Comment (Up to 20 bytes)
“Comments” (up to 20 bytes)

Note
If the “Terminal name+(1 byte space)+Comments” exceeds 20
bytes, the contents of the 21st byte onwards are deleted.

(Example)
IO comment of G2/WG controller “Terminal name” to be set in G3/WG controller
Setting name, Terminal name, Comment Setting name Terminal name and Comment
I1#001, AAAA, BBBBBBBB → I1#0001 AAAA BBBBBBBB
1234 567890123456789
* As the total string length (including 1 byte
O1#001, 1234, 56789012345678901234 → O1#0001
space) of the terminal name exceeds 20, the
21st character onwards are not imported.
* As the high speed input terminal does not exist in G3/WG con-
HI1#001, X, Y →
trollers, the comment is not imported.

11.21.7 How to export IO comment to a G2/WG controller

In order to import the IO comment (terminal name)
exported from a G3/WG controller, it is necessary to
change the format of comment to that of G2/WG controller
using a personal computer as follows.
An example of the changes:
Using the IO comment of G3/WG controller:
•Change points I1#0001, ABCDEFGHIJKLMNOPQR,
(1) Change the length of the terminal number of the setting name:
I1#001, ABCDEFGHIJKLMNOPQR,
From four digits to three digits.
(2) Change the length of the terminal name:
I1#001, ABCDEFGH,
From 20 bytes to 8 bytes.
(3) Add comment (up to 20 bytes) after the comma, if needed. I1#001, ABCDEFGH, IJKLMNOPQR,
(4) Add IO comment of the high speed terminal, if needed. I1#001, ABCDEFGHIJKLMNOPQR,
HI1#001, 1234, 5678

Note
As for procedure to import IO comment to a G2/WG con-
troller, please refer to the operating instructions (Operation)
of the G2/WG controllers.

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11.22 Program start method

11.22.1 Outline
It is a setting to determine the processing of a program
start select input accepted while holding the currently run-
ning program; Whether to reserve the selected program
and continue the current program, or to close the current
program and open the selected program.

11.22.2 Setting procedure

On the “Function customize” dialog box, select “Program
start method” and click OK. Click >> Function >> Program start
customize method
>>
[Only the program reserve] Once a program start select Set Advanced
input is accepted, the selected program is reserved. The settings
program will be started after completion of the running
program.

[In hold state, close the running program and •••] ?

Once a program start select input is accepted, the cur-
rently running program is terminated and the selected
program will be started. (For details, see the next sec-
tion.)

It is factory set to “Only the program reserve” at shipment.

11.22.3 Processing of “Close the running program and open the selected program” method
(1) While the running program (Prog0001) is in hold state,
a program reserve input of the selected program
Start input
(Prog0002) is turned on from an external device.
(2) The running program (Prog0001) is terminated. Start
(3) The selected program (Prog0002) is opened. Stop Program0002

（4）When operation is restarted, the selected program Running

(Prog0002) starts operation. program
Program0001 Program0002

Note
Keep the start input in the ON state for 0.2 second or lon- Prog0002
ger. program reserve
input
0.2 second or more

11.22.4 Supplemental explanation of “Close the running program and open the selected pro-
gram” method
• The robot accepts the program reserve input and select
a program when the “Holding output” (a status output
terminal) is in the ON state.
• While holding a program, if a program reserve input of
the same program as the currently holding program is
turned on, the robot starts over the currently holding
program from the beginning.
• If the mode select switch on the teach pendant is
switched from Teach mode to Auto mode, even if the
program reserve input was turned on before switching
the mode to AUTO, the input is ignored. Therefore, the
new program won’t be specified.
• When an output strobe is specified, if the program
reserve input is turned on while the output strobe is in
the ON state (for about 0.5 second), the input is ignored
and the new program won’t be specified.
• If the program reserve input is turned on while running a
program, the input is ignored, therefore, the new pro-
gram won’t be specified. The program won’t be
reserved.

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11.23 Operational mechanism restriction

11.23.1 Outline
A function to specify how to switch the operational mech-
anism and also which robot is to be applied after switch-
ing back to AUTO mode.

11.23.2 Setting procedure

[Restrict the L-shift key operation to the pages •••]
• Select it to restrict the L-shift key operation to switch Click >> Operational mechanism
restriction
within the current mechanism unit. >>
• If the checkbox is clear, all mechanisms are subject Set Advanced
to be displayed with the L-shift key operation. settings
[By switching to Teach mode, the left function •••]
• Select it then when the mode is switched back to
Teach mode, the left function keys indicate the
motion function keys on the first page. (If the mech-
anism has the robot (master) then the function keys
of master robot are displayed).
• If the checkbox is clear, when the mode is switched
back to Teach mode, the left function keys indicate
those last-indicated in Teach mode.

About “Restrict the L-shift key operation to the pages •••”

Within the current mechanism (Checkbox: Marked) All mechanisms (Checkbox: Clear)
Left click
For Master For Salve
For Master For Salve

Switching
within a
mechanism
unit.

Left click

11.23.3 Operation
When the L-shift key operation is restricted (the checkbox
of “Restrict the L-shift key operation•••” is marked), specify
the target mechanism unit from “Robot”, “External axis”
and “RobotA”.
Robot (Master)
External axis
Note
• By assigning “Change Robot E-axis” icon to a user func- RobotA (Slave)
tion key (See “Customize function keys”), switching of
Left function keys
the mechanism operation becomes easier.
• “External axis” and “RobotA” may not be indicated
User function key
depending on the mechanism structure.

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11.23.4 Supplement
• As for Mechanism menu, regardless of settings, only
selectable operational mechanism icons are displayed.
For example, if the mechanism of the current program Indicates mechanism number
has “Robot” (master) only, only the “Robot” (master) icon
is displayed and also is selectable.
Change operational mechanism
• After switching operational mechanisms, the left function
keys indicate the first page of the currently available keys
list. (It does not retain the previous indication.)
• In harmonious system, if the harmonious icon is turned Change mechanisms
ON, the mechanism number icon is displayed on the
menu bar. • The timings to switch the left function key to “Robot
It also indicates “operational mechanism” icons, there- (Master)” when the mode is switched back to Teach
fore, it is possible to switch operational mechanisms. mode are,
- when the mode is switched from Auto to Teach,
- when the program test is completed, or
- when global variable setting mode is finished.

OM1009082E17 159
 System information/Back up settings

12. System information/Back up settings

12.1 Error/Alarm history

(1) From the “Error/Alarm history” dialog box, select either
“Error history” or “Alarm history”. Click
Select a type of history. >>
With standard specifications, up to 40 related errors and 20 Set Error/Alarm
related alarms for “Main”, “Servo” and “Welder” can be history
stored respectively.
:
Errors/alarms type:
ALL Displays all types
Main Main software related ones.
Servo Servo related ones.
Welder Welder related ones.

< Note >

You can change the number of errors/alarms in the his-
tory list with “System data adjustment” dialog box
(under Management settings).

[Program] The name of the program in which the error/

alarm occurred.
[Position] The name of the taught point in which the < Alarm history >
error/alarm occurred.

<About program name and position name>

• Priority in saving the error/alarm history:
1. Program that includes the main axes (master robot)
2. Program that includes the slave robot.
3. Program that includes external axes.
4. Program with no axis (no mechanism).
In case of multiple no-mechanism programs, save
programs in reverse chronological order (from the < Error history >
one executed last).
• The error/alarm history with position name “Begin of Pro-
gram” in the “Position” indicates an error/alarm that has
occurred before starting the program.
• For an error/alarm that has occurred after returning from
the Called program and before starting operation of the
original program, the “R: (Called program name)” is
stored as the position name.
• For an error/alarm occurred before executing any pro-
gram, no program hasn’t been operated yet, “E:” is
stored as “Program” name and no position name (blank).
• For an error/alarm occurred after completing or closing a
program, “E: (the program names executed last)” and
“The name of the last position of the program” are stored.
• In teach mode, “T: (the program name executed last)”
and “Position name” are stored.

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 System information/Back up settings

12.2 Backup
It is recommended to make a backup copy of programs
Click
and settings saved in the controller to a SD memory card
or a USB memory. You can quickly rebuild memory from >>
the backup in case of a memory crash. Set Backup

First, you need to either insert a SD memory card into the

SD memory card slot or a USB memory card into the USB
port of the teach pendant. (Please refer to the operating
instructions of the robot controller.)

Note
• Prior to making a backup copy to a SD memory card,
make sure that the SD card is in “write possible” condi-
tion.
• Backup files are data containing important information of
your equipment and facilities. Please store the backup
files with caution not to edit intentionally or damage them
by copying them to another media. (With damaged files,
it is not possible to rebuild memory in the robot.)
• Do not offer the backup data with a third party. The con-
tents of the backup data may be analyzed. Save Saves a backup copy of a specified data
in a specified file.
• Do not remove the SD card or USB memory card from
the teach pendant while transferring a data. If removed, Load Loads a specified backup data to a
file can be damaged. The robot does not function cor- specified file.
rectly with damaged file. Verify Verifies backup data and the robot mem-
ory data after the data have been saved
and loaded.

OM1009082E17 161
 System information/Back up settings

12.2.1 Save
It saves a backup copy of a specified data in a specified
file.

[All data] To make a backup copy of all data in the con-

troller.
[Individual data] To specify data to make a backup
copy individually. (See below table)
Teach program All teach programs.
ArcStart and ArcEnd pro-
Weld file grams for welding.
Function data 1 Standard settings dada reliant
(Model-dependent on the applied model.
data) • Soft-limit
• Load parameter
• Tool offset
Function data 2 Following setting data
(Model-independent • Standard settings (exclud-
data) ing the above setting items)
• Advanced settings
• Input/Output
• Variables
• Cycle time settings
• More menu settings
Weld settings “Weld” setting data.
Product data(*) • “Management settings” set-
ting data (except robot ori-
gin data).
• Error/alarm history
Origin data Origin position data (refer-
ence position and origin cor-
rection value) of robot and
external axes.

Note
(*):
• It is not possible to load “Date” settings.
• (*):
Of the “System” setup data, data of the optional
functions added to the system won’t be loaded
unless they are valid functions in the controller.
• Both of the above data are in “Product data”.
• The backup copy of the “Maintenance data” will be
automatically saved by executing backup opera-
tion. However, load of such data is available only
by service engineers.

162 OM1009082E17
 System information/Back up settings

12.2.2 Load
It loads a specified backup data to a specified file.

• Same name file:

[Skip]: Skips the teach file if the file of the same name
has been previously loaded.
[Replace]: Replace data of the teach file if the file of the
same name has been previously loaded unless it is pro-
tected.
[Replace (All files)]: Replace data of the teach file if the
file of the same name (including protected ones) has
been previously loaded.

12.2.3 Verify
It verifies backup data saved in the memory card and the
data in the controller.

The dialog box to specify a file to a desired “Save to” file

name (similar to the one for “Save”) appears.
Specify a file name and click OK. Then, it prompts you to
confirm if you want to verify the backup copy after copying.

12.2.4 Scheduled backup

It is a function to make a backup of the data in the control-
ler to the SD memory card located on the main CPU card in
the controller on a regular basis.

This function helps you bring the system back into close to
the latest condition quite easily in case of system failure.

• Settings
* Login as “System” level.
[Scheduled backup] Specify whether to use the func-
tion (Valid) or not (Invalid).
[Schedule] Specifies backup intervals.
Select either daily or weekly.
Then specify time for “Daily” setting and day for
“Weekly” setting.
[Maximum number] Specify the generation number of
the backup copies.

OM1009082E17 163
 System information/Back up settings

• Execution conditions
The scheduled backup is automatically executed at the <Display while executing scheduled backup>
preset time/day if the following conditions are satisfied.
• Power to the robot controller is ON.
• The robot is in AUTO mode.
• The teach pendant is not in use.
* Please note that the scheduled backup is executed
even when the robot is in operation.

• Backup data folder

A backup data is stored in a folder created in the “Sched-
uledBackup” folder in the SD memory card on the main
CPU card in the controller. The file name is composed of
“date of the execution”+”Robot model name”+“Production
number.”
If the number of folders in the ScheduledBackup folder has Scheduled Backup
reached the preset “Maximum number”, the scheduled 20101103_TA1400WG3_2010Ι033 ← 1
backup is executed after deleting the oldest folder from the
scheduled backup folder. 20101104_TA1400WG3_2010Ι033 ← 2
20101105_TA1400WG3_2010Ι033 ← 3
Note
(1) The backup won’t be executed if the robot is in any 1 Backup data created on 3 November, 2010.
one of the following conditions. 2 Backup data created on 4 November, 2010.
• While operating the teach pendant. 3 Backup data created on 5 November, 2010.
• Power to the robot controller is OFF.
• Mode select switch is in TEACH mode.
• Override icon lamp is ON.
• Off-line edit icon lamp is ON.
• A dialog box, such as “Limit condition” and “File
open” is on the display screen.
• In an error condition (An error message box is on
the screen.)
(2) The robot goes into an error state during backup oper-
ation in the following conditions.
• No SD memory card exists or the SD memory card
is removed during backup operation.
• Failed to delete an old folder/file.
• The memory card becomes out of space during
backup operation.
• SD memory card is write-protected.

Note
• In case the robot comes to an error stop due to power
discontinuity or so during the scheduled backup opera-
tion, a folder beginning with ”Temp_Make” or “Temp_Del”
may be created in the ScheduledBackup folder in the SD
memory card. Do not attempt to load the backup files in
the folder as they are incomplete data.
• Make sure to use SD/SDHC memory card formatting
software, “SD formatter” to format a SD memory card for
scheduled backup for optimum access to the SD mem-
ory card.
In general, the file system of SD memory soft formatted
with a standard formatting software for personal comput-
ers does not comply with the SD memory card standard.
Download the “SD formatter” from Panasonic’s Web site;
http://panasonic.jp/support/global/cs/sd/download/

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 System information/Back up settings

12.2.5 Scheduled backup data transport

It is a function to transfer the backup data stored on the SD <Transferred data in the external memory>
memory card located on the main CPU card to an external Scheduled Backup
memory, such as USB memory and SD memory) con-
nected to the teach pendant. With this function it is possible 20101103_TA1400WG3_2010Ι033
to take the backup data without removing the SD memory 20101104_TA1400WG3_2010Ι033
card from the main CPU card. 20101105_TA1400WG3_2010Ι033

By executing the function, the “ScheduledBackup” folder is

automatically created in the external memory connected to
the teach pendant, and copy of the backup data is stored in
the folder.

<Operation>
(1) Select “Scheduled backup data Transport”.

(2) Then select a backup data to transfer.

[ALL] To transfer all backup data in the SD memory
card.
[Individual] Select it to transfer the specified backup
data in the SD memory card.

(3) Then on the next dialog box, select an external mem-

ory the backup data is transferred to.

12.2.6 Removal of scheduled backup “Temp folder”

During scheduled backup operation, if the robot makes an
abnormal end due to power discontinuity, stop operation or
the like, folders the scheduled backup data in process is
stored with names start with “Temp”, such as “Temp_Make”
and “Temp_Del” may be stored in the “ScheduledBackup”
folder. Having such “Temp” folders in the “Scheduled-
Backup” folder can cause memory shortage of the SD
memory card.
This function is to remove such “Temp” folders in the
“ScheduledBackup” folder. Once executed, it removes all
folders named “Temp_(something)”.

<Operation>
Select “Scheduled backup ‘Temp folder’ remove”.
Then, on the displayed dialog box, select “Yes”.

Note
If the message “Scheduled backup is skipped. Available
SD memory is low.” is displayed, remove the “Temp” fold-
ers with this function. (The process may take several min-
utes to complete.)

OM1009082E17 165
 Management settings

13. Management settings

13.1 System settings
The ‘System settings’ are settings that configure all equip-
Click
ment including the robot that comprises the system. You >> System
can also check, change or delete the connection settings >>
among the robot and optional equipment, such as external Set Management
axis. settings

Note
For details function settings of optional equipment, includ-
ing external axis, please refer to the operating instructions
of the optional equipment. Click “+” + Robot + Robot
+ Mechanism Edit
+ Property
<Supplementary notes>
+ Mechanism
• “+” mark to the left of an item:
It indicates that the item contains sub-item(s). Click the +
mark to open the sub-item(s).
• “–” mark to the left of an item:
Click it to close the sub-item(s).
• To delete a item
if “Delete” is provided as sub-item, select it to delete the
item.

[Add(standard)] [Add(option)] Displays the specified set-

ting dialog box to add an item.

13.1.1 Robot settings

A function to register the applied robot installation type,
such as standard, angle or ceiling.
Click “Edit”
On the “System” screen, select Edit under Robot to dis-
play setting dialog box.
[Type] Specifies the applied manipulator type.
[Mounting] Robot installation type. (standard, ceiling,
angle)

< Note >

For ceiling type robots, “Ceiling” is displayed as the
installation type is factory set to “Ceiling” at shipment.
The setting cannot be changed.
[Tilt angle] Specifies the angle if the robot is installed
on a slant.

166 OM1009082E17
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13.1.2 Add optional functions

When you add an optional unit, use this to add the func-
tion(s) of the optional unit to the system.
(1) On the System” screen, click on the “Add(option)”
button to display the “Add option” dialog box.
(2) Specify an optional function you want to add, and click
the OK button to register.

Note
The following functions are provided as standard functions
which need to be added to the system using “Add (stan-
dard)” button.
• Multi-welders (Only for G3 controllers)
• Input for switching welders
• TAWERS characteristic switching
• Multi-mechanism
• External comm. (External communication)

13.1.3 Multi-mechanism
A function to operate multiple mechanisms using PARA-
Click
CALL command. >> System
>>
<Setting procedure> Set Management
On the “System” screen, click “Add(standard)” button. settings
Then select “Multi-mechanism” from the list.

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 Management settings

13.1.4 Multi-welders settings

It is not possible to use both “Multi-welders” and “Switching welders by the external input”
functions at the same time. If either one of the functions has been added, it is not possible
Note
to add the other function. If attempted, a warning message is displayed and the function
attempted to add later won’t be added.

With this function, when you switch to another program, the • With “New” dialog box
welder registered in the program is applied. Click
>>
Note File New
This function is not applicable in the following conditions.
(The “Multi-welders” is not selectable.)
• A WG type controller is used.
• Multi-cooperative robot control is used.
• The function “Input for switching welders” is applied.
It is not possible to use “Input for switching welders” and
“Multi-welder” at the same time.

• Procedures
(1) On the “System” dialog box, click “Add(standard)”
button.
Select “Multi-welders” from the list. • With the “Property” dialog box
(2) Specify a welder on with either “New” file dialog box or Click
“Properties” dialog box.
>>
File Properties

Note
• Select a welder from default welder.
• Make sure to add “Multi-welders” to the system list to
enable settings of “Welder” on “New” and “Properties”
dialog box.

13.1.5 Switching welders by the external input (G3 controllers only)

It is not possible to use both “Multi-welders” and “Switching welders by the external input”
functions at the same time. If either one of the functions has been added, it is not possible
Note
to add the other function. If attempted, a warning message is displayed and the function
attempted to add later won’t be added.

This function is to change the default welder to the welder

specified by the external input.
• Procedure
(1) On the “System” screen (Set>Management set-
tings>System), click “Add(standard)” button.
(2) Then select “Switching welders by the external input”
from the list, and click OK.
* Once the function is added to list in the system
screen, the “Input for switching welders” is displayed
in the list of Arc welding machine settings.

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13.1.6 Switching TAWERS characteristics

Note This function is available only when TAWERS series are used.

With TAWERS series, it is possible to specify up to five

Click
welding characteristics. With this function, you can switch >> System
the characteristics during operation. You can also check >>
the currently applied welding characteristics. (For details, Set Management
please refer to section “14.1.14 Selected welder output settings
(TAWERS only).”
• Setting procedure
(1) On the “System” screen, click “Add(standard)” button.
Then select “TAWERS characteristics switching, and
click OK to add the function to the system screen.
(2) For each program, specify a welder characteristics number
as a welder number. To specify or change the welder number
to a program, use the setting item; Welder, in the “New” or
“Property” settings dialog box of the File menu.
(3) If “Welder” is set to “No select”, welding characteristics
won’t be changed. The welding characteristics applied
in the program most recently is executed. At power-on,
the robot makes movements based on “Weld1” settings.
When it is set to “No select”, “Weld?” is indicated at the
beginning of the program.

Note
• Programs created before adding this “TAWERS charac-
teristics switching” function are regarded as “No select”.
To apply “Weld1” welding characteristics to the program New
that has been set to “No select”, click Edit under “TAW-
ERS characteristics switching” on the System screen.
On the newly displayed following dialog box, mark the
check-box of the “The weld property ‘No select’ (Weld?)
always specifies the ‘Weld1’.”

Properties

• In case of executing PARACALL command (i.e., parallel

execution of programs), set the weld characteristics of
one of the target programs to “No select”.
In the parallel execution of programs, the welding char-
acteristics of the program executed later is applied.
• [Applied to the MAG/TIG switch]
A setting item for an optional function “TAWERS-TIG”.
• When [Error stop when the welder property is ‘No
select’ (Weld?)] is selected (default setting), if welding Indication of applied welder number
operation is attempted using a program whose welder is
set to “No select”, the robot makes an error stop.
If a program whose welder is set to “No select” is
attempted to open in teach mode or in offline edit opera-
tion, the warning message “TAWERS characteristic
switching is valid, but the welder type is not selected.
Please select the welder type.“ is displayed.

• How to reset
To disable this function, delete the function from the list of
“System” screen. On the “System” screen, select a sub-
menu “Delete” under the function to delete.

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 Management settings

13.1.7 TAWERS AMP/WFS switching (TAWERS only)

Note This function is available only when TAWER series are used.

It is possible to switch the welding condition parameter

type between “Welding current and welding voltage” (AMP
VOLT) and “Wire feed speed and welding voltage” (WFS
VOLT). It is also possible to switch the wire feed speed set-
ting unit to “inch”.

• Settings
(1) On the ‘System’ screen, press Add button. And on the
‘Add option’ dialog box, select “TAWERS AMP/WFS
switching” and click OK button to display the setting
item: “TAWERS AMP/WFS switching”, the ‘System’
screen.
(2) On the ‘System’ screen, click the submenu of the
“TAWERS AMP/WFS switching“: “Edit”, and then
select “Valid”.

Note
Use the “Welder settings” menu to specify the welding con-
dition parameter type.

[AMP/WFS Switching]
Specifies if you want to make the function valid or invalid.

The “AMP/WFS Switching” icon: is displayed only

when it is set to “Valid”. When it is set to “Invalid”, switching
won’t be available as no the menu won’t be displayed.

• How to reset
To disable this function, select the submenu of the “TAW-
ERS AMP/WFS switching“: “Delete”, on the ‘System’
screen.

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13.1.8 External communication (External comm.) function

A function to save and load a backup copy by connecting
the robot and a PC with Ethernet.

Together with an optional software for TAWERS; “Welding

data management” function (YA-1TPWY1) or “TAWERS
Welding data log” function (YA-1TPWY1T01), it is possible
to save the welding data stored on the robot to a PC.

* To use the external communication function, the “Inte-

grated PC tool software” (sold separately) is needed.

• Setting procedure
(1) Add the “External communication function to the list on
the System screen.
Click Add (standard) button on the System screen
and select “External communication”, and then click
OK.
(2) Set IP address, subnet mask and other necessary set-
tings. For details of the necessary settings, please
refer to the operating instructions of “Integrated PC
tool software.”

< Note >

Ask the person in charge of network system you are
going to use for details of communication settings.

• External communication specifications

Item Specification
Standards IEEE802.3/IEEE802.3u
Automatically set by means of
automatic negotiation.
Communication
(Basically, 10BASE-T•100BASE-
mode
TX/Half Duplex or 10BASE-
T•100BASE-TX/Full Duplex)
Connector: RJ-45
Communications
Cable: Category 5 or higher.
interface
(Customer preparation)

< Note >

Use of a twisted pair cable in noisy environments can
cause a communication problem. Make sure to use STP
(shielded twisted pair) cable (a noise suppression type
cable). (Recommendation: LD-CTS series, product of
ELECOM)

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13.2 System data adjustment

It specifies the number of system data to be used.
Adjustable items
Standard Setting
Item
value value Click
>> System data adjustment
Mechanism 7 7-30 >>
Tool offset 10 10-30 Set Management
settings
Cube monitoring 4 4-10
Ext-Axis range monitoring 4 4-20
GB variable 10 10-999
GI variable 10 10-999
GL variable 10 10-999
GR variable 10 10-999
GA variable 50 50-999
GP variable 50 50-999
GD variable 50 50-999
GT variable 10 10-999
Error history (Main) 40 40-100
Error history (Servo) 40 40-100
Error history (Weld) 40 40-100
Alarm history (Main) 20 20-100
Alarm history (Servo) 20 20-100
Alarm history (Weld) 20 20-100
User information 10 10-99
Welding condition table 10 10-50

Note
The system data cannot be adjusted under the following
conditions.
• In “Mechanism” settings, if the number of mechanism
data to be set is below the number of mechanisms used
in the system.
• If the number of tool offset data to be set is smaller than
the tool number specified as the standard tool.
• In “Cube monitoring” and “Ext-Axis range monitoring”,
settings, if the number of the data to be set is smaller
than the effective monitoring number.
• In “User information”, if the number of user information
data to be set is smaller than the registered number of
users.

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13.3 User management settings

• The robot is designed to administer robot users individu-
ally.
Note
• By registering individual user (User ID), it is possible to
Only users of System administrators level can set,
keep records of each program data, such as who created
delete or change parameters.
which program.
• By establishing user levels, you can stratify the robot set-
tings and protection of the existing programs, and admin-
ister them. Attention
• Please make sure to remember your User ID and
User level Description Operation range password.

Operator Robot operators Robot operation • Avoid password that can be easily guessed.

Persons in charge Robot operation • To prevent computer abuse, it is recommended to

Programmer change password on a regular basis.
of teaching Teaching
Robot operation
Robot system
System Teaching
administrators
Robot settings

13.3.1 Set items

Set items are as follows.
Set item Description Click
>> User management
User Register a new robot user. >>
registration Change data of registered users. Set Management
settings
Automatically login to the specified
Auto login
user ID when the power is turned on.
Automatically switch to operator
level after a certain period of time of
Auto logout non-operational state. This setting is
to prevent another user to use your
User ID.
Number of Change the number of registerable
User ID settings user IDs. (Setting range: 10 to 99)

13.3.2 “User registration” settings

Refer to the following table and press the function key of
the desired operation.

F1 New registration
Change registered data Use “User registration”
F2 (Password, user level, dialog box.
and etc.)
On the confirmation box,
F3 Delete a User ID click OK to delete the
User ID.

The registered User ID is appeared on the list of user IDs

that is displayed by clicking the Browse. Input “F1”
So once you have registered the User ID, you can select
the use ID from the list and then enter your password to
logon. *

(* An example.)

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13.3.3 “Auto login” settings

[Auto login] Specify whether to use the function (valid)
or not (invalid).
[Display login screen at power on] Select it to dis-
play the login dialog box when the power is turned on
[Auto login in user ID before the power off] Select it
to automatically login to the user ID used before the
power was turned off last.
[Auto login in specific user ID] Select it to automati-
cally login to the specified user ID. (Selectable when the
“Auto login” is not set.)
[Specific user ID] Select it to change the specified
user ID.

13.3.4 “Auto logout” settings

[Auto logout function] Select valid to automatically
switch to operator level after a certain period of time of
non-operational state.
[No-operation time until auto logout] A period of
time to monitor non-operational state.

13.3.5 Number of User ID settings

The “System data adjustment” dialog box is displayed.
Then you can change the number of registerable user IDs.
For details please refer to section “13.2 System data
adjustment” on page 172.

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13.4 Origin adjustment

This function is to set the relationship of the standard posi-
Click
tions of the robot and external axis to the encoder pulse of >> Origin position
each motor. >>
Set Management
Menu name Adjustment settings
Specify the standard position
Standard position
(angle) at the time of encoder
(Robot)
pulse setup of the robot motor.
Specify the standard position
Standard position (angle) at the time of encoder
(External axis) pulse setup of the external axis
motor.
Use MDI (numerical value input) to
specify the encoder pulse of the
MDI (Robot)
robot motor at the standard posi-
tion.
Use MDI (numerical value input) to
MDI specify the encoder pulse of the
(External axis) external axis motor at the standard
position.
Note To end the settings
Teach the encoder pulse of the
Teach
robot motor at the standard posi- Click
(Robot)
tion to specify. >>
Teach the encoder pulse of the File Close
Teach
external axis motor at the standard
(External axis)
position to specify.
Teach the multi-rotation data of the
Multi--rotation
encoder pulse of the robot motor at
(Robot)
the standard positoin to specify.

13.4.1 Standard position (Robot or External axis)

Standard position (Robot) Standard position (External axis)

With HS and YS manipulators, the value of “BW” is zero (0).

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13.4.2 MDI (Robot or External axis)

Adjust the encoder pulse of each axis by specifying the
“angle pulse” to the left box and the “revolution” to the right
box of the asterisk.
MDI (Robot) MDI (External axis)

13.4.3 Teaching (Robot or External axis)

(1) Mark the check-box of the desired axis, and click the
Next button. Then the setting dialog box is displayed
to fill the screen.
(2) Move the robot or external axis to the origin manually,
and press ENTER key to update the values.
Teach (Main axis) Teach (External axis)

Note
• For TM manipulator users:
In case of adjusting the TW axis to the origin individually,
move the BW axis to the standard position beforehand.
After adjusting the BW axis to the origin individually,
adjust the TW axis to the origin.
• For HS and YS manipulator users:
- After adjusting the RW axis to the origin individually,
adjust the BW axis and TW axis to the origin.
- In case of adjusting the BW axis to the origin individu-
ally, move the RW axis to the standard position before-
hand. After adjusting the BW axis, adjust the TW axis to
the origin.
- In case of adjusting the TW axis to the origin individu-
ally, move the RW axis and BW axis to the standard
position beforehand.

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13.4.4 Multi-rotation (Robot)

1) About multi-rotation adjustment menu
• After executing the encoder reset due to battery error or
so, it restores the origin position by keeping the remain-
Note
der (or apparent angle data) when the multi-rotation data This “multi-rotation (Robot)” function is not applicable if
is divided by 360, and resetting the rest. the motor is replaced as the installation position of the
motor is changed by the replacement.
• This mode specifies the multi-rotation data of the origin
data. Since the apparent angle data is increased or
decreased by integral multiple of 512 pulse (and 2 048
pulse with TM, HS and YS manipulators), make sure to
check the difference between the current apparent angle
data and the apparent angle data before the setup with
the indicator in the screen (see the next section for
details), and move the robot to the position the origin
marks match, and then set the position.

2) Procedure
(1) In origin adjust mode, select “Multi-rotation (Robot)”,
then a message box explaining the function is dis-
played.

(2) Click OK, then a dialog box.

Select the axes for origin re-adjustment and click
“Next” to display the origin adjust screen.

• The indicator at the far right of the origin adjust

screen indicates degree of difference between the
apparent angle data of the previous origin and the
apparent angle data of the current position.

Indicator Degree of difference Indicator

Green ±64 pulse or less
Yellow ±65 to 128 pulse
Gray ±129 pulse or more

(3) Update the data

• Move the target axis to the position origin marks
match visually.
• Fine-tune the axis position so that the indicator of
the target axis becomes green.
• Perform the above for all axes.
• Once again, visually check if the origin marks match
for all axes, and then press the ENTER key to
update the values.
< Note >
If any of the indicators are not in green when the
ENTER key is pressed, the message shown on the
right appears and the data won’t be updated.

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13.5 Memory clear

This function clears the data saved in the controller. Use
Click
this function to remove all of the files that you don’t need or >> Memory clear
use it before you update software. >>
Set Management
Note settings
This operation cannot be undone.
It is recommended to make a backup copy before you exe-
cute the memory clear operation.

[File clear] To clear teaching programs.

[All Clear] To clear system setup data and teaching
programs.

13.6 Date settings

It sets date and time in the robot.
Click
>> Day/Time settings
>>
Set Management
settings

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13.7 On-site origin adjust

* This function is applicable to TM, TA and TB series <Note> For TM manipulator users:
manipulators. Adjust TW axis and BW axis as a set.
It is a function to adjust origin data based on the adjust-
ment pins attached to the manipulator.
* Please refer to the operating instructions of the manipula-
Note tor for the pin settings.
Prior to using this function, perform the followings.
• Disconnect all cables from the tool including torch cable.
Click
• Check to make sure load parameters are correctly set. >> On-site origin adjust
>>
<Procedure>
(1) Mark the check-box of the axis(axes) you want to Set Management
settings
adjust. Click Next, then the “On-site origin adjust” dia-
log box is displayed.
[Flex parameter (%)] Specify a contact force level to
the on-site origin adjustment pin (normally 100 %) The
smaller the set value is, the stronger the contact force
becomes.
• Only the marked axes are subject of the origin adjust.
< Note >
The origin adjustment function is not applicable to TW
axis of TA series manipulators as the adjustment pin
cannot fit in the axis.
• The following tables show the operating angles of the
each axis in “On-site origin adjust” operation. For axes
that may interfere jigs, change the angle to avoid inter-
ference in advance.
• In case of applying the origin adjustment to TW axis of
TM series manipulators, it is necessary to adjust BW
axis together with TW axis.
Manipulator type Axis RT UA FA RW BW TW
Ready position angle -38.00 -37.27 -7.00 18.60 -107.30 -13.3
TM1400
TM1100 Pin position angle -27.18 -40.27 13.99 21.60 -104.30 -16.3
Confirmation angle -24.18 -43.27 16.99 24.60 -101.30 -19.3
Ready position angle 17.00 -27.00 -5.74 -5.00 -12.52 -
TA1000 Pin position angle 13.84 -30.02 -8.74 2.92 -9.52 -
Confirmation angle 10.84 -33.02 -11.74 5.92 -6.52 -
Ready position angle 17.00 -27.00 -5.74 18.00 -12.52 -
TA1400 Pin position angle 13.84 -30.02 -8.74 25.42 -9.52 -
Confirmation angle 10.84 -33.02 -11.74 28.42 -6.52 -
Ready position angle -59.34 -14.00 3.00 32.00 -36.00 -
TA1600
TA1800 Pin position angle -62.34 -24.83 0.00 35.00 -32.80 -
TA1900
Confirmation angle -65.34 -27.80 -3.00 38.00 -29.80 -
Ready position angle 17.00 -27.00 -27.00 10.00 -37.00 -5.00
TB1400 Pin position angle 13.84 -30.02 -30.00 2.00 -34.19 -7.55
Confirmation angle 10.84 -33.02 -33.00 -1.00 -31.19 -10.55
Ready position angle -59.34 -14.00 8.00 10.00 -37.00 -5.00
TB1800 Pin position angle -62.34 -24.83 5.00 2.00 -34.19 -7.55
Confirmation angle -65.34 -27.80 2.00 -1.00 -31.19 -10.55

＊ To check the manipulator type, click the (version) menu.

OM1009082E17 179
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(2) Follow the instruction shown on the lower left of the

dialog box.
* To quit “On-site origin adjust” in the process of the
adjustment, click “Close” on the “File” menu.

Instruction

<Operation> <Instruction>
1)Check and confirm that no adjustment pin is set. Select axes move to the ready position.
Then turn on the servo power and press the “Start” Push the TP start switch
switch on the teach pendant. without setting the adjustment pin.

2)Set the adjustment pin. Search for the adjustment pin.

Then press the “Start” switch on the teach pendant. Set the adjustment pin,
and push the TP start switch.

3)Press the “Start” switch on the teach pendant. Search succeeded.

Push the TP start switch to return.
the axes to the ready position.

4)Put the adjustment pin back in the manipulator. Confirm the adjustment pin is put back.
Then press the “Start” switch on the teach pendant. Put back the adjustment pin in the hole.
Push the TP start switch.

5)On the file menu, click “Close”. Confirmation succeeded.

Select [File] < [Close].

(3) The dialog box showing the calculated origin data is

displayed.
[Yes] To update the data with the calculated origin data
and then end the “On-site origin adjust” function.
[No] To end the “On-site origin adjust” function without
updating the data.
[Cancel] To redo the “On-site origin adjust”.

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13.8 Operation box

It is a setting for interlock release which occurs when the
mode select switch is changed to AUTO side.
A settings that allows interlock release operation to be exe-
cuted with a status input in addition to the interlock release
input on the operation box.
Note
This setting is displayed on the controllers of UL and CE
specifications, or the controllers having optional operation
box installed.

1) Setting procedure
Mark the “Use the OPR confirm input to switch to AUTO
Click
mode” to set the interlock release to activate by AUTO >> Operation box
mode input. >>
Set Management
settings

13.9 Use setting

It is a function to change the intended use of the robot,
either welding or handling.

1) Setting procedure
[Welding] Select it to use the robot for welding opera-
tion.

[Handling] Select it to use the robot for handling opera- Click

tion. >> Use setting
When the “Handling” is selected, all welding related set- >>
ting items except weaving commands, MOVELW and Set Management
settings
MOVECW, are disabled.

Note
• Power needs to be restored to update the setting.
• If the tool offset and load parameter are initialized under
“Handling” setting, their setting values become zeros.
Make sure to set suitable parameters for the applied tool.

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13.10 Torch cable settings

Note This function is available only when TM manipulators are used.

It is a setting to specify whether to pass the torch cable

through the manipulator arms or laterally to the manipula-
tor. By setting or changing the torch cable settings, the soft-
Click
limit, load parameters and tool offset are reset to the corre- >> Torch cable settings
sponding reference values. >>
Set Management
[Through-arm torch] Select it to pass the torch cable settings
through the manipulator arms.

[External torch] Select it to pass the torch cable exter-

ally to the manipulator.

[Separate torch] Select it to lay the power cable

through arm and the welding wire pass the torch cable
exterally.

* It is factory set to “Through-arm torch” at shipment.

Note
The soft-limit range of the TW axis in the “Through-arm
torch” and “Separate torch” settings is narrower than that in
the “External torch” settings to protect the cable.

13.11 License activation

It is a function to be used when you add a separately sold
Click
optional software. >> License activation
For details, please refer to the operating instructions of the >>
optional software. Set Management
settings

Note
• This function is available from the software version 15
onwards.

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14. Arc welding machine settings

Note The settings available only for welding robots.

1) WG3 controllers 2) G3 controllers

Set default characteristics. Add welder

Rename characteristics Rename welder

Initialize characteristics Delete welder

Characteristics 1 Set default welder

Characteristics 2 No arc detection

Characteristics 3 Welder 1

Characteristics 4 Welder 2

Characteristics 5 Welder 3

No arc detection Welder 4

Lift-up Welder 5

Weld monitor Value/Table number

VALVE2 Output default welder

Value/Table number Advanced weld settings

Advanced weld settings Weaving

Weaving

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 Arc welding machine settings

14.1 Configuration settings

14.1.1 Add a welder (G3 controllers only)
1) Add digital type welder

[Select Welder] Select digital.

[Comm. port] Select proper one.
[Comm. speed] Refer to section “digital specifications”
of the operating instructions of the robot controller.
19200: Panasonic fully digital welding power source
9600: Other Panasonic welding power sources.

* [Welder I/F card ID] is for analog type welders settings.

• In case of digital welder,

click “Initial comm.” button on the “Add welder (digital)”
dialog box.

2) Add analog type welders (User welding machine)

It is possible to add CO2/MAG/MIG/TIG welders not in the
list as analog type welders whose characteristics are edit-
able by users.
Applicable welders Conditions
• Power adjustment is Current/Voltage separate setting type.
• Setting range of power adjustment is from 0 to 15 VDC.
CO2/MAG/MIG
welders • Current command and voltage commands for power adjustment share the same grand
level.
• Maximum output is 999 A or less and 99.9 V or less.
• Current and pulse frequency are adjustable within 24 VDC.
TIG welders
• Maximum current is 999 A or less and maximum pulse frequency is 25 Hz or less.

3) How to create data for welder characteristics

Conduct welding operation, and measure welding output,
such as current and voltage, and command voltage to each
output stretching from the range of use, and then input the 15 V
measurements as welder characteristics.
Command voltage

Create a line chart of approximate characteristics by calcu-

Measurement

lating linear interpolation between measuring points.

You can add measuring points by changing setups.

0V
Measured output A or V

184 OM1009082E17
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4) Procedure

(1) [Select Welder]: Select Analog.

[Welder I/F card ID]: Set ID number, and then
click OK.

(2) [Welder]: Specify type of applied welder.

• CO2/MAG/MIG welders: Unlisted (CO2/MAG/MIG).
• TIG welders: Unlisted (TIG).

Then click OK.

(3) Mark the check-box next to the “Now set the parame-
ter”, and then click OK.

(4) Select “Output characteristics”.

<In case of CO2/MAG/MIG welding>

(5) Select “Make new characteristics”, and click OK.

* For the initial setting, this item is the only option.

(6) Set all parameters in the dialog box, and then click OK.

(7) Then a message to confirm the completion of calcula-

tion appears.

Note
If the “Welder characteristics settings” has not completed,
the analog output port shows “0”.

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 Arc welding machine settings

14.1.2 Rename a welder/welder characteristics

• G3 controllers:
Change the name of the registered welder.
• WG3 controllers:
Change the name of registered welder characteristics.
(* The right figure shows the dialog box for WG3 controller.)

You can name the defined welders/welder characteristics

and also rename them freely.

14.1.3 Delete a welder / Initialize welder characteristics

• G3 controllers:
Delete a welder and its setting data from the list of regis-
tered welders.
• WG3 controllers:
Delete a welder characteristics and its setting data from
the list of registered characteristics.
(* The right figure shows the dialog box for WG3 controller.)

14.1.4 Set a welder/welder characteristics as default

• G3 controllers:
Mark the check-box of the welder name you want to use
most commonly from the list of registered welders (up to
5 welders).

< Note >

After adding or editing an analog welder as default
welder, it is necessary to restore power to update the
setting.

• WG3 controllers:
Mark the check-box of the welder characteristics you
want to use most commonly from the list of registered
welder characteristics (up to 5 characteristics).
(* The right figure shows the dialog box of WG3 controller.)

14.1.5 Adjust “No arc detection time”

It is to specify the time that elapses before the robot to
make an error stop due to no flow of welding current (or “no
arc”) at arc start or during welding operation.

[Before arc on] Specify the allowed time after arc start
before detecting the welding current. [Setting range: 0.5-3.0
s]
[After arc on] Specify the length of time of detecting no
flow of welding current during welding operation. [Setting
range: 0.1-3.0 s]

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“No arc detection” error codes

Occurrence time Error code Message Note
Before arc on W0010 Weld Error: No current Common to WG3/G3
Welding unit connected to G3 detected
W0020 Weld Error: No arc
the no arc error.
After arc on
W0025 No arc detected by robot G3 (robot) judged as no arc error.
W1010 Weld Error:No arc WG3

Note
This settings is not applied to “W0020” as it is the error
occurred detected by the welding unit.

14.1.6 Welding condition specification settings - Table number (for CO2/MAG Welding)
It is a method to specify a welding condition table number
the desired welding condition has been registered.
If there are many weld sections using the same weld condi-
tion, with this method, it is possible to change the welding
condition of those weld sections collectively by changing
the welding condition registered to the welding condition
table.

1) Setting procedure
If the welding condition specification is set to “Table num-
ber” at the time of adding ARC-SET or CRATER command,
the “Table number” method is applied to the command. It
doesn’t make any change in ARC-SET and CRATER com-
mands that have already been registered with “Value”
method if any. That means, ARC-SET and CRATER com-
mands added with “Value” method remain applying the
value method.
For AMP, VOLT and WLDSPD commands, regardless of
this welding condition specification settings, “Value”
method is applied.

2) Edit commands
If ARC-SET is selected in the add command procedure, <Edit command dialog box>
the command edit dialog box (see the figure on the right) is
displayed to specify a table number.
• The set range of the table numbers is determined by the
setting value of the “System data adjustment” (standard
value: 10).
• The table number corresponds to the welding condition
table number.

<Browse> <List of weld condition tables>

Click Browse to display a list of welding condition tables.
• Move the cursor to the desired welding condition and
click OK to set the welding condition table number as the
ARC-SET “Table No.”.
• If the desired welding condition is not in the list (unregis-
tered welding condition), click Cancel to display the “Edit
command” dialog box.

• Click the user function key “F2” (Weld conditions).

* When the “Edit command” dialog box is displayed on
the screen, the corresponding icon to the function
key “F2” becomes “Weld condition data” icon.

OM1009082E17 187
 Arc welding machine settings

<Welding condition data setting dialog box>

• Then, the welding condition data setting dialog box is
displayed.
Specify the necessary welding conditions.

* As for the CRATER command, refer to the above proce-

dure to add the command.

3) Matters related to “Table number” method

(1) Changing welding conditions correctively
If the welding condition specification is set to “Table num-
ber”, changing the table number changes the welding con-
dition of the corresponding welding sections correctively.
This operation does not change the welding conditions reg-
istered with “Value” method.

(2) Auto-edit of welding condition

• In teaching operation, auto-edit operation is applica-
ble even though ARC-SET/CRATER commands
registered with both “Value” and “Table number”
methods exist.
• In case of using “Auto-edit” to add a new command,
the command is registered with the welding condi-
tion specification specified in the “Welding condition
specification” setting dialog box. (For example, if it
is set to “Table number”, the new command is regis-
tered with “Table number” method.)
• In case of using “Auto-edit” to change the position
of the command, the command with the original
method is applied at the new position regardless of
the setting of “Welding condition specification”.

(3) Editing weld condition table

• It is possible to allocate weld condition data icon
( ) to the user function key. (Please refer to sec-
tion “11.11 Customize function keys” on page 132.)
• By allocating the weld condition data icon to all
operation types (“EDIT”, “TEACH” and “AUTO”), it is
possible to change data of the welding condition
table in any modes and also with the program open.
• If data of a welding condition table is changed while
running a program, the change is applied when the
next welding condition command with the welding
condition table registered is executed.

(4) Override
• If override is performed while executing the welding tion but also data of the welding condition table
condition command with “Table number” method, specified by the “Table number” is changed.
not only data of the currently running welding condi-

(5) Error and others

• If the speed of the welding condition specified by
the “Table number” is “0.00”, then the error “W0540:
‘0.00’ was specified at the welding speed” occurs.
• The welding condition specified by the “Table num-
ber” is not applicable to slave robot nor twin har-
monic operating function.
• In case of teaching a program of slave or twin har-
monic mechanism, even though “Table number”
method is set as the welding condition specification,
welding condition command with the “Value”
method is automatically applied.

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14.1.7 Wire inching using +/- key

A function to allocate wire inching function to the +/- key on
the teach pendant.
It is convenient to perform inching operation using the +/-
key especially in trace operation when you want to retract
the wire without touching tack welded part. +/- key

1) Settings
From the “Advanced weld settings”, select “Wire inching”
and click OK.
[Wire inching allocation to +- key]
• Select it (mark the check-box) to use the +/- key for
wire inching (forward/backward)
* Please note that if the key is allocated, you can
not use it the +/- key in manual, trace and pro-
gram test operation.
• Do not select (clear the check-box) if you want to use
the +/- key for manual, trace and program test opera-
tion.

2) Movements
• Wire feed forward:
While holding down the + key, the robot feeds for-
ward the wire. The low speed is applied for the preset
time, and then changed to high speed.
• Wire feed backward:
While holding down the - key, the robot feed back-
ward (retract) the wire. The low speed is applied for
the preset time, and then changed to high speed.
* For details of feed speed (low speed, high speed) and
time setting to change from low to high, please refer to
section “14.2.6 Inching speed.”

<Supplementary notes>
Once allocated, the wire inching (feed forward/backward)
won’t be executed by pressing function key and +/- key

together while the LED of the (Robot motion) icon or

of the icon is on.

If attempted, the message “The +/- key is allocated to the
wire inching.” is displayed.

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14.1.8 Output of the default welder settings

When “Multi-welders” is added to the “System” screen, the

(output of the default welder) icon won’t be dis-

played. And the output terminals set in the “Output of the
default welder” dialog box are changed to ones for general
purpose.
(1) Click the “Browse” button and specify an output termi-
nal from the list of output terminals for each welder.
* They are all factory set to “0: None”.
* It is possible to specify the same terminal number
more than once.

14.1.9 Switching welders by the external input (G3 controllers only)

This function is to change the default welder to the welder
specified by the external input.
Note
Check the “System” screen (Set>Management set-
tings>System) to make sure that the “Switching weld-
ers by the external input” function is added.

1) Setting procedure
From the list of “Arc welding machine settings”, click the
Specified “Input”
“Switching welders by the external input” to display the set- terminal number
ting dialog box. (Names of the welders changed using the Registered welders
“Rename a welder” function are displayed.)

[Input] Specify an external input terminal number to be

used to change the default welder to the welder.
[Output (while switching)] Specify an output terminal
number that indicates the “Switching welders” in pro-
cess.

• Inputs are factory set to “0: None” at shipment.

• If there is any duplicate entry of an input terminal num-
ber, the message “Duplication of input terminal No.” is Unregistered welders
Specified “Output”
displayed and the setting cannot be updated. terminal number
• The name of the updated default welder is displayed on
the title bar of the “Weld condition” screen. (View>Arc
weld info.>Current/Voltage) (See the figure on the right.)
• If the “Switching welders by the external input” function is
deleted from the list of the “System” screen, the termi-
nals specified in this function become terminals for gen-
eral purpose.
• The process may take several minutes to complete. (The
processing time varies with welder models.)

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2) Robot movements
If the start switch has been turned on before applying the “Switching welders by the external
Attention input” function, the robot automatically starts operation after the switching process.
Do not enter the robot operating range.

(1) The robot checks the input state in the following situa- <Supplementary notes>
tions. • The “Switching welders by the external input” won’t be
• When mode is switched from TEACH mode to applied under the following conditions.
AUTO mode.
• A program is started. • When restarting a stopping program.
• When a reserved program reserved to start while • if the input terminal number for switching welders is
running the previous program is started. the same as the one before the input state check.
• If no input terminal is turned on.
• When the program test icon is turned on.
(Please note the input state check or switching of • If the input terminal of an unregistered welder is on, the
default welder won’t be executed when the “Test error message “W0600: The welder for switching not
registered” is displayed.
run” icon is pressed.)
• If more than one input terminal is on, the welder of the
smallest input terminal number is applied.
(2) After the input state check, if the input terminal number
for switching welders different from the current default
welder is turned on, the robot switches the default
welder to the new one.
• While the robot is in the process of switching weld-
ers, the preset “Output (while switching)” is on.
• The “Output (while switching)” goes off once the
“Switching welder” process is completed.
• During the “Switching welder” function is in process,
the message “Switching the default welder...” is dis-
played. (If the start switch has been turned on
before the processing, the robot automatically starts
operation after the processing.)

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14.1.10 Lift-up (TAWERS only)

It is a function that provides better arc start and arc end
operation by lifting up the torch at the moment of arc start;
Lift start, and lifting it down at the moment of arc end; Lift Lift up
end, with the robot arm operation.
Lift down
• “Lift start” provides stable arc start with minimal spatter
generation. As this function actually lift up the torch by
moving the robot, it allows higher responsiveness com-
pare to retracting the wire. Arc start
• “Lift end” contributes to reducing tact time by shortening
Lift down time
the wire burning time and also suppressing wire stick
generation, thanks to the method to lift up the torch.

1) Settings
[Lift-up] Specifies whether to use this function (Valid)
or not (Invalid).
[Initial condition] Specify whether to apply this func-
tion (Enable) or not (Disable) when the main power is
turned on.
[ArcStart up width] Distance to lift up the torch at the
arc start. (0.00-3.00mm)
[ArcEnd up width] Distance to lift up the torch at the
arc end. (0.00-3.00mm)
[Lift-down time] Length of time to lift down the torch
after the lift-up action at the arc start. (0.10-1.00 s)
[Lift-up angle limit over]
Lift-up disable: Do not execute “lift-up” when the “Lift-
up angle limit over” occurs.
Error hold: The robot makes an error stop when the
“Lift-up angle limit over” occurs.

<Supplementary notes>
If you want to apply the “lift-up” function only at the arc start
but not at the arc end, set “Initial condition” to “Enable” and
“ArcEnd up width” to zero (0).
Note
At the arc end point, lift-down action after torch off is exe-
cuted after ARC-OFF program. Therefore, make sure to
use the ARC-OFF command to call the arc-off program.
If TORCHSW OFF command is used without using ARC-
OFF command, the robot executes only lift-up operation at
the arc end point. As the robot moves to the next arc start
point without executing lift-down operation, the robot may
fail to move to the exact next arc start position. (Such gap
won’ be accumulated to create a serious misalignment.)

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14.1.11 Weld monitor

It is a function to monitor welding conditions whether each
setting item is within the monitoring range or not.
Note
This function does not detect change of welding conditions
to avoid an error. Use this function only as a guide to judge
defective or not.

Set parameters and click OK.

For each setting item, specify whether to monitor (Valid) or
not (Invalid). If valid, specify the setting values.

Description of the setting values for each setting item.

[Weld current] / [Weld voltage] / [Number of Shorts/
s] Specifies the monitoring range (upper/lower limits).
[Instant arc lack time] Specifies the time period to
determine the instant arc lack.
[Motor current] Specify the upper limit of the motor
current.
[Averaging time] The value specified in the entry box
multiplied by “50 ms” is treated as the setting value.
The setting value is recognized as a unit to calculate the
average value. Then the average value is compared to
the monitoring range.
[Deviation trigger (condition)] Specifies the criteria
for deviation; time duration in second (s) and number of
occurrences (count).
[Delay after current detect] Specifies a time period to
start monitoring after the arc start (current detect).
[Monitor output] Specifies the output terminal to turn
ON when deviated.
[Output reset] Timing to turn OFF the “Monitor output.”
Torch ON: Selects it to reset the output when torch
switch is turned ON.
Reset input: Selects it to reset the output when the pre-
set input is turned ON.

<Supplementary notes>
• [Weld current]/[Weld voltage]: Monitoring range is deter-
mined by adding the setting values (lowe range and
upper range) to the preset welding current/voltage
respectively. For example, for the preset welding current
“180 A”, if the weld current setting values are “-30“ for
lower range and “20” for upper range, the monitoring
range is “150 to 200”.
• [Number of short]: The upper limit and lower limit setting
values are treated as the monitoring range.
• [Instant arc lack time]: takes the setting value and the
accumulated arc lack time as the monitoring upper limit.
• [Motor current]: The setting value is treated as the moni-
toring upper limit.
• [Delay after current detect]: It is provided not to monitor
unstable arc period immediately after arc generation.
• This weld monitor monitors the setting item if it is set to
“Valid”. It doesn’t need to write a command in a program.
• It monitors the setting items only in welding operation.

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14.1.12 TAWERS AMP/WFS Switching (TAWERS only)

A function to specify whether to use welding current and
welding voltage (AMP VOLT) or wire feed speed and weld-
ing voltage (WFS VOLT) to specify the welding conditions.

• Settings
(1) Make sure that TAWERS AMP/WFS Switching” func-
tion is set to “Valid”. If not, the setting dialog box shown
on the right is not displayed.
(2) Select either “AMP VOLT” (use welding current and
welding voltage) or “WFS VOLT” (use wire feed speed
and welding voltage). [AMP VOLT] Welding current and welding voltage
Select the unit for the wire feed speed from “m/min” or [WFS VOLT] Wire feed speed and welding voltage
“inch”. For wire feed speed, select either m/min or IPM (inch per
minute).
• Related matters
(1) When “WFS VOLT” is selected, command for welding
conditions, such as ARC-SET, CRATER and ARCSLP
commands, are switched to the commands based on ARC-SET/CRATER
the wire feed speed. command
Example)
ARC-SET: WFS=[Wire feed speed] VOLT=[Voltage]
S=[Speed]
(2) Setting items for “Weld condition table”, Display weld
condition” and “Override” are also switched in accor-
dance with this setting.

Note
• There is no compatibility between commands for “AMP
VOLT” welding condition type and commands for “WFS Display weld condition
VOLT” welding condition type.
If ARC-SET command for “AMP VOLT” is executed while
the “WFS VOLT” is preset, the error “W1820:Welding
condition type is different” occurs.
• While selecting “WFS VOLT”, pulse switching by means
of WPLS command is not applicable.

Override

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14.1.13 TAWERS VALVE 2 for general purpose settings (TAWERS only)

Use this function to specify the usage of the
VALVE 2; for gas valve for welding or for general
purpose.

1) Setting procedure
[Gas valve for welding] Use it as a gas valve. The gas
is turned off when the robot goes in hold, emergency
stop or arc lock state.
[General purpose ] Use it as general purpose valve.
The output is not turned off even if the robot goes in
hold, emergency stop or arc lock state.

Note
In case of using it as gas valve for welding, make sure that
setting is correct. If it is set to “General purpose”, executing
hold operation or so does not turn off the valve automati-
cally.

14.1.14 Selected welder output (TAWERS only)

It is a function to externally identify the currently applied
welding characteristics.
Note
The function is available only when the “Switching TAW-
ERS characteristics” function is applied.

1) Setting procedure
Specify output terminals corresponding to the welding
characteristics TAWERS-1 to TAWERS-5 respectively.
* It is possible to specify the same output terminal to mul-
tiple welding characteristics.

2) Movements
(1) When the power is turned on:
The specified output for TAWERS-1 is turned on.
In case of using the resume function, the output state
when the power was turned off last is restored.
(2) When a program is opened in TEACH or AUTO
mode.
Only the output corresponds to the program is turned
on, and all other outputs are turned off. (In this situa-
tion, only one output is turned on.)
(3) When a program is executed by a CALL command:
The output is switched to that for the called program
when the called program starts. The output is switched
back to the one for original (call) program when the
called program ends.
(4) When a program is executed by a PARACALL com-
mand:
The output is switched to that for the called program
when the called program starts. When the called pro-
gram ends, the output is kept on until the next program
starts. It is not switched back to the one for the original
(called) program.

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14.1.15 Unification data reference (Pulse/ No pulse) (TAWERS only)

It is a function that allows you to specify which unification
data table; table with pulse (valid) or without pulse (invalid),
you want to refer to while editing a program.
Note
Even if a PTYPE command that switches pulse types
exists in the editing program, the unification data reference
functions based on the pulse type before the PTYPE com-
mand is applied.

1) Setting procedure

On the “Unification/Individual” dialog box, mark the check-

box of “Confirmation of invalid/valid of pulse at pressing
STD button”.

2) Robot movements

(1) “Unification data reference” dialog box is displayed

when the following operation is performed. Select
either “Pulse invalid” or “Pulse valid”.
(a) The STD button is pressed on the screen to regis-
ter one of the following commands.
- ARC-SET, CRATER, CRATERSLP, LPWVCND,
LPWVSLP, STARTSLP

(b) The STD button is pressed during the following

change of weld conditions operation.
ARC-SET, CRATER, LPWCOND, LPWVCND

(2) Some welding methods have no choice in pulse type

(Pulse invalid/Pulse valid). In that case, the item not
available is grayout.

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14.1.16 MAG touch start monitor (TAWERS only)

It is a function for TAWERS CO2/MAG welding to detect if
the torch switch is turned on while the wire is in contact
with the base metal, which is called “touch start”.
The touch start reduces the lift-up effect and causes to
increase spatters at arc start.
This function is useful as the number and locations of
occurrences of the touch start, monitored by this function,
can be a useful data to evaluate and improve the welding
quality.
You can specify to display items “whether the last arc start
was the touch start or not” and/or “the accumulated num-
ber of occurrences of the touch start” on the TP.
It is also possible to send an output terminal signal to an
external device when a touch start occurs.
With the “Welding log” function, an optional function of
TAWERS, it is also possible to record the locations (points)
where touch starts occurred.

1) Settings
(1) Select “Advanced weld settings” to display the list of
advanced weld functions.

(2) From the list, select “MAG touch start monitor”, then
the setting dialog box is displayed.

(3) Complete the settings.

[Monitor output] Specify an output to be turned on
when a touch start occurred.
The output is turned off when the arc start is executed
correctly.
[Reset input] Specify an input to turn off the monitor
output and reset the counter.

2) Monitor display
(1) From the menu bar, click View, Arc weld info, Weld
input and then Touch start monitor to display setting
Click TCH
dialog box. 　>> MNT
View Arc weld Weld input Touch start
info. monitor
(2) Click the Rst button to turn off the “Monitor output” and
reset the “Count of touch start”.

Note
Depending on the conditions of the wire tip or the base
metal, a touch start may not be detected.
To confirm the status of the touch start of a program, exe-
cute the program several times

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14.1.17 Weaving settings

(1) Initial weaving parameters when a weaving teaching
point is added. Select a number

[Frequency F(Hz)] Set the weaving frequency. (Unit: Hz)

[Amplitude timer T1, T2 (s)] Set how long the robot to
move parallel to the main trace at each amplitude point.
(Unit: second)

(2) Set a weaving pattern number to register, and then

click the OK button.

Click
>>
More Teach
settings

• In teaching operation, when you register a

point as weaving point (interpolation type),
the preset weaving pattern (Pattern No.),
amplitude timer (Timer) and weaving fre-
quency (Frequency) are automatically set to
the point.

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14.2 Welder data settings (CO2 /MAG/MIG)

It is to set the parameters to control connected Panasonic
Click
welders. >> Welder * (Note)
>>
[Over write] Select it to edit the current settings. Set Arc welding
[Backup the current Welder and add a new Welder]
Select it to add a new welder settings by making a copy
of an existing one.
When you select this item, you must specify the name of
the welder or welder characteristics you want to make a
copy of. ([Name of the backup Welder])

(Note)
Welder *: “*” represents the welder/welder character-
istics number.

14.2.1 Wire/Material/Weld method

It is to specify material of the wire and welding method to
be applied in welding operation. Setting items vary with
welder model.
[DC/AC] Specify the applied current type, DC or AC.
[Material] Specify material of the wire to be applied.
[Method] Specify the applied welding method (or gas).
[Pulse] Specify whether to use pulse or not.
[Wire] Specify wire size (diameter) to be applied.
[Extension] Specify wire extension from the tip of the
tool.
[Table version] Version information of welding condi-
tion table.

Note
• Make sure to set the setting items of this dialog box from
the top as whether each option for a setting item is
selectable or not is determined by the settings of the
higher items. And only selectable options are displayed.
• The table version “***-Standard Table” is the version for
the standard table.
* Settings must be performed for each welder individually
if more than one welder is connected to the robot.
* In case of connecting with a pulsed welding power
source, select one pulse control method from Hybrid,
Hard mode or Soft mode.
Hybrid Hard mode Soft mode
Torch Torch Torch
* Option:
If the an optional function; Optional weld table for TAW-
ERS (sold separately), is installed, use the setting item;
Option, to select a table.
* For details, please contact Panasonic representatives.
HD-PULSE:
Panasonic‘s original welding control method that com-
bined pulsed mode (current waveform control method in
pulsed welding) and DIP mode (current waveform control
method in dip transfer welding).
You can switch the pulse mode during operation by exe-
cuting PTYPE command.
SP-MAG2:
High-performance low spatter welding “SP-MAG”.
* It is factory set to “SP-MAG 2” at shipment.

Arc Arc Arc

OM1009082E17 199
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<Table version and corresponding welding conditions >

Mate- Wire Table
Gas Method Pulse Extension Description
rial diameter version
000 Standard table for WG3.
Table compatible with WG.
1.0 15 mm The same specifications as the standard
001 table whose version is P1 or lower (and
option table CO2_old of version P2 or
higher.)
CO2 Invalid
000 Standard table for WG3.

Steel CO2 Table compatible with WG.

1.2 15 mm The same specifications as the standard
001 table for WG, software version P1 or lower
(and option table CO2_old for WG, soft-
ware version P2 or higher.)
Standard table for WG3, software version
000
“10.**” or earlier.
MTS-CO2 Invalid 1.2 15 mm
Standard table for WG3, software version
001
“11.**” or higher.

14.2.2 Adjust value

It is to set an adjust value that adjust welding characteris-
tics in whole.

[Current] Specify the correction amperage.

[Setting range: -99 to +99 A]
[Voltage] Specify the correction voltage.
[Setting range: -9.9 to +9.9 V]

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14.2.3 Wave adjust data

It is to fine-tune various welding related-parameters.

* Select a parameter from the list on the left window of the

Wave adjust data dialog box.

1) Start/End
[HOTCUR] Adjustment of hot current [ARC-DCT-DELAY] Adjustment of the length of arc
TAWERS, GZ4: [-200 to +200] detection time at the arc start.
Other welders: [-3 to +3] TAWERS: [0.00 to +1.00]
[HOTVLT] Adjustment of hot voltage Increase the value is effective to avoid chipping of the
TAWERS, GZ4: [-50 to +50] bead at the arc start point.
Other welders: [-50 to +50]
Increase the value to smoothen wire feed immediate
after the arc start.
Decrease the value to restrain the burn-back immediate
after the arc start.
[WIRSLDN] Adjustment of wire slow down speed.
TAWERS, GZ4: [-50 to +50]
Other welders: [-125 to +125]
Increase the value to shorten the time to generate arc.
Decrease the value for better arc start.
[FTTLVL] Adjustment of GTT voltage level
TAWERS, GZ4: [-100 to +100]
Other welders: [-50 to +50]
Increase the value to reduce the occurrence of the wire
stick [as the end of the wire is rounded.]
Decrease the value for better arc start [as the end of the
wire is sharpened.]
[BBKTIME] Adjustment of burn back time adjusting value
TAWERS, GZ4: [-100 to +100]
Other welders: [-20 to +20]
[STDC_TIME] (The item is displayed only in AC welding)
Increase the value to reduce the occurrence of a wire
Adjustment of the length of time to be in direct current
stick [as it extends the wire burning time.]
(DC) state at the start of AC (alternating-current) welding
Decrease the value to reduce the occurrence of a burn
operation.
back to the tip [as it shortens the wire burning time.]
TAWERS: [0 to +20]
[HOTTM] Adjustment of hot time. Increase the value to make DC state longer.
TAWERS, GZ4: [-50 to +50]
Increase the value to extend the wire burning time.
Decrease the value to shorten the wire burning time.
[BBKPULSE] Adjustment of pulse number for burn
back pulse processing at the end of pulsed welding.
TAWERS, GZ4: [-10 to +10]
Increase the value to increase burn back amount.

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2) Arc waveform
[ISL1] Adjustment of short circuit current slope 1.
TAWERS, GZ4: [-100 to +100] ISL2
Amperag (+)
Other welders: [-7 to +7]
[ISL2] Adjustment of short circuit current slope 2.
TAWERS, GZ4: [-100 to +100] (-)
ISC (+)
Other welders: [-7 to +7] (-)
[ISC] Adjustment of short-circuit refraction value. ISL1
TAWERS, GZ4: [-200 to +200] IAC
Other welders: [-3 to +3] TS0
[IAC] Adjustment of arc current refraction value. Shorted Arc
TAWERS, GZ4: [-200 to +200] Time
Other welders: [-3 to +3]
[TSO] Adjustment of short circuit transfer delay time
(no unit)
TAWERS, GZ4: [-20 to +20]
Other welders: [-3 to +3]
[TSP] Adjustment of length of time to prevent wire
stick.
Other welders: [-3 to +3]
[ELI] Adjustment of reactance.
TAWERS, GZ4: [-50 to +50]
[SP-I] Adjustment of superimposed current value after
releasing the short circuit.
TAWERS, GZ4: [-200 to +200]
[SP-T] SP time parameter
TAWERS, GZ4: [-300 to +300]
[NECKLVL] Adjustment of neck detection level
ON/OFF: Whether to use this function or not.
Level: Adjust the neck detection level
TAWERS, GZ4: [-50 to +50]
[RECVRYVOLT] Adjustment of compensation voltage
at no arc.
ON/OFF: Whether to use this function or not.
Value: Adjusts compensation voltage
TAWERS, GZ4: [0 to +20]

3) Pulse start
[P-HOTTM] Adjustment of length of time to apply arc
start hot voltage. [Setting range: -10 to +10]
[INIT-IP] Adjustment of pulse peak current level at the
arc start
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50]
[INIT-IB] Adjustment of pulse base current level at the
arc start. t
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50]
[INIT-PFRQ] Adjustment of pulse frequency at the arc
start.
TAWERS, GZ4: [-100 to +100]
[INIT-PCOUNT] Adjustment of pulse number at the arc
start.
GZ4: [-10 to +10]

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4) Pulse waveform
[IP] Peak current level in pulsed welding.
Current
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50]
PRISE PFALL
[IB] Base current level in the pulsed welding.
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50]
[PFRQ] Pulse frequency level. IP IB PFRQ
TAWERS, GZ4: [-100 to +100] Time
Other welders: [-50 to +50]]
[PRISE] Rise angle level of the pulse wave.
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50]
[PFALL] Fall angle level of the pulse wave.
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50]
[Pulse slope] The item is displayed when the commu-
nication speed of the applied welder is 9600 bps.)
Adjusts switch for PRISE and PFALL parameters
(* When the applied welder does not support PRISE/
PFALL parameter, set to Invalid.)
[PCTRLBLOW] It inhibits arc blow in pulse welding.
ON/OFF: Whether to use this function or not. (Default
setting: OFF)
Gain: Gain value. [0.5 to 3.0, Standard value: 1.0]
[IB2] Adjustment of second base current level in the
pulsed welding.
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50
[I-PRISE] Adjustment of pulse current rise level.
TAWERS, GZ4: [-70 to +70]
Other welders: [-7 to +7]
[I-PFALL] Adjustment of pulse current rise level.
TAWERS, GZ4: [-70 to +70]
Other welders: [-7 to +7]
[I-PEAK] Adjustment of pulse peak time.
TAWERS, GZ4: [-200 to +200]
Other welders: [-50 to +50]

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5) Pulse slope (Applicable to HM3 welding power source only.)

[PSTSLP] Adjustment of the pulse start slope value.
HM3: [-50 to +50]
[PCHGSLP] Adjustment of the pulse change slope
value.
HM3: [-50 to +50]
[PRESP] Adjustment of the pulse responsive parame-
ter.
HM3: [-50 to +50]

6) Wire
[WIRSPDADJ] Adjustment of wire feed coefficient
TAWERS, GZ4: [-50 to +50]
[WIRSTRACC] adjusting value for acceleration of wire
feed speed specified in the main welding conditions.
TAWERS, GZ4: [-50 to +50.0]
Increase the value to increase the acceleration.
[WIRSTRDELAY] Adjusting value for delay time for
switching to wire feed speed specified in the main weld-
ing condition after arc detection time.
TAWERS, GZ4: [-500 to +500]
Increase the value to make the delay time longer.
[WIRACDC] Fine-tuning value for acceleration of wire
feed speed specified in the main welding conditions.
TAWERS, GZ4: [-50 to +50.0]
Increase the value to increase the acceleration.

Wire feed speed command

Changed condition
WIRSPDADJ
Main welding WIRSTRACC
condition WIRACDC

WIRSTRDELAY
Wire slow down
speed Time
WIRSLDN
Arc generation Changing
Torch switch ON welding condition

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14.2.4 Unification/Individual

It specifies how you want to set welding conditions.

[Unification] Specify a current value, then voltage set

value is automatically selected from the welding table.
[Individual] Specify current and voltage values individ-
ually.

14.2.5 Welding conditions

Welding conditions can be set easily by selecting a set of
conditions from the weld condition table if the weld condi-
tion table is previously prepared. You can register up to 50
sets of welding conditions to the weld condition table.

[ARC-SET] Specifies welding conditions at the arc Select a number

start.
[CRATER] Specifies welding conditions at crater weld-
ing (i.e. at the arc end).

Note
The number of weld condition tables for each of welder
characteristics/welder #1 to #5 is factory set to 10 at ship-
ment. In weld condition tables 1-5, welding conditions are
preset. In weld condition tables 6-10, zeros (0) are preset.
To change the number of weld condition tables, use “Sys-
tem data adjustment” dialog box (System >> Set >> Man-
agement settings) It’s setting range is 1 to 50. For details,
please refer to section “13.2 System data adjustment” of
this document.

14.2.6 Inching speed

It is to set the speed of wire inching (to feed wire little by

little) operated using the teach pendant. The wire inching
operation starts at preset low speed. After the lapse of
preset changeover, the wire inching is executed at the
preset high speed.

[High] Specifies the inching speed after the preset

changeover time.
TAWERS: [0.01 to +25.0] m/min, Others: [1 to +255]
[Low] Specifies the inching speed from the start until
the preset changeover time.
TAWERS: [0.01 to +25.0] m/min, Others: [1 to +255]
[Changeover time] Specifies the length of time from
the start to switch the inching speed from low to high.

Note
The set value for “Low” must be smaller than or the same
as the set value for “High”.

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14.2.7 Arc retry

It is a function to be used if the welding machine failed to
generate an arc at arc start. The robot automatically shifts
its position to retry arc start action. Register conditions for
the arc retry operation to each table. A registered data Select a number
table number is specified in “Teach settings”.

[Re-start] Specifies whether to use this function (Valid)

or not (Invalid).
[Arc detect time] Specifies how long (in seconds) the
robot will wait before retrying the arc start after the arc
start error. [0.1 to 9.9] sec
[Retry count] Specifies how many times the robot will
retry the arc start action. [1 to 9]
[Jog] Specifies the shift amount the robot makes before
retrying an arc start. [0.0 to 9.9] mm
[Return speed] Specifies the speed when the robot
returns to the original arc start point after arc retry. [0.1
to 9/9] m/min
[Retract time] Specifies the wire retract time when the
arc start error occurs. [0.1 to 9.9] s
* Wire retraction is executed based on the “preset weld cur-
rent.”

14.2.8 Stick release

It is a function to cut the wire automatically if the wire sticks
to the base metal at the arc end. Use this dialog box to reg-
ister a stick release condition data to the table.
[Re-start] Specifies whether to use this function (Valid)
or not (Invalid).
[Current] Specifies the wire fusing current. [1 to 350] A
[Voltage] Specifies the wire fusing voltage
[1.0 to 50.0] V
[Weld time (T1)] Specifies the length of wire fusing
time. [0.0 to 9.9] s
[Wait un-stick (T2)] Specifies the length of time to wait
before starting wire stick check. [0.1 to 9.9] s
[Retract wire] Specifies whether to retract the wire by 2
to 3 mm before checking wire stick (Valid) or not
(Invalid)

14.2.9 Wire auto retract

It is a function to retract welding wire automatically after
completing welding operation, which shortens the wire
extension. With a little play in the wire extension, it is possi-
ble to prevent excess wire extension at the next weld start.

Wire rewind condition

[Current] Coefficient of motor revolution [0 to 999] A
[Time] Motor retraction time [0.01 to 2.00] s

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14.2.10 Weld start settings

It is a function to register arc start settings to the table.
Specify the table number in the “Teach settings” dialog box,
then the table number is registered as the argument of
ARC-ON command.

[Arc retry] Specifies an arc retry table number. [None,

1 to 5]
Set zero (0) for no arc retry operation. For weld start set-
ting tables 1 to 5, arc retry is factory set to arc retry table
numbers 1 to 5 respectively at shipment.

14.2.11 Weld end settings

It is a function to register arc end settings to the table.
Specify the table number in the “Teach settings” dialog box,
then the table number is registered as the argument of
ARC-OFF command.

[Stick release] Specifies a stick release table number.

[None, 1 to 5]
Set zero (0) for no stick release operation. For weld end
setting tables 1 to 5, stick release is factory set to stick
release table numbers 1 to 5 respectively at shipment.
[Wire auto retract] Specifies which wire auto retract
table to apply. [None, 1 or 2]
Set “None” not to apply the wire auto retract function.

It is factory set to “None” to the weld end settings tables

1 to 5 at shipment.

14.2.12 Re-start overlap

A function to automatically move backward a little bit
before restarting welding operation to overlap weld bead at
re-start operation after stopping in the middle of welding
operation.

[Overlap length] Specifies distance to move backward

[1 to 50] mm
[Return speed] Specifies speed of backward move-
ments
[Overlap error] Specifies whether to stop (Hold) or
continue (Continue) operation in case of the following
conditions.
• The robot reaches a teaching point by executing pre-
set backward movement.
• Before restarting operation, the robot is moved to a
teaching point using trace operation.

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14.2.13 Tip change time

A function to specify tip replacement conditions, such as
arc time, number of arc starts and number of program
starts, to determine the time to replace the tip and to inform
an operator when the time comes.
* When the tip change time comes, a weld error “W0320:
Weld Error: Please replace the tip.” occurs.

[Hold] Set to “Valid” to bring the robot to an error stop

when the tip change time comes.
Set to “Invalid” to output to the specified output terminal
number when the tip change time comes.
[Arc time] Welding time (0-hour 0-minute to 99-hour
59-minute)
[Arc start count] The number of arc starts. (0 to
99999) times
[Program start count] The number of program starts
executed while running the specified program.
* Called program(s) of the specified program is included
if any. (0 to 999) times
[Program Name] Name of the target program of the
“program start count.”
[OUT No.] An output terminal number that is turned on
when the tip change time comes.
[Reset IN No.] An input terminal number to reset the
counter of the tip change time monitor to zero when the
tip change time comes.
<Supplementary notes>
The reset input is processed even without getting to the
time for tip replacement.

14.2.14 Weld monitor (G3 only)

It is a function to monitor whether the actual welding condi-
tions are within the proper range of the welding conditions
specified by the robot. The function is useful to maintain
quality.
[Current] Upper and lower limits of monitoring current
(-50 to +50) A
[Voltage] Upper and lower limits of monitoring voltage
(-5.0 to +5.0) V
[Monitor invalidity time] Delay time provided not to
monitor until the arc becomes stable
• After detecting the current: Delay time from current
detection to monitoring start. (0.0 to 9.9) s
• After changing the condition: Delay time from when
welding condition is changed to when monitoring is
started. (0.0 to 9.9) s
[OUT No.] An output terminal number to be turned on
when an actual welding condition exceeds the monitor-
ing range.

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14.2.15 Display weld condition (TAWERS only)

It is to specify how welding conditions (amperage and volt-
age) sent from the welding machine are displayed on the
teach pendant.

[Display data]
• Update in real time: When welding is not in execution,
the amperage and voltage indicators show “0”.
• Retain main welding data: After welding operation, the
amperage and voltage indicators show the latest main
welding data.
[Display low pulse condition]: Specifies whether to dis-
play the low pulse welding condition (A condition and B
condition).
* This setting item needs to be set to “Valid” if you
would like to use “Override” function.

14.2.16 Pulse settings

It specifies the pulse control method of the applied pulsed
welding machine.

Hybrid Hard mode Soft mode

Torch Torch Torch

Arc Arc Arc

14.2.17 Flying start

This function allows the robot to execute a sequence com-
mand a little before it reaches the arc start point or arc end
point to reduce a tact time.
[Flying start] Specifies whether to use this function
(Valid) or not (Invalid).
[Arc start] Select it to execute the flying start. Then
specifies flying start time, that is, how many seconds
ahead of reaching the arc start point the robot executes
the sequence. [0.00 to 2.00] s
[Only Pre-Flow] Select it to turn on the gas only before
reaching the arc start point. Then specifies flying start
time, that is, how many seconds ahead of reaching the
arc start point the robot turns on the gas. [0.00 to 2.00] s <Note>
Some errors may be observed depending on the
[Arc end] Specifies how many seconds ahead of
applied configuration.
reaching the arc end point the robot executes the
sequence. [0.00 to 2.00] s
<Supplementary notes>
• If the flying start setting time is even before reaching the
taught point one point before the arc start point, the flying
start or pre-flow actually is executed at the taught point
one point before the arc start point.
• In case that “Only Pre-Flow” is applied, if hold and then
restart is applied during welding operation, the gas is
turned on first, then ARC-ON sequence is executed after
a preset wait time.

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14.2.18 Ext. input Wire/Gas

This function allows you to execute wire inching, gas check
or gas valve 2 check (TAWERS only) operation while the
robot is in stopping state in Auto mode using an external G3
input.
<Wire inching using an external input>
• When the external input is turned on, the robot executes
inching operation at low speed (of the inching speed set-
ting).
• After the preset changeover time (of the inching speed
setting) has elapsed, the robot is switched to the high
speed.
• Turn off the input to stop inching operation.
<Gas check using an external input>
• Turn the external input on (or off) to open (or close) the TAWERS
shield gas valve.
[Valid/Invalid] Specifies whether to apply this function
(Valid) or not (Invalid).
[Input terminal] Specifies a user input terminal number
to receive the signal.
<Supplementary notes>
• When inputs of both wire feed forward and wire feed
backward are turned on at a time, wire feed (inching
operation) operation is stopped.
• If operation start is attempted while the external wire/gas
function is on, the robot displays an alarm message,
stops wire feed/gas, and does not accept the start
• If the mode select switch is switched to “TEACH” side
while the external wire/gas function is on, the robot
displays an alarm message and stops wire feed/gas.
In that case, either turn off the input or switch the mode
select switch back to “AUTO” side.

14.2.19 Wire usage monitor output

It is to turn on the specified output when the length of the
wire applied exceeds the preset wire length. Click
Turn on the reset input to turn off the specified output termi- >> Wire usage monitor
nal and reset the specified “Wire usage” value to 0.00 m. >>
Set Arc welding

Note
It is also possible to turn off the specified output terminal by
clicking the Rst on the “Wire usage” screen and mark
the check-box of the intended characteristics.

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14.2.20 Low pulse settings (For G3 controllers)

[Easy low pulse] Specifies whether to use this function
(Valid) or not (Invalid).

[Low pulse level] LPLEVEL [-50 to 0]

[L.P. Duty(%A)] LPDUTY 10 to 90] %
[L.P. Frequency] LPFRQ [0.5 to 10.0] Hz
[L.P. Delay time] LPDELAY [-20 to +20]

Low pulse level It sets the condition B level against the condition A, where
(LPLEVEL) Condition Condition condition A is normal pulse condition.
B This low pulse function is simple low pulse mode, therefore,
A
it won’t change the feed rate.
L.P. Frequency Its sets low pulse frequency.
(LPFEQ) (The frequency to determine when to output condition A and
then condition B.)
LPFRQ (Hz)

L.P. Duty (%A) It sets ratio of condition A output to a pulse time (A + B).
(LPDUTY) Condition Condition
A B

L.P. Delay time Condition A It fine-tunes delay time to start low pulse.
(LPDELAY) Set plus value to wait longer time to start low pulse.

Condition
B

14.2.21 Low pulse settings (For TAWERS)

1) Settings
No special settings are needed to execute low pulse weld-
ing.

Add the low pulse condition command “LPWCOND” to the Setting dialog box when “AMP VOLT” is set:
program. (Refer to section “Command” for details.)
* Depending on the setting of “TAWERS AMP/WFS
switching”, the setting items vary. For example, “wire
feed speed” is not a setting item of “AMP VOLT” type,
but, together with the “voltage”, “wire feed speed” is a
setting item of “WFS VOLT” type.

* If you would like to apply the slope control (to change

the welding condition gradually in a preset section) in
the low pulse welding, use “LPSLP“ command.
• Change of welding condition using the “LPWCOND”
command won’t be recorded in the weld log of the
“Welding data management” function.
• To use “synchronous weaving low-pulse welding”
(operation to switch welding condition A and B at
each amplitude point of the weaving), TAWERS-
MIG function (optional) is needed.

OM1009082E17 211
 Arc welding machine settings

2) Displaying weld conditions

To display low pulsed welding conditions; A condition and
B condition (see the figure on the right), the setting item
“Display low pulse condition” on the “Display weld condi-
tion” dialog box needs to be set to valid. (See section
“14.2.15 Display weld condition (TAWERS only)” on page
A condition B condition
209).

Current
Voltage

Wire feed
speed

3) Override
To use the override function, the setting item “Display low
pulse condition” on the “Display weld condition” dialog box
needs to be set to valid. (See section “14.2.15 Display weld
condition (TAWERS only)” on page 209).

* The function keys are switched to either condition (A or

B) related keys every time the L-shift key is pressed.

14.3 TIG welder settings

It is to set the parameters of a defined TIG welder.
Click
[Over write] Select it to edit the current settings. >> Welder * (Note)
>>
[Backup the current Welder and add a new Welder]
Set Arc welding
Select it to add a new welder settings by making a copy
of an existing one.
When you select this item, you must specify the name of
the welder or welder characteristics you want to make a
copy of. ([Name of the backup Welder])

(Note)
Welder *: “*” represents the welder/welder charac-
teristics number.
* A setting dialog box is prepared for each welder model.

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14.3.1 Weld mode

It is to specify welding mode (DC, AC or MIX-TIG) and
related items, such as pulse waveform type, pulse YC-300BP4:
ON(valid) /OFF(invalid), pulse width (in case of pulse ON
setting).

* The setting items vary with welder models.

YC-300BZ3

14.3.2 Weld condition table

It specifies TIG welding conditions.

14.3.3 Start method

It specifies whether to apply the high frequency oscillation,
a polarity of start pulse, and start parameters. YC-300BP4

YC-300BZ3

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14.3.4 Electrode contact detection

It is a function to bring the robot to an error stop when the
electrode and work-piece are short-circuited.
• While welding, the robot detects “Electrode contact”
when the voltage drops below the preset weld voltage,
and goes into the error “W0370: Weld Error: Electrode
contact” state.
• While running a program, use the CHKVOLT command
to change the benchmark voltage for determining the
“electrode contact”.
[Electrode contact detection] Whether to use this
function.
[Voltage assumed contact] Specifies the benchmark
voltage for determining “electrode contact”.
[STICKCHK command does not ....] Mark the check-
box to check only short circuit between the filler wire and
the base metal (not between the electrode and the base
metal) when the STICKCHK command at arc end point
is executed.

14.3.5 Tip change time

A function to specify tip replacement conditions, such as
arc time, number of arc starts and number of program
starts, to determine the time to replace the tip and to inform
an operator when the time comes.
* When the tip change time comes, a message to alert you
of tip-replacement is displayed.

[Hold] Set to “Valid” to bring the robot to an error stop

when the tip change time comes.
Set to “Invalid” to output to the specified output terminal
number when the tip change time comes.
[Arc time] Welding time (0-hour 0-minute to 99-hour
59-minute)
[Arc start count] The number of arc starts. (0 to
99999) times
[Program start count] The number of program starts
executed while running the specified program.
* Called program(s) of the specified program is
included if any. (0 to 999) times
* When the count exceeds the set number, a message
to alert you of tip-replacement is displayed.
[Program Name] Name of the target program of the
“program start count.”
[OUT No.] An output terminal number that is turned on
when the tip change time comes.
[Reset IN No.] An input terminal number to reset the
counter of the tip change time monitor to zero when the
tip change time comes.
<Supplementary notes>
The reset input is processed even without getting to the
time for tip replacement.

214 OM1009082E17
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14.3.6 Correction value

It is to set the difference in welding current and in pulse fre-
quency between set values and actual values respectively
as correction values.
[Current] Correction value of welding current. (-50 to
+50)
[FRQ] Correction value of pulse frequency. (-5.0 to
+5.0)

14.4 Changing analog type welder settings

It is to set the parameters of analog type welders including
Click
ones registered by users.
>> >> Welder *(Note*)
[Over write] Select it to edit the current settings. Set Arc welding
[Backup the current Welder and add a new Welder]
Select it to add a new welder settings by making a copy
of an existing one.
When you select this item, you must specify the name of
the welder or welder characteristics you want to make a
copy of. ([Name of the backup Welder])
(Note)
Welder *: “*” represents the welder/welder character-
istics number.

<An example of MIG>

(1) Select “Over write” and click OK.
(2) Click “Output characteristics”.
(3) Select “Calibrate by real data, and then click OK.
(4) Edit parameters and click OK.

* The dialog box in the right figure shows that the actual
output current 124 A to the current setting value 120 A
was corrected.

OM1009082E17 215
 Arc welding machine settings

14.5 Weld navigation

This function derives the recommended welding conditions
from applied joint shape and thickness of the plate. The
function is applicable to TAWERS (WG3 controller).

Procedure
While displaying the ARC-SET command setting dialog
box, press the user function key for “NAVIgation”.

Specify the joint shape and thickness of the plate, then the
recommended leg length, throat, torch angle and the aim-
ing position are displayed.
If the leg length and weld speed is changed, the recom-
mended welding conditions (welding current, voltage and
speed) are displayed.

Click OK to display the confirmation message box.

Then select Yes to register the recommended welding con-
ditions in the ARC-SET command.

Please note that the recommended conditions are pre-

sented as reference on the premise that the recommended
wire is used. The optimum welding conditions vary with
applied wire and joint shape. Please fine-tune the recom-
mended conditions suitable for your system.

Note
In case it is not possible to derive recommended welding
conditions that are applicable (for example, the recom-
mended welding current is out of the rated range), recom-
mended conditions are displayed as per the figure on the
right. (boxed off with broken line).
Then, either click STANDARD button and change condi-
tions or click Cancel button to cancel the operation.

216 OM1009082E17
 Commands

15. Commands
15.1 MOVE commands
15.1.1 MOVEC
Format MOVEC [Position name] [Manual speed]
Function Circular interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed to this point.

Example Travel to the teaching point P3 with circular interpolation at speed 7.5 m/min.
MOVEC P3 7.5m/min
Notes To create a path of two separate circular arcs in series, register the circular end point of the first circular
arc as the circular arc split-off point. For details, see section “4.11.2 What is “Circular interpolation”” on page
35.

15.1.2 MOVECW
Format MOVECW [Position name] [Manual speed] [Pattern No.] [Frequency] ([Timer])
Function Circular weaving interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed to this point.
Pattern No. Weaving pattern (n).
Frequency Weaving frequency.
Timer Weaving timer
Example Travel to the teaching point P5 with circular weaving interpolation at speed 7.5 m/min. using weaving pat-
tern 1 with frequency at 0.5.
MOVECW P5 7.5m/min Ptn=1 F=0.5
Notes • If the next teaching point is MOVECW:
Pattern No. specified here is applied to the movement to the next teaching point.
• If the preceding teaching point is MOVECW:
“Frequency” and “Timer” specified here are applied to the movement to this teaching point.
• To create a path of two separate circular arcs in series, register the circular end point of the first circular
arc as the circular arc split-off point. For details, see section “4.11.2 What is “Circular interpolation”” on
page 35.

15.1.3 MOVEL
Format MOVEL [Position name] [Manual speed]
Function Linear interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed to this point.

Example Travel to the teaching point P2 with linear interpolation at speed 7.5 m/min.
MOVEL P2 7.5m/min

OM1009082E17 217
 Commands

15.1.4 MOVELW
Format MOVELW [Position name] [Manual speed] [Pattern No.] [Frequency] ([Timer])
Function Linear weaving interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed to this point.
Pattern No. Weaving pattern (n).
Frequency Weaving frequency.
Timer Weaving timer
Example Travel to the teaching point P4 with circular weaving interpolation at speed 7.5 m/min. using weaving pat-
tern 1 with frequency at 0.5.
MOVECW P4 7.5m/min Ptn=1 F=0.5
Notes • If the next teaching point is MOVELW:
Pattern No. specified here is applied to the movement to the next teaching point.
• If the preceding teaching point is MOVELW:
“Frequency” and “Timer” specified here are applied to the movement to this teaching point.

15.1.5 MOVEP
Format MOVEP [Position name] [Manual speed]
Function PTP interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed to this point.

Example Travel to the teaching point P1 at speed 7.5 m/min.

MOVEP P1 7.5m/min

15.1.6 WEAVEP
Format WEAVEP [Position name] [Manual speed] [Timer]
Function Weaving amplitude point Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed to this point.
Timer Weaving timer
Example Designate the teaching point P6 as weaving amplitude point.
WEAVEP P6 7.5m/min T=0.0

218 OM1009082E17
 Commands

15.2 Input/Output commands

15.2.1 IN
Format IN [Variable]=[Terminal type] ([Terminal name])
Function Input command Variable The imported terminal value is to be
(Import the signal status from I/O port and assigned to. (GB, LB)
assign to a variable.) (In case of 16-bit: GI, LI)
Terminal type I/O terminal type (value or variable (GB,
LB))
I1#: 1-bit input
Lock condition I/O lock. I4#: 4-bit input
I8#: 8-bit input
I16#: 16-bit input
O1#: 1-bit output
O4#: 4-bit output
O8#: 8-bit output
O16#: 16-bit output
Terminal name (value or variable (GI, LI))
Terminal label or terminal number
Example Import the signal status from input terminal 001 of 1-bit output.
IN LB001 = I1#(001)

15.2.2 OUT
Format OUT [Terminal type] ([Terminal name]) = [Value]
Function Output command Terminal type Output terminal type (value or variable
(Output the signal to the output port.) (GB, LB)).
O1#: 1-bit output
Lock condition I/O lock. O4#: 4-bit output
O8#: 8-bit output
O16#: 16-bit output
Terminal name (value or variable (GI, LI))
Terminal label or terminal number
Output value ON or OFF or variable (GB, LB)
(GI and LI for 16-bits)
Example Turn ON the terminal 001 of 1-bit output.
OUT O1#(001) = ON
Notes The output value is converted into a binary number, and lower big is output. (0: OFF, 1: ON)
For example,
Port O1#: outputs the low 1 bit.
Port O4#: outputs low 4 bits.
With 16-bit output, if a negative value is output, it is converted into a binary number using two’s comple-
ment form.

OM1009082E17 219
 Commands

15.2.3 PULSE
Format PULSE[Output terminal] T=[Time]
Function Pulse output command. Output Output terminal type (value or variable
It inverts the port signal for a specified terminal (GB, LB)).
period of time. O1#: 1-bit input
Lock condition I/O lock Time Output time (value or variable).
[0.01 to 99.99] second
Example Invert the signal of 1-bit output port #001 for 5 seconds.
PULSE O1#(001) T=5.00
Supplement • This command is capable of parallel instruction execution. That is, it executes the next command
immediately without stopping for the preset output time.
• The elapsed time counter of the output time won’t be stopped by hold, emergency stop or the end of
the program.
• It is possible to execut up to 16 commands in parallel. Attempting to execute parallel instruction execu-
tion of 17 commands or more causes an error.

220 OM1009082E17
 Commands

15.3 Flow commands

15.3.1 CALL
Format CALL [File name] (+ [Variable])
Function • If no variable to refer to: File name Name of the program you want to call.
It calls a file (and execute the specified Variable Variable to change the file to call.
file.) (GB, LB, GI, LI)
• If there is a variable to refer to: * Applicable only when there is a variable
It executes the variable referenced file. to refer to. (i.e. “File name + Variable” is
Lock condition None. effective.)

Example • If there is no variable to refer to:

Execute Prog0001
CALL PRG0001
• If there is a variable to refer to:
Refer to the value of GB0001 and execute a file start with “Prog”.
CALL Prog + GB(1:GB0001)
<Note>
• If the value of GB0001 is “1”, it executes Prog0001.
• Reference range with variable is 0000 to 9999.
• If the value of the variable is less than four digits, add zero(s) to the high-order digit(s) to make the
value to four digits.

15.3.2 DELAY
Format DELAY T=[Timer]s
Function Delay. Timer Stopping time. (Value, GR, LR)
It stops operation of the mechanism for a [Setting range: 0.00 - 99.99] seconds
specified period of time.
Lock condition None.
Example Stop operation for 10 seconds.
DELAY 10.00s

15.3.3 HOLD
Format HOLD [Message]
Function Temporary stop (or User error). Message To be displayed on the screen.
It leads to an error state. Use it to stop (8 bytes)
operation when the current condition may
cause an error, such as interlock.
Lock condition None.
Example Display the message “No input” and bring the robot to an error stop.
HOLD No input

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15.3.4 IF
Format IF [Factor1][Condition][Factor2] THEN [Execute1] ELSE [Execute2]
Function Conditional branching. Factor 1 Comparison operator 1 (Terminal or vari-
It branches the next action according to able)
the result of the condition test. - In case of “Terminal”, then [Terminal
type] + [Terminal No.]
- Terminal type: I4#, I8#, I16#, O4#, O8#
and O16#.
- Variable (GB, LB, GI, LI, GL, LL, GR,
LR)
Lock condition None. Condition [Relational operations]
=: Factor 1 and Factor 2 are equal.
<: Factor 1 is smaller than Factor 2.
>: Factor 1 is bigger than Factor 2.
<=: Factor 1 is equal to or less than Fac-
tor 2.
>=: Factor 1 is equal to or bigger than
Factor 2.
!=: Factor 1 is not equal to Factor 2.
Factor 2 Comparison factor 2 (Value or variable
name)
Execute 1 An instruction to be executed if the condi-
tion is satisfied. “NOP” is usable.
Execute 2 An instruction to be executed if the condi-
tion is not satisfied.
Example If the input port 001 is ON, then jump to Label ‘LABL0001”.
IF I1#(001) = ON THEN JUMP LABL0001 ELSE NOP

15.3.5 INTERLOCK
Format INTEROLOCK [Input port No.] [Condition]
Function It stops operation until the condition is sat- Input port No Port number that check the input signal.
isfied. The function is effective in auto, Terminal type: “I1#” only.
trace and program test operation. Terminal number: numerical values.
Condition Select from ON/OFF. (No variables.)
Lock condition Do not execute this command in I/O lock If the specified input port is in the speci-
condition fied state (ON or OFF), then the robot
executes the next command.
If not, the robot goes in WAIT state until
the condition is satisfied. In trace forward
operation, the robot goes in halt state.
Example Execute the operation if the input port #001 is in ON state.
INTERLOCK I1#( 1:Z1#10001)=ON

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15.3.6 JUMP
Format JUMP [Label] (+ [Variable])
Function • If no variable to refer to: Label Label name of the jump destination (Char-
It moves the processing to a specified acter string.)
label. Variable Variable to change the file to call.
• If there is a variable to refer to: (GB, LB, GI, LI)
It moves the processing to the variable * Applicable only when there is a variable
referenced label. to refer to. (i.e. “File name + Variable” is
Lock condition None. effective.)

Example • If no variable to refer to: move the processing to LABL0001

JUMP LABL0001
• If there is a variable to refer to: Refer to the value of GB0001 and jump to the label start with “LABEL”.
JUMP LABEL + GB(1:GB0001)
<Note>
• If the value of GB0001 is “1”, it executes LABEL0001.
• Reference range with variable is 0000 to 9999.
• If the value of the variable is less than four digits, add zero(s) to the high-order digit(s) to make the
value to four digits.

15.3.7 LABEL
Format : [Label]
Function It specifies the label of the jump destina- Label Label of the jump destination. (Character
tion string. Max. 20 byte.)

Lock condition None.

Example Create a label “LABEL0001”
:LABEL0001
Notes It is not possible to register if the identical label is already exists in the program.

15.3.8 NOP
Format NOP
Function No operation.
Use it to improve the legibility of the program.
Lock condition None.
Example NOP

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15.3.9 PARACALL
Format PARACALL [File name] [ON/OFF] (+ [Variable])
Function Use it to execute the specified file in par- File Character string. (A file name to execute
allel with the current file if there is no vari- in parallel with the original file.)
able to refer to. ON/OFF ON: Start, OFF: End
Lock condition None. Variable Variable to change the file to call.
(GB, LB, GI, LI)
* Applicable only when there is a variable
to refer to. (i.e. “File name + Variable” is
effective.)
Example • If there is no variable to refer to:
Execute Prog0001
PARACALL PRG0001 ON
• If there is a variable to refer to:
Refer to the value of GB0001 and execute a file start with “Prog”.
PARACALL Prog+GB(1:GB0001) ON
<Note>
• If the value of GB0001 is “1”, it executes Prog0001 in parallel.
• Reference range of the variable is 0000 to 9999.
• If the value of the variable to refer to is less than four digits, add zero(s) to the high-order digit(s) to
make the value to four digits.
Note Up to six files) can be executed in parallel. (Of the six files, up to four files can have axes.)
In case of executing multiple mechanisms in parallel, it is necessary to add multi-mechanism to the Sys-
tem screen in management settings.
Execution error:
<In ON state> ... Error stop in all cases.
• The specified file does not exist.
• Seven or more files are specified to execute in parallel.
• There are overlaps in mechanism of the specified file and that of the file currently in execution.
<In OFF state> ... Skip the command.

15.3.10 PAUSE
Format PAUSE [message]
Function Temporary stop. Message Character string.
(max. 32 characters)
Lock condition None.
Example Display the message “Test” and bring the robot to a stop.
PAUSE Test
Notes When the PAUSE command is executed, the message specified in the argument is displayed.
Unlike the HOLD command, this function does not lead to an error state. (i.e. no error output)

15.3.11 PREPROC
Format PREPROC [Processing]
Function It determines whether to execute the “Pre- Processing ON: Execute the preprocessing.
processing of WAIT/IF” command. OFF: Do not execute the preprocessing.
Lock condition None.
Example To execute the Preprocessing operation.
PREPROC ON

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15.3.12 REM
Format REM [comment]
Function Comment (REM: Reminder) Comment Comment character string.
Use it to add comments in a file for easy (max. 32 characters)
understanding of the file.
Lock condition None.
Example Add a comment “Start welding”.
REM Start welding

15.3.13 RET
Format RET
Function It terminates the current running program and resume operation of the original (calling) program.
If the current running program is the original program (not a called program), then it ends the program.
Lock condition None.
Example RET

15.3.14 R_MARK
Format R_MARK [Execute]
Function Use it to specify a target position of back- [Execute] A command to be executed when the
ward or forward step in the “Error Recov- robot reaches the marked (target) position
ery” function. in the “Error Recovery” function.
Lock condition None. (Normally it is not executed.) Specify either “NOP” or “CALL”.
Executed only when the “Error Recovery” NOP: No command to execute.
function is in execution. CALL: Executes the called program.

Example Execute “Nozzle Clean” after a robot reaches the “Marked step.”
R_MARK CALL NozzleClean
Remarks • Register the command after the teach point (move command) to be assigned as the mark position.
• If the program specified by the “CALL” does not exist, an error occurs.

15.3.15 RSV_CANCEL
Format RSV_CANCEL
Function Use it to clear all reserved programs in the list.
The command is executable in a program with the “program select” start method in AUTO operation.
Lock condition None.
Example Cancel all program reservation.
RSV_CANCEL
Note The command is effective only when “Program select in Auto start method” is selected.

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15.3.16 RSV_PROG
Format RSV_PROG [program name]
Function Use it to add a specified program to the Program A program file name to be reserved.
bottom of the reserved program list. name
The command is executable in a program
with the “program select” start method in
AUTO operation.
Lock condition None.
Example Reserve the program “PRG001”.
RSV_PROG PRG001

15.3.17 STOP
Format STOP
Function It terminates the current operation.
Lock condition None.
Example Terminate the execution of a program.
STOP

15.3.18 UNTIL_IP
Format UNTIL_IP [Terminal type]([Terminal name])={Port status][Deceleration]
Function When the preset input is turned on during Input port Terminal type: I1#:1-bit input
operation, the robot terminates the cur- number Terminal No. Value or variable name (GI,
rent operation and travels to the taught LI)
point after the next point. Port status Input port number, Real number, GI, LI)
Lock condition None. Deceleration SLOW (to stop slowly),
QUICK (to stop rapidly)
Example Execute UNTIL_IP processing when the input port I1#001 is turned ON.
UNTIL_IP I1#(1:I1#001) ON SLOW

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15.3.19 WAIT_IP
Format WAIT_IP [Input port No.][Condition] [Input value] T=[Value] [Execute]
Function It stops operation until the condition is sat- Input port No. Terminal type:
isfied. I1#: 1-bit input
After a lapse of the preset wait time, it I4#: 4-bit input
executes the instruction stated by “Exe- I8#: 8-bit input
cute”. I16#: 16-bit input
Terminal No. Value or variable name (GI,
LI)
Lock condition I/O lock. Condition Relational operations
=: Terminal status and input value are
equal.
Input value A value to compare with the terminal sta-
tus.
(Value or variable name, or ON/OFF for 1-
bit input.)
Value Specify a length of wait time (Value or
variable name (GR, LR).)
T=0: to wait until condition is satisfied.
Execute An instruction to be executed if the condi-
tion is satisfied.
Example Stop operation until I1# type input terminal is turned ON, however, after a lapse of 20 seconds, jump to
LABEL0001.
WAIT_IP I1#(001) = ON T= 20 JUMP LABEL0001
Notes If T=0, then operation is stopped until the condition is satisfied.

15.3.20 WAIT_VAL
Format WAIT_VAL[Variable][Condition] [Value] T =[Timer] [Execute]
Function It stops operation until the condition is sat- Variable Variable (GB, LB, GI, LI)
isfied. Condition [Relational operations]
After a lapse of the preset wait time, it =:Value 1 and Value 2 are equal.
executes the instruction stated by “Exe- <:Value 1 is smaller than Value 2.
cute”. >:Value 1 is bigger than Value 2.
<=:Value 1 is equal to or less than Value 2
>=:Value 1 is equal to or bigger than
Lock condition I/O lock.
Value 2.
!=:Value 1 is not equal to Value 2.
Value Value or variable (The same type)
Timer Specify a length of wait time (Value or
variable name (GR, LR).)
T=0: to wait until condition is satisfied.
Execute An instruction to be executed if the condi-
tion is satisfied.
Example Stop operation until the value of GB0001 and the value of LB001 match, however, after a lapse of 20 sec-
onds, jump to LABEL0001.
WAIT_VAL GB0001 = LB001 T= 20 JUMP LABEL0001
Notes If T=0, then operation is stopped until the condition is satisfied.

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15.4 Arithmetic operation commands

15.4.1 ADD
Format ADD [Variable1] [Variable2]
Function It adds a value to Variable2 to Variable1. Variable1 Refer to this referred to, and assign the
Lock condition None result to. (GB, LB, GI, LI, GL, LL, GR, LR,
GD)
Example Add 10 to Variable LR001. Variable2 Value or variable (of the same type and
ADD LR001, 10 size)
Notes If the specify an additional value with a variable, use the variable of the same type and size as the vari-
able to be added.

15.4.2 ATAN
Format ATAN [Variable1] [Variable2]
Function An arc tangent Variable1 Assign the result to this variable (GR, LR).
It calculates an arc tangent and assign the [Return value: -90 - +90, Unit: degree]
result to Variable1.
Lock condition None Variable2 Value or variable (of the same type).
Example Calculate atan 1 (= tan-11) and then assign the result to LR001.
ATAN LR001 1

15.4.3 CLEAR
Format CLEAR [Variable] [Clear parameter]
Function It clears the value of Variable to zero. Variable Reset this variable to Zero.
Lock condition None Clear parame- Individual: to specify a variable name indi-
ter vidually to reset.
ALL: to reset all variable values of the
specified variable type.
Example Clear the contents (value) of variable LR001.
CLEAR LR001
Notes Once executed, the applied variable value becomes zero.

15.4.4 CNVCOORD
Format CNVCOORD [Coordinate 1] [Variable 1] = [Coordinate 2] [Variable 2]
Function It converts coordinate system Coordinate 1 Coordinate system after conversion
(ROBOT, TOOL, USER, HARMO)
Lock condition None Variable 1 Variable converted data is assigned to.
Coordinate 2 Coordinate system to convert (ROBOT,
TOOL, USER, HARMO)
Variable 2 Variable whose value is referred to (GD)
Example Convert ROBOT coordinate system data (GD variable GD0002) into harmonic coordinate system and
assign the converted data to GD variable GD0001.
CNVCOORD HARMO P001 GD( 1:GD0001) = ROBOT GD( 2:GD0002)
Notes HARMO coordinate system is available only to the system using “External axis harmonious function” or
“Flexible Multi-Cooperative robot function”.

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15.4.5 CNVSET
Format CNVSET [Variable 1] = [Variable 2]
Function It assigns a value into a different variable Variable 1 Variable converted variable is assigned
type. (Type conversion) to. (Target variable)
Lock condition None Variable 2 Variable to assign. (Original variable)
Example Assign element X of a GD variable GD0001 to LR001.
CNVSET LR001 = GD.X GD0001
Notes If the variable to assign exceeds the scope of the variable type to be assigned to, an error occurs.
If the specified target variable is invalid, an error occurs.
When a real number is converted into an integer type variable, round to the closest whole number.
* Application example(s) is available in section “Appendix.”

15.4.6 COS
Format COS [Variable1] [Variable2]
Function Cosine function Variable1 Assign the result to this variable (GR, LR).
It calculates a cosine value and assigns [Unit: degree]
the result to Variable1. Variable2 Calculation or variable (of the same type)
Lock condition None (Unit: degree)

Example Calculate cos45 and assign the result to LR001.

COS LR001 45

15.4.7 DEC
Format DEC [Variable]
Function Decrement command Variable Decrement this variable by 1.(GB, LB, GI,
It decrements the value of Variable by 1. LI, GL, LL)

Lock condition None

Example Decrements the value of LB001 by 1.
DEC LB001

15.4.8 DIV
Format DIV [Variable1] [Variable2]
Function Division. Variable1 Refer to this variable and assign the result
If an integer type variable is selected as to the variable. (GB, LB, GI, LI, GL, LL,
Variable1, the result is truncated after the GR, LR, GD)
decimal point.
Lock condition None Variable2 Value or variable (of the same type)
Example Divide the variable LR001 by 10.
DIV LR001, 10

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15.4.9 GETEL
Format GETEL [Variable1] = [Variable2]
Function Store the current robot orientation in a Variable1 Assign a value to this variable.
position variable. (Registration of robot (GR, LR)
orientation)
Variable2 Variable to be loaded from
Lock condition None Component (GD, GT)
X: the X-coordinate of the point
Y: the Y-coordinate of the point
Z: the Z-coordinate of the point
Example Load X component of the variable GD001 on LR001.
GETEL LR001 = GD. X GD001

15.4.10 GETPOS
Format GETPOS [Variable]
Function Store the current robot orientation in a Variable1 Assign a value to this variable.
position variable. (Registration of robot (GD, GA, GP, P)
orientation)
Lock condition None
Example Store the robot orientation when this command is executed in GD0001.
GETPOS GD0001

15.4.11 INC
Format INC [Variable]
Function Incremental command. Variable Increment this variable by 1.
Increments the value of Variable by 1. (GB, LB, GI, LI, GL, LL)
Lock condition None.
Example Increment the value of LR001 by 1.
INC LR001

15.4.12 MOD
Format MOD [Variable1] [Variable2]
Function Remainder function Variable1 Assign the result to this variable.
Calculate the remainder of the division (GB, LB, GI, LI, GL, LL)
(Variable1 divided by Variable2) and then
assign the remainder to Variable.
Lock condition None. Variable2 Value or variable (of the same type)
Example Calculate the remainder of LR002÷LR003 and assign the result to LR002.
MOD LR002, LR003

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15.4.13 MUL
Format MUL [Variable1] [Variable2]
Function Multiplication Variable1 Refer to this variable and assign the result
It multiplies values of Variable1 and to the variable.
Variable2 (GB,LB,GI,LI,GL,LL,GR,LR,GD)
Variable2 Numerical value or variable (of the same
type).
Lock condition None.
Example Multiply LR001 by 2
MUL LR001, 2

15.4.14 SET
Format SET [Variable1] = [Variable2]
Function It assigns a value or value of Variable2 to Variable1 Assign the result to this variable.
Variable1. (GB,LB,GI,LI,GL,LL,GR,LR,GD,GT)
Variable2 Value or variable (of the same type) to be
Lock condition None. assigned.

Example Set 10 to variable LR001

SET LR001 = 10

15.4.15 SETEL
Format SETEL [Variable1] = [Variable2]
Function It assigns a value to the component of Variable1 Assign a value to this variable.
Variable1 Component (GD, GT)
X: the X-coordinate of the point
Y: the Y-coordinate of the point
Z: the Z-coordinate of the point
Variable2 Value or variable name to be assigned.
Lock condition None. (GR, LR, GD, GT)

Example Set 100 to X component of variable GD001.

SETEL GD. X GD001 = 100

15.4.16 SIN
Format SIN [Variable1] [Variable2]
Function Sine function Variable1 Assign the result to this variable.
It calculates a sine Variable2 and assigns
the result to Variable1.
Variable2 Calculation or variable (of the same type)
Lock condition None. (Unit: degree)

Example Calculate sin45 and assign the result to LR001.

SIN LR001 45

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15.4.17 SQRT
Format SQRT [Variable1] [Variable2]
Function Square root function Variable1 Assign the result to this variable.(GR, LR)
It calculates a square root of the value of
Varibal2 and assigns the result to
Variable1.
Variable2 Calculation or variable (of the same type).
Lock condition None.
Example Calculate square root of 2 and then assign the result to LR001.
SQRT LR001 2

15.4.18 SUB
Format SUB [Variable1] [Variable2]
Function Operation of subtraction Variable1 Refer to this variable and assign the result
It subtracts the value of Variable2 from to the variable.
Variable1. (GB,LB,GI,LI,GL,LL,GR,LR,GD)
Lock condition None. Variable2 Subtraction value or variable (of the same
type).
Example Subtract 10 from LR001
SUB LR001, 10
Notes If a variable is used to represent subtraction value, the variable of the same type should be applied.

15.5 Welding commands (Common use)

15.5.1 ARC-OFF
Format ARC-OFF [File name] RELEASE=[Table]
Function It ends the welding operation. File name Name of the arc end operation file.
Write a series of arc end procedures, Table Arc end condition table number. [0 - 5]
such as turning off the torch switch, in a Set zero (0) if you do not need to execute
file, and use this command to specify the wire stick check and wire auto retract at
file name. the end of welding.
Five sample files; ArcEnd1 to ArcEnd5,
are factory registered at shipment.
Lock condition Arc lock (Internal execution).
Example Execute ArcEnd1 file to end welding operation with no wire stick release.
ARC-OFF ArcEnd1 RELEASE=0

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15.5.2 ARC-ON
Format ARC-ON [File name] PROCESS=[Table]
Function It starts welding operation File name Name of the file for arc start operation.
Write a series of arc start procedures, Table Arc end condition table number. [0 - 5]
such as turning on the torch switch, in a Set zero (0) if you do not need to execute
file, and use this command to specify the retry at the end of welding.
file name.
Five sample files; ArcStart1 to ArcStart5,
are factory registered at shipment.
Lock condition Arc lock (Internal execution).
(Execute when arc lock is released before
executing the ARC-OF command.)
Example Execute ArcStart1 file to start welding operation with no retry.
ARC-ON ArcStart1 PROCESS=0

15.5.3 GASDELAYOFF
Format GASDELAYOFF T= [Timer]
Function It closes the gas valve after a lapse of the Timer Time before stopping gas.
preset time. (Direct value, GR, LR) [0.00 - 99.99] s
This command does not stop the robot.
While executing the next command(s), it
counts time and closes the gas valve
when the preset time past.
Lock condition Arc lock
Example Close the gas valve in five seconds.
GASDELAYOFF T= 5.00
Notes • Use together with GASVALVE ON command.
This GASDELAYOFF command itself does not turn ON the gas valve.
• In case that the variable assigned in the argument is out of the allowable set range, round it. (If the vari-
able exceeds the range, apply the maximum value, and if the variable is below the range, apply the
minimum value.)
• In case the weld method is “Powder plasma welding,” the error “W0520 Welder is different” occurs.

15.5.4 GASVALVE
Format GASVALVE [ON/OFF]
Function It opens or closes the gas valve. ON/OFF ON: Open the gas valve.
Lock condition Arc lock. OFF: Close the gas valve.
Example Open the gas valve.
GASVALVE ON

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15.5.5 IF-ARC
Format IF-ARC =[ON/OFF]THEN [Execute 1]ELSE [Execute 2]
Function It applies different actions depending on ON/OFF Arc state (ON: Arc is ON / OFF: No arc)
whether or not the arc is generated. Execute 1 An instruction to be executed if the condi-
Lock condition Arc lock (Internal execution) tion is satisfied. Select from
“JUMP”,“CALL” or “NOP”.
Execute 2 An instruction to be executed if the condi-
tion is not satisfied. Select from “JUMP”,
“CALL” or “NOP”
Example If arc generation is detected, jump to LABL0001, otherwise, execute the next command.
IF-ARC=ON THEN JUMP LABL0001 ELSE NOP
Note Arc lock is considered as “condition satisfied”, therefore, “Execution 1” will be executed.
* Application example(s) available in section “Appendix”.

15.5.6 STICKCHK
Format STICKCHK [ON/OFF]
Function It starts or terminates the stick check ON/OFF ON: Start the stick check.
operation. OFF: Terminate the stick check.
Lock condition Arc lock.
Example Start the stick check.
STICKCHK ON

15.5.7 TORCHSW
Format TORCHSW
Function It turns ON or OFF the torch switch. ON/OFF ON: Turn ON the torch switch.
Lock condition Arc lock. OFF: Turn OFF the torch switch.
Example Turn ON the torch switch.
TORCHSW ON

15.5.8 WAIT-ARC
Format WAIT-ARC
Function It stops operation until arc generation (or current flow) is detected (Arc detect command).
Lock condition Arc lock
Example Stop the processing until arc generate is detected.
WAIT-ARC

15.5.9 WIREFWD
Format WIREFWD [ON/OFF]
Function It starts or terminates the wire forward ON/OFF ON: Feed wire.
feed. OFF: Terminate wire feed.
Lock condition Arc lock
(Do not lock if “Do not lock WIREFWD/
WIRERWD execution” is set to valid.)
Example Start wire forward feeding.
WIREFWD ON

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15.5.10 WIRERWD
Format WIRERWD [ON/OFF]
Function It starts or terminates wire backward feed. ON/OFF ON: Start wire retraction.
OFF: Terminate wire retraction.
Lock condition Arc lock
(Do not lock if “Do not lock WIREFWD/
WIRERWD execution” is set to valid.)
Example Start wire backward feeding.
WIRERWD ON

15.5.11 WLDSPD
Format WLDSPD = [Speed]
Function It specifies a welding speed. Speed Speed set value
Lock condition None (Executable in the weld off state.) [0.01 - Maximum speed (*)] m/min
(*): The maximum speed varies with robot

manipulator model.
Example Set the welding speed to 0.50 m/min.
WLDSPD = 0.50
Note It changes welding speed in the weld section.

15.5.12 WLDSPDSLP
Format WLDSPDSLP [Speed] [Slope section]=[Value]
Function It gradually changes the welding speed of Speed Target speed (Unit: m/min)
the specified slope section to the speci- Slope section Definition of slope section
fied target speed. T=: Time
Lock condition None (Executable in the weld off state.) D=: Distance
NEXT: To the next step
Value Value or variable.
T=: Time [0.01 - 9999.99] s
D=: Distance [0.01 - 9999.99] mm
NEXT: No value
Example Change the weld speed to 0.80 m/min in 50 mm.
WLDSPDSLP 0.80m/min D=50mm
Note • To execute this command together with the slope command of welding conditions, register WLDSPD-
SLP command and then ARCSLP command in this order.
• After the completing this command, the welding operation is executed at the speed specified by this
command until the end of the current weld section or until the welding speed is changed.
• If the slope section defined either by time or distance exceeds the next teaching point, the slope sec-
tion is automatically corrected to the next teaching point.
This command is applicable with the external axis harmonic movement function and multi-cooperative
robot control.

15.5.13 WPLS
Format WPLS [ON/OFF]
Function It specifies whether to apply the pulse ON/OFF ON: Apply the pulse control.
control (ON) or not (OFF). OFF: Not to apply the pulse control.
Lock condition Arc lock (Internal execution)
Example Turn on the pulse control.
WPLS ON

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15.6 Weld commands (For GMAW)

15.6.1 ADJRST
Format ADJRST
Function It resets the wave adjust data to the default.
Lock condition Arc lock (Internal execution).
Example ADJRST

15.6.2 AMP
Format AMP [Amperage]
Function It specifies a welding current. Amperage Welding amperage [1 - 999] A
Lock condition Arc lock (Internal execution, specify val-
ues).
Example Sets the welding amperage to 200 A.
AMP=200

15.6.3 ARC-SET
Format ARC-SET AMP=[Amperage] VOLT=[Voltage] S=[Speed]
Function It specifies welding conditions. Amperage Welding current. [1 - 999] A
Voltage Welding voltage. [0.1 - 99.9] V
Lock condition Arc lock (Internal execution, specify val- Speed Welding speed.
ues.) [0.01 - max. speed(*)] m/min

(*)
: Max. speed varies with manipulator
model.
Example Set parameters to perform welding operation with welding current at 180A, welding voltage at 20 V, and
speed at 0.5 m/min.
ARC-SET A=180 V=20 S=0.50
Notes • The “STD” button is available in both “Unification/Individual” settings (Arc welding machine settings)
Click it to obtain voltage from the unification data table.
• This “STD” button is not displayed in the following conditions.
- If the applied welding power source does not support “Unification” mode.
- If no welder characteristics is selected for the currently editing program.
• If welding current is out of the setting range, no corresponding value to the welding current exists in the
data table, therefore, clicking the “STD” button does not change anything.

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15.6.4 ARCSLP
Format ARCSLP AMP=[Amperage] VOLT=[Voltage] [Slope section]=[Value]
Function It gradually changes the welding condi- Amperage Target amperage. [1 - 999] A
tions of the slope section to the specified Voltage Target voltage. [0.1 - 99.9] A
target conditions.
Lock condition None Slope section Definition of slope section
T=: Time
D=: Distance
NEXT: To the next step
Value T=: Time [0.01 - 9999.99] s
D=: Distance [0.01 - 9999.99] mm
NEXT: No value
Example ARCSLP AMP=180 VOLT=23.0 NEXT

15.6.5 BBKPULSE
Format BBKPULSE [Value]
Function It adjusts the pulse number for burn back [Value] Pulse number adjusting value for burn
pulse processing at the end of pulsed back pulsed processing.
welding in TAWERS system. [-10 to +10] times
• The “Value” is added to the system set-
ting value.
Lock condition None. Executing this command with the value
Execute even in arc lock, I/O lock and at “+1” twice does not result in +2. It
robot lock. (Set parameters.) results in +1.
• Increase the value: to increase burn
back amount, which can reduce the
occurrence of the wire stick.
Example Adjust the pulse number for the burn back pulse processing at the end of pulsed welding in TAWERS
system by +1.
BBKPULSE +1
Notes • With TIG welding settings, the error “W0520 Welder is different.” occurs.
• With no pulse welding, if the ENDPLS command is executed to terminate the pulse, the pulse number
is fine-tuned.
* Application example(s) are available in section “Appendix” of the operating instructions of the teach pendant.

15.6.6 BBKTIME
Format BBKTIME [Value]
Function It adjusts the burn back time.
• Increase the value to extend the wire
burning time, which reduces the occur-
rence of a wire stick.
• Decrease it to shorten the wire burning
time, which as a result reduces the
occurrence of the tip burn back.
Lock condition Arc lock (Internal execution).
Example Adjust the System setting value by “+1”.
BBKTIME +1
Value TAWERS, GZ4: [100 to +100]
Other welders: [-20 to +20]
• The “Value” is added to the system set-
ting value.
Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.
• With welders other than full digital weld-
ers, if the value is out of the range from
-10 to +10, the value is rounded down
to -10 or +10 respectively.

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15.6.7 CDM
Format CDM [ON/OFF/Default]
Function It turns ON/OFF the CDM (Current detect ON Apply the CDM function.
mask) function. If the current is detected during wire slow-
down operation, the welder stops wire
feeding and waits for arc generation.
Once arc is generated, the welder
switches the wire speed to the steady
speed.
OFF Not to apply the CDM function.
If the current is detected during wire slow-
down operation, the robot immediately
switches the wire speed to steady rate.
Lock condition None Default Return to the original settings of the
applied welder.
“Default” may not be indicated depending
on the applied welder model.
Example Turn on the CDM function.
CDM ON
Notes • The ON/OFF state once switched is retained after the end of operation.
• The ON/OFF state does not support the resume function.

15.6.8 CRATER
Format CRATER AMP=[Amperage] VOLT=[Voltage] T=[Timer]
Function It specifies crater welding conditions. Amperage Crater welding amperage.
[1 – 999] A

Lock condition Arc lock (Internal execution, set val- Voltage Crater welding voltage.
ues). [0.1 - 99.9] V

Timer Crater welding time.

[0.00 - 99.99] s
Example Set parameters for crater welding operation for 0.2 seconds with current at 120 A and voltage at 16 V.
CRATER A=120 V=16 T=0.2

15.6.9 ELI
Format ELI [Value]
Function It adjusts reactance. Value TAWERS, GZ4: [- 50 to +50]
Lock condition None. • Increase the value for smaller reac-
(Update the parameter even in arc lock tance and harder arc-feeling.
and robot lock.) • Reduce the value for larger reactance
and softer arc-feeling.
Example Adjust the system setting value by +10.
ELI +10

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15.6.10 ENDPLS
Format ENDPLS [ON/OFF/Default]
Function It specifies whether to turn ON or not the ON Turn ON pulse at the arc end.
pulse at the arc end in short-circuiting arc OFF Do not turn on pulse at the arc end.
welding.
Default Return to the original settings of the
applied welder.
Lock condition None “Default” may not be indicated depending
(Update the parameter even in arc lock on the applied welder model.
and robot lock.)
Example Turn ON the “ENDPLS” function.
ENDPLS ON

15.6.11 FTTLVL
Format FTTLVL [Value]
Function It adjusts the FTT voltage level. Value TAWERS, GZ4: [-100 to +100]
• Increase the value to round (or conglo- Other welders: [-50 to +50]
bate) the end of the wire, which, as a
result, reduces the occurrence of the
wire stick.
Note
• The “Value” is added to the system set-
• Decrease the value to sharpen the end ting value.
of the wire for better arc start. Executing this command with the value
Lock condition Arc lock (Internal execution). * at “+1” twice does not result in +2. It
results in +1.
• With welders other than full digital weld-
ers, if the value is out of the range from
-10 to +10, the value is rounded down
to -10 or +10 respectively.
Example Adjust the system setting value by +1.
FTTLVL +1

15.6.12 HOTCUR
Format HOTCUR [Value]
Function It adjusts the hot current. Value TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution) Other welders: [-3 to +3]

Example Adjust the system setting value by +1.

HOTCUR +1

15.6.13 HOTTM
Format HOTTM [Value]
Function It adjusts the wire burning (hot time) at the Value TAWERS, GZ4: [-50 to +50]
arc start.
Lock condition None • Increase the value for larger wire burn-
(Update the parameter even in arc lock ing at the arc start.
and robot lock.) • Reduce the value to turn down the wire
burning at the arc start.
Example Adjust the system setting value by +10.
HOTTM +10

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15.6.14 HOTVLT
Format HOTVLT [Value]
Function It adjusts the hot voltage. Value TAWERS, GZ4: [-50 to +50]
• Increase the value to smoothen wire Other welders: [-50 to +50]
feeding immediately after the arc start.
• Decrease it to restrain the burn-back Note
immediately after the arc start. • The “Value” is added to the system set-
ting value.
Executing this command with the value
Lock condition Arc lock (Internal execution).
at “+1” twice does not result in +2. It
results in +1.
• With welders other than full digital weld-
ers, if the value is out of the range from
-10 to +10, the value is rounded down
to -10 or +10 respectively.
Example Adjust the system setting value by +1.
HOTVLT +1

15.6.15 IAC
Format IAC [Value]
Function It adjusts the arc current refraction value Value TAWERS, GZ4: [-200 to +200]
of the welding current waveform. Other welders: [-3 to +3]
Lock condition Arc lock (Internal execution). • The “Value” is added to the system set-
ting value.
Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.
Example Adjust the system setting value by +1.
IAC +1
<Image>

15.6.16 IB
Format IB [Base amperage]
Function It adjusts base amperage. Base TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution). amperage Other welders: [-50 to +50]

Example Adjust the system setting value by +1.

IB +1

240 OM1009082E17
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15.6.17 IB2
Format IB2 [Value]
Function It adjusts the secondary base amperage. Value TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution). Other welders: [-50 to +50]

Example Adjust the system setting value by +1.

IB2 +1

15.6.18 INIT-IB
Format INIT-IB [Value]
Function It adjusts the initial base amperage. Value TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution). Other welders: [-50 to +50]

Example Adjust the system setting value by +1.

INIT-IB +1

15.6.19 INIT-IP
Format INIT-IP [Value]
Function It adjusts initial peak amperage. Value TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution). Other welders: [-50 to +50]

Example Adjust the system setting value by +1.

INIT-IP +1

15.6.20 INIT-PCOUNT
Format INIT-PCOUNT [Value]
Function It adjusts the pulse for start pulse process Value TAWERS, GZ4: [-10 to +10]
at the arc start.
Lock condition None
Example Adjust the INIT-PCOUNT value by +10.
INIT-PCOUNT +10

15.6.21 INIT-PFRQ
Format INIT-PFRQ [Value]
Function It adjusts pulse frequency at the arc start. Value TAWERS, GZ4 [-100 to +100]
Lock condition None
(Update the parameter even in arc lock
and robot lock.)
Example Adjust the system setting value by +10.
INIT-PFRQ +10

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15.6.22 IP
Format IP [Peak amperage]
Function It adjusts peak amperage. Peak amper- TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution). age Other welders: [-50 to +50]

Example Adjust the system setting value by +1.

IP +1

15.6.23 I-PFALL
Format I-PFALL [Value]
Function It adjusts gradient of falling pulse current. Value TAWERS, GZ4: [-70 to +70]
Other welders: [-7 to +7]
Lock condition None
Example Adjust the system setting value by +1.
I-PFALL +1

15.6.24 I-PRISE
Format I-PRISE [Value]
Function It adjusts gradient of rising pulse current. Value TAWERS, GZ4: [-70 to +70]
Other welders: [-7 to +7]
Lock condition Arc lock (Internal execution).
Example Adjust the system setting value by +1.
I-PRISE +1

15.6.25 ISC
Format ISC [Value]
Function It adjusts the short-circuit current refrac- Value TAWERS, GZ4: [-200 to +200]
tion value of the welding current wave- Other welders: [-3 to +3]
form.
Lock condition Arc lock (Internal execution). • The “Value” is added to the system set-
ting value.
Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.
Example Adjust the system setting value by +1.
ISC +1
<Image>

242 OM1009082E17
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15.6.26 ISL1
Format ISL1 [Value]
Function It adjusts short-circuit current gradient 1 of Value TAWERS, GZ4: [-200 to +200]
welding current waveform. Other welders: [-3 to +3]
• The “Value” is added to the system set-
• Decrease the value to make the gradi- ting value.
ent more mild. Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.
Lock condition Arc lock (Internal execution).
Example Adjust the system setting value by +1.
ISL1 +1
<Image>

15.6.27 ISL2
Format ISL2 [Adjustment value]
Function It adjusts short-circuit current gradient 2 of Value TAWERS, GZ4: [-200 to +200]
welding current waveform. Other welders: [-3 to +3]
• The “Value” is added to the system set-
• Decrease the value to make the gradi- ting value.
ent more mild. Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.
Lock condition Arc lock (Internal execution).
Example Adjust the system setting value by +1.
ISL2 +1
<Image>

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15.6.28 MTS-CYCLE
Format MTS-CYCLE [Value]
Function It is a MTS control related adjustment. [Value] [- 300 to +300]
Lock condition None. • The “Value” is added to the system set-
(Execute even in arc lock.) ting value.
Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.
Example MTS-CYCLE -10
Notes • Applicable to the welding power sources; YD-500GZ4.
• Normally it is not necessary to set any adjusting values.

15.6.29 MTS-ONTM
Format MTS-ONTM [Value]
Function It is a MTS control related adjustment. Value [- 300 to +300]
Lock condition None. • The “Value” is added to the system set-
(Execute even in arc lock.) ting value.
Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.
Example MTS-ONTM -5
Notes • Applicable to the welding power sources; YD-500GZ4.
• Normally it is not necessary to set any adjusting values.

15.6.30 MTS-V
Format MTS-V [Value]
Function It is a MTS control related adjustment. Value Add to a system setting value.
Lock condition None. [- 40 to +40]
(Execute even in arc lock.) Executing +1 adjustment twice does not
result in +2.
Example MTS-V +4
Notes • Applicable to the welding power sources; YD-500GZ4.
• Normally it is not necessary to set any adjusting values.

15.6.31 NECKLVL
Format NECKLVL [ON/OFF] [Value]
Function It adjusts whether to turn ON or not the ON/OFF ON: Apply the neck detection function.
neck detection, and also detection level. OFF: Not to apply the neck detection
function.
Lock condition None Value Neck detection level [-50 to +50]
(Set parameters.) (Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.)
Example Adjust the system setting value by “-10”.
NECKLVL ON -10
Notes Execution error:
With TIG welding settings, the error “W0520 Welder is different.” occurs.
In case of unstable welding, such as arc makes cracking noise, increase the value of the NECKLVL com-
mand can solve the problem. Increasing the value too much can cause spatter to increase.

244 OM1009082E17
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15.6.32 PCHGSLP
Format PCHGSLP [Adjustment value]
Function It adjusts the pulse change slope value. Value HM3 [-50 to +50]
(A dedicated command to HM3 welding
power source.)
Lock condition Arc lock (Internal execution).
Example Adjust the pulse change slope value by +1.
PCHGSLP +1

15.6.33 PCTRLBLOW
Format PCTRLBLOW [ON/OFF] Gain= [Gain]
Function It switches the arc blow control ON/OFF [Gain] [0.5 to 3.0]
state in pulsed welding.
Lock condition None. Standard value: 1.0

Example Turn ON the arc blow control function and set the gain to “1.0”.
PCTRLBLOW ON Gain=1.0
Notes • With MIG welding, the command is applicable only to TAWERS.
With TIG welding settings, the error “W0520 Welder is different.” occurs.
• The function is in ON state when the power is turned on.

15.6.34 PFALL
Format PFALL [Adjustment value]
Function It adjusts the pulse fall angle. Value TAWERS, GZ4
Lock condition Arc lock (Internal execution). [-200 to +200]
Other welders: [-50 to +50]
Example Adjust the system setting value by +1.
PFALL +1

15.6.35 PFRQ
Format PFRQ [Pulse frequency]
Function It adjusts pulse frequency. Pulse TAWERS, GZ4: [-100 to +100]
frequency Other welders: [-50 to +50]
Lock condition Arc lock (Internal execution).
Example Adjust the system setting value by +1.
PFRQ +1

15.6.36 P-HOTTM
Format P-HOTTM [Value]
Function It adjusts pulse hot time. Value [-10 to +10]
Lock condition Arc lock (Internal execution).
Example Adjust the system setting value by +1.
P-HOTTM +1

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15.6.37 PMODE
Format PMODE [Mode]
Function It specifies pulse mode. Mode Select a pulse mode from SOFT, HARD
Lock condition Arc lock (Internal execution). and HYBRID.

Example Change the pulse mode to “SOFT”.

PMODE SOFT

15.6.38 PPEAK
Format PPEAK [Value]
Function It adjusts pulse peak time. Value TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution). Other welders: [-50 to +50]

Example Adjust the system setting value by +1.

PPEAK +1

15.6.39 PRESP
Format PRESP [Value]
Function It adjusts pulse responsive parameter. Value HM3: [-50 to +50]
(A dedicated command to HM3 welding
power source.)
Lock condition Arc lock (Internal execution).
Example Adjust the pulse responsive parameter by +1.
PRESP +1

15.6.40 PRISE
Format PRISE [Adjustment value]
Function It adjusts the pulse rise angle. Value TAWERS, GZ4: [-200 to +200]
Lock condition Arc lock (Internal execution). Other welders: [-50 to +50]

Example Adjust the system setting value by +2.

PRISE +2

15.6.41 PSTSLP
Format PSTSLP [Value]
Function It adjusts pulse start slope. Value HM3: [-50 to +50]
(A dedicated command to HM3 welding
power source.)
Lock condition Arc lock (Internal execution).
Example Adjust the pulse start slope by +1.
PRESP +1

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15.6.42 SP-I
Format SP-I [Value]
Function It adjusts superimposed current value Value TAWERS, GZ4: [-200 to +200]
after releasing the short circuit.
Lock condition None.
(Update the parameter even in arc lock
and robot lock.)
Example Adjust the system setting value by +10.
SP-I +10

15.6.43 SP-T
Format SP-T [Value]
Function It adjusts the SP time parameter in SP- [Value] TAWERS, GZ4: [-300 to +300]
MAG welding.
Lock condition None.
Example Adjust the system setting value by +10.
SP-T +10

15.6.44 STARTPLS
Format STARTPLS [ON/OFF/Default]
Function It specifies whether to turn ON or not the ON Turn ON pulse at the arc start.
pulse at the arc start in short circuiting arc OFF Turn OFF pulse at the arc end.
welding.
Default Return to the original settings of the
applied welder.
Lock condition None. “Default” may not be indicated depending
(Update the parameter even in arc lock on the applied welder model.
and robot lock.)
Example Turn on the “STARTPLS”.
STARTPLS ON

15.6.45 STDC_TIME
Format STDC_TIME [Value]
Function It adjusts DC welding operation time at Value TAWERS: [-20 to +20]
AC welding start.
Lock condition None.
Example Adjust the system setting value by +10.
STDC_TIME +10

15.6.46 TSO
Format TSO [Value]
Function It adjusts initial short circuit time. Value TAWERS, GZ4: [-20 to +20]
Other welders: [-3 to +3]
Lock condition Arc lock (Internal execution).
Example Adjust the system setting value by +1.
TSO +1

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15.6.47 TSP
Format TSP [Value]
Function It adjusts length of time to prevent wire Value Other welders: [-3 to +3]
stick.
Lock condition Arc lock (Internal execution).
Example Adjust the system setting value by +1.
TSP +1

15.6.48 VOLT
Format VOLT [Voltage]
Function It specifies a welding voltage. Voltage Welding voltage. [0.1 - 99.9] V
Lock condition Arc lock (Internal execution, set values).
Example Set the welding voltage to “24 V”.
VOLT=24

15.6.49 WIRACDC
Format WIRACDC [Value]
Function It adjusts wire feed acceleration speed at [Value] Executing this command with the
the time of changing the welding conditions. value at “+1” twice does not result in
+2. It results in +1.
Lock condition None. (Set parameters.)
Example Adjust the system setting value by +10
WIRACDC +10.0

15.6.50 WIRSLDN
Format WIRSLDN [Value]
Function It adjusts the wire slow-down speed. Value TAWERS, GZ4: [-50 to +50]
• Increase the value to reduce the time to Other welders: [-125 to +125]
generate an arc. Executing this command with the value
• Decrease the value for better arc start. at “+1” twice does not result in +2. It
Lock condition Arc lock (Internal execution) results in +1.

Example Adjust the system setting value by +1.

WIRSLDN +1

15.6.51 WIRSPDADJ
Format WIRSPDADJ [Value]
Function It adjusts the wire feed speed. Value TAWERS, GZ4: [-500 to +500]
Lock condition None Executing this command with the value at
“+1” twice does not result in +2. It results
in +1.
Example Adjust the System setting value by +10.
WIRSPDADJ +10

248 OM1009082E17
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15.6.52 WIRSTRACC
Format WIRSTRACC [Value]
Function It adjusts the acceleration of wire feed at Value TAWERS, GZ4: [-50.0 to +50.0]
welding start.
Lock condition Execute even in arc lock, I/O lock and
robot lock. (Set parameters.)
Example Adjust the system setting value by “+1.0”.
WIRSTRACC +1.0

15.6.53 WIRSTRDELAY
Format WIRSTRDELAY [Value]
Function It adjusts the delay time of wire feed at Value TAWERS, GZ4: [-500 to +500]
welding start. Executing this command with the value
Lock condition Effective in arc lock, I/O lock and Robot at “+1” twice does not result in +2. It
lock conditions. (Need to set parameters) results in +1.

Example Adjust the system setting value by “+100”.

WIRSTRDELAY +100

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15.7 Weld commands (For TAWERS)

15.7.1 ARC-DCT-DELAY
Format ARC-DCT-DELAY [ON/OFF] [Value]
Function It adjusts length of the arc detection time ON/OFF Whether to use this function or not.
at the arc start. ON: Adjust the detect time.
OFF: Not to adjust the detect time.
Lock condition None. (Set parameters.) Value Adjusting value for arc detection time.
[-1.00 to +1.00]
(Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.)
Example Adjust the system setting value by “+0.10”.
ARC-DCT-DELAY ON +0.10
Notes Adjusting the arc detection time can be a solution for chipping or insufficient bead at the arc start.

15.7.2 ARC-LIFT
Format ARC-LIFT [Condition] ArcStart= [Up width] ArcEnd= [Up width] Time= [Lift-down time]
Function It determines the use of arc lift-up func- Condition Select either "Enable" or "Disable".
tion. Enable: to execute the Lift-up function at
When used, specify the height to lift-up the arc start points and arc end points
(“Up width”) and the time taken to lift down that follow.
(“Lift-down time”). Disable: not to execute the Lift-up func-
tion at the arc start points and arc end
points that follow.
Lock condition None. Up width * Selectable only when condition is
for ArcStart “Enable”.
Distance to lifted up the torch at the arc
start.
[0.00 - 3.00mm]
Up width * Selectable only when condition is
for ArcEnd “Enable”.
Distance to be lifted up the torch at the arc
end. [0.00 - 3.00mm]
Lift-down time Time taken to lift down the torch from the
lift-up position at the arc start.[0.10 - 1.00
s]
Example Set the “ARC-LIFT” function whose “Arc start up width” is 2 mm, “Arc end up width” is 1 mm and “Lift-
down time” is 0.5 second.
ARC-LIFT Enable ArcStart=2.00 ArcEnd=1.00 Time=0.50
Note To execute the ARC-LIFT” function, it is necessary to set the “ARC-LIFT” setting dialog box to “Valid”. If it
is set to invalid, the “ARC-LIFT” won’t function although the “Condition” of this command is set to
“Enable”.

250 OM1009082E17
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15.7.3 CRATERSLP
Format CRATERSLP [Terminal condition] [Slope section] [Parameters for the slope section]
Function It changes welding conditions to the “Ter- [Slope sec- Designation of slope section
minal condition” gradually starting from tion] T=: Designate with time [0.01-999.99] s
before the slope section for the weld end D=: Designate with distance
point. [0.01-999.99] mm
BACK: From the taught point just before
the end point to the end point.
Lock condition None (Execute even in arc lock, I/O lock Parameters Specify it with a welding fine adjustment
and robot lock.) for the slope parameter table number to be used in the
section slope section. [None], [1-10]
Example Change the welding conditions to 100 A 16.0 V 0.30 m/min gradually starting from 50 mm before the
slope section.Refer to the parameter table No. 5 for the parameters in the slope section.
CRATERSLP AMP=100 VOLT=16.0 S= 0.30 D=50.00mm PRM=5
Notes • Applicable only to TAWERS-MAG welding operation.
• In the slope section, use the specified welding fine adjustment parameters of the specified table (Slope
PRM #).
* Application example(s) available in section “Appendix” of the operating instructions of Teach pendant.

15.7.4 LPSLP
Format LPSLP Ia=[A-Amp] Va=[A-Volt] Ib=[B-Amp] Vb=[B-Volt] [Slope section]=[Value]
Function It changes the low pulse welding condi- A-Amp Target amperage of A condition (Unit: A)
tions gradually over the specified slope A-Volt Target voltage of A condition (Unit: V)
section.
B-Amp Target amperage of B condition (Unit: A)
B-Volt Target voltage of B condition (Unit: V)
Lock condition None (Execute even in arc lock, I/O lock Slope section Designation of slope section
and robot lock.) T=: Designate with time
D=: Designate with distance
NEXT: To the next step
Value Value or variable
T=: Time [0.01 - 999.99] s
D=: Distance [0.01 - 999.99] mm
NEXT: No value
Example Change the low pulse welding conditions to 180A and 24.4 V for A condition, and 150 A and 22.4V for B
condition over the 50 mm of the slope section.
LPSLP la 180 Va 24.4 lb 150 Vb 22.4 D 50.00 mm

15.7.5 PTYPE
Format PTYPE [TYPE]
Function It changes the pulsed welding types. [TYPE] Pulse type
Lock condition Arc lock (Internal execution) NORMAL-PULSE: Normal pulse.
(When the arc lock is released, the pulse HD-PULSE: Hyper dip pulse
type last used is applied.)
Example Change to HD-PULSE type welding.
PTYPE HD-PULSE

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15.7.6 RECVRYVOLT
Format RECVRYVOLT ON/OFF [Value]
Function It adjusts the compensation voltage at no ON/OFF Whether to use this function or not.
arc. ON: Adjust the compensation voltage.
OFF: Do not adjust the compensation
voltage
Lock condition None. (Set parameters.) Value Adjusting value for compensation voltage.
[-20 to +20]
(Executing this command with the value
at “+1” twice does not result in +2. It
results in +1.)
Example Adjust the system setting value by “+10”.
RECVRYVOLT ON +10
Notes This command is useful to stabilize the arc in case an instantaneous no arc occurred during welding
operation.

15.7.7 STARTSLP
Format STARTSLP [Initial condition] [Slope section] [Parameters for the slope section]
Function It changes welding conditions from the ini- [Slope sec- Designation of slope section
tial condition to standard conditions grad- tion] T=: Designate with time [0.01-999.99] s
ually in the initial slope section after arc D=: Designate with distance
start. [0.01-999.99] mm
NEXT: To the next step
Lock condition None (Execute even in arc lock, I/O lock Parameters Specify it with a welding fine adjustment
and robot lock.) for the slope parameter table number to be used in the
section slope section. [None], [1-10]
Example Change the welding conditions from 100 A 16.0 V 0.30 m/min to the standard welding conditions gradu-
ally while moving 50 mm in the slope section.
STARTSLP AMP=100 VOLT=16.0 S= 0.30 D=50.00mm PRM=5
Notes • Applicable only to TAWERS-MAG welding operation.
• In the slope section, use the specified welding fine adjustment parameters of the specified table (Slope
PRM #).
* Application example(s) available in section “Appendix” of the operating instructions of Teach pendant.

15.7.8 WFSPEED
Format WFSPEED [Feed speed]
Function It specifies a wire feed speed. Feed speed Wire feed speed
Lock condition Arc lock (Internal execution) [0.01 – 25.00] m/min
Example Set the wire feed speed to 2 m/min.
WFSPEED 2.00
Notes The same command for G2 controller: WFED

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15.8 Weld commands (For low pulse MIG)

15.8.1 LPDELAY
Format LPDELAY [Value]
Function It fine-tunes low pulse start time. Value Adjusting value for the start time.
Lock condition Arc lock (Internal execution) [-20 to +20]
Example Adjust the system setting value by “+1”.
LPDELAY +1

15.8.2 LPDUTY
Format LPDUTY [Value]
Function It adjusts the percentage of time for the Value Percentage of the time for condition A.
low pulse condition. [10 to 90] %
Lock condition Arc lock (Internal execution)
Example Adjust the percentage of the time for condition A to “50” %.
LPDUTY 50

15.8.3 LPFRQ
Format LPFRQ [Frequency]
Function It adjusts low pulse frequency. Frequency Low pulse frequency.
Lock condition Arc lock (Internal execution) [0.5 to 10.0] Hz

Example Adjust the low pulse frequency to 2.0.

LPFREQ 2.0

15.8.4 LPLEVEL
Format LPLEVEL [Value]
Function It adjusts the difference in low pulse con- Value The difference in low pulse condition level
dition level. between conditions A and B.
Lock condition Arc lock (Internal execution) [-50 to 0]
Example Adjust the percentage of the time for condition A to “50” %.
LPDUTY 50

15.8.5 LPLS
Format LPLS [ON/OFF]
Function It turns ON or OFF low pulse control. ON/OFF Turn ON or OFF the low pulse control.
Lock condition Low pulse control
Example Starts the low pulse control.
LPLS ON

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15.8.6 LPWCOND
Format LPWCOND Ia=[A-Amp] Va=[A-Volt] Ta=[A-Time] Ib=[B-Amp] Vb=[B-Volt] Tb=[B-Time]S=[Speed]
Function It specifies a low pulse welding condi- A-Amp Amperage of A condition [1 - 999] A
tions. A-Volt Voltage of A condition [0.1 - 99.9]V
* [STD] to set the standard voltage to the
welding current.
A-Time Time for A condition [0.00 - 9.99] s
Lock condition None (Execute even in arc lock, I/O lock B-Amp Amperage of B condition [1 - 999] A
and robot lock.) B-Volt Voltage of B condition [0.1 - 99.9]V]
* [STD] to set the standard voltage to the
welding current.
B-Time Time for B condition [0.00 - 9.99] s
Speed Welding speed [0.01 - 120.00] m/min
Example Set a low pulse welding conditions where A conditions are at 180 A, 26.6 V, and B conditions are at 150
A, 24.9 V with the welding speed at 0.50 m./min.
LPSLP la180 Va26.6 Ta0.20 lb150 Vb24.9 Tb0.20 S 0.50
Note The command can be registered when “Full control” mode is selected.

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15.9 Weld commands (For TIG welding)

15.9.1 ACFRQ
Format ACFRQ = [Frequency]
Function It sets AC TIG frequency. Frequency BP4 [30 - 400] Hz
Lock condition Arc lock (Internal execution).
Example Set the AC TIG frequency to 70Hz.
ACFRQ = 70

15.9.2 ADJRST_TIG
Format ADJRST_TIG
Function It resets the fine adjustment values for TIG welding to the preset values.
Lock condition Arc lock (Internal execution).
Example ADJRST_TIG

15.9.3 ARC-SET_TIG
Format ARC-SET_TIG Ib=[Base Amp] Ip=[Peak Amp] WF=[Filler spd] FRQ=[Frequency] S=[Speed]
Function It specifies TIG welding conditions. Base Amp [1- 999] A
Peak Amp [1 - 999] A
Lock condition Arc lock (Internal execution, specify val- Filler spd Filler speed [0 - 99.99]
ues.) Frequency [0.0 - 500.0] Hz
Speed Welding speed [0.01 - Max. speed (*)]
(*): Max speed varies with manipulator

models.
Example Execute TIG welding whose base current is 120 A, peak current is 180 A, filler speed at 10, at 0.5 Hz,
and welding speed at 0.5 m/min.
ARC-SET_TIG lb=120 lp=180 WF=10 FRQ=0.5 S=0.50
Note Depending on the applied specification, the command may not be processed as it is specified. For exam-
ple, if the applied welder is “BZ3”, as the set range of the frequency for the welder is [0.8-500], any set
value below 0.8 will be processed as 0.8 Hz.

15.9.4 CHKVOLT
Format CHKVOLT = [Voltage assumed contact]
Function It sets a criterion voltage for determining Voltage Criterion voltage for determining electrode
an electrode short. assumed con- short. [0.0 - 15.0] V
tact
Lock condition Arc lock (Internal execution).
Example Set the criterion voltage to 5.0V.
CHKVOLT = 5.0

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15.9.5 CLEAN
Format CLEAN = [Value]
Function It sets cleaning width. Value EN ratio [50 - 90] %
Lock condition Arc lock (Internal execution).
Example Set the EN ratio to 70%.
CLEAN = 70

15.9.6 CRATER_TIG
Format CRATER_TIG Ib=[Base Amp] Ip=[Peak Amp] WF=[Filler spd] FRQ=[Frequency] T=[Timer]
Function It specifies crater welding condition for Base Amp [1 - 999] A
TIG. Peak Amp [1 - 999] A
Filler spd Filler speed [0.00 - 99.99]
Lock condition Arc lock (Internal execution). Frequency [0.0 - 500.0] Hz
Timer Crater welding time [0.00 - 99.99] s
Example Execute crater welding whose base current is 100 A, peak current is 120 A, filler speed at 10, at 1.0 Hz
for 0.2 second.
CRATER_TIG Ib=100 Ip=120 WF=10 FRQ=1.0 T=0.2
Note Depending on the applied specification, the command may not be processed as it is specified. For exam-
ple, if the applied welder is “BZ3”, as the set range of the frequency for the welder is [0.8-500], any set
value below 0.8 will be processed as 0.8 Hz.

15.9.7 HOTTM_TIG
Format HOTTM_TIG [Value]
Function IT adjusts the hot time. Value Adjustment value of hot time.
Lock condition Arc lock (Internal execution). [-50 to +50]

Example Adjust the hot time by “+10”.

HOTTM_TIG +10

15.9.8 HOTSLP_TIG
Format HOTSLP_TIG [Value]
Function It adjusts the slope time used to change Value Adjustment value of hot time.
from the hot current to steady current. [-50 to +50]
Lock condition Arc lock (Internal execution).
Example Adjust the slope time by “+10”.
HOTSLP_TIG +10

15.9.9 I-HOT_TIG
Format I-HOT_TIG [Value]
Function It adjusts the hot current. Value Adjustment value of hot time.
Lock condition Arc lock (Internal execution). [-200 to +200]

Example Adjust the hot time by “+10”.

HOTTM_TIG +10

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15.9.10 IB_TIG
Format IB_TIG [Base amperage]
Function It specifies a base amperage. Base amper- [0 - 999] A
Lock condition Arc lock (Internal execution). age

Example Set the base amperage to 100 A.

IB_TIG = 100

15.9.11 IP_TIG
Format IP_TIG [Peak amperage]
Function It specifies a peak amperage. Peak amper- [0 - 999] A
Lock condition Arc lock (Internal execution). age

Example Set peak current to 150 A.

IP_TIG = 150

15.9.12 MIXFRQ
Format MIXFRQ = [Frequency]
Function It specifies a MIXTIG frequency. Frequency BP4 [0.1 - 20.0] Hz
Lock condition Arc lock (Internal execution).
Example Set the MIX-TIG frequency to 1.0Hz.
MIXFRQ = 1.0

15.9.13 MIXRATE
Format MIXRATE = [Value]
Function It specifies a MIXTIG frequency. Value AC ratio [10 – 90]%
Lock condition Arc lock (Internal execution).
Example Set the AC ratio to 50%.
MIXRATE = 50

15.9.14 PDUTY_TIG
Format PDUTY_TIG [Pulse width]
Function It adjusts pulse width for TIG welding. Pulse width [5 - 95]%
Lock condition Arc lock (Internal execution).
Example Set the pulse width to 50%.
PDUTY_TIG 50 ％

15.9.15 PFRQ_TIG
Format PFRQ_TIG [Pulse frequency]
Function It specifies a pulse frequency for TIG welding Pulse fre- [0.0-500.0]%
Lock condition Arc lock (Internal execution). quency

Example Set the pulse frequency to 10 Hz.

PFRQ_TIG 10.0
Note Depending on the applied specification, the command may not be processed as it is specified. For exam-
ple, if the applied welder is “BZ3”, as the set range of the frequency for the welder is [0.8-500], any set
value below 0.8 will be processed as 0.8 Hz.

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15.9.16 TIGSLP
Format TIGSLP Ib= [Base amp] Ip=[Peak amp]] [Slope section]=[Value]
Function It slopes welding amperage. Base amp [5 - 95]%
Lock condition Arc lock (Internal execution). Peak amp
Slope section Definition of slope section
T=: Time
D=: Distance
NEXT: To the next step
Value Value or variable
T=: Time [0.01 - 9999.99] s
D=: Distance [0.01 - 9999.99] mm
NEXT: No value
Example Gradually change the base amperage to 30A and peak amperage to 60A while moving to the next teach-
ing point.
TIGSLP Ib= 30 Ip=60 NEXT

15.9.17 WFDSLP
Format WFDSLP WFSPEED= [Filler wire speed] [Slope section]=[Value]
Function It gradually changes welding amperage. Filler wire [0 - 15.00] m/min
speed

Lock condition Arc lock (Internal execution). Slope section Definition of slope section
T=: Time
D=: Distance
NEXT: To the next step
Value Value or variable
T=: Time [0.01 - 9999.99] s
D=: Distance [0.01 - 9999.99] mm
NEXT: No value
Example Gradually change the wire feed speed to 10 m/min while moving to the next teaching point.
WFDSLP WFSPEED= 10 NEXT

15.9.18 WMODE_TIG
Format WMODE_TIG = [Weld method] [Wave mode]
Function It specifies weld method and AC wave- Weld method Select one from AC, DC or MIX.
form.
Lock condition Arc lock (Internal execution). Wave mode Select one from STD, Hard or Soft.
Example Set AC weld method and standard wave mode.
WMODE_TIG = AC STD

258 OM1009082E17
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15.10 Logic operation commands

15.10.1 AND
Format AND [Variable1] [Variable2]
Function It carries out logical multiplication (logical Variable1 Refer to this variable and assign the
AND). result to the variable. (GB, LB)
Lock condition None. Variable2 Value or variable. (GB, LB)
Variable should be byte type.
Example Save the result of logical multiplication of LB001 and LB002 to LB001.
AND LB001, LB002
Notes It calculates logical multiplication of the same bit A B A AND B
digit numbers. 0 0 0
0 1 0
1 0 0
1 1 1

15.10.2 NOT
Format NOT [Variable1] [Variable2]
Function It carries out logical negative (logical Variable1 Refer to this variable and assign the
NOT). result to the variable. (GB, LB)
Lock condition None. Variable2 Value or variable. (GB, LB)
Variable should be byte type.
Example Save the result of logical negative of LB002 to LB001.
NOT LB001, LB002
Notes It calculates logical negative of the same A NOT A
bit digit numbers, which means, 0 1
NOT 0 = 11111111 = 255.
1 0

15.10.3 OR
Format OR [Variable1] [Variable2]
Function It carries out logical addition (logical OR). Variable1 Refer to this variable and assign the
result to the variable. (GB, LB)
Lock condition None. Variable2 Value or variable. (GB, LB)
Variable should be byte type.
Example Save the result of logical OR of LB001 and LB002 to LB001.
OR LB001, LB002
Notes It calculates logical addition of the same A B A OR B
bit digit numbers. 0 0 0
0 1 1
1 0 1
1 1 1

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15.10.4 SWAP
Format SWAP [Variable1] [Variable2]
Function It swaps the contents of Variable1 and Variable1 Variable the content of which is to be
Variable2. swapped with Variable 2.
Lock condition None. Variable2 Value or variable (of the same type) to be
swapped to the variable 1.
Variable should be byte type.
Example Swap the value of LB001 with that of LB002.
SWAP LB001, LB002

15.10.5 XOR
Format XOR [Variable1] [Variable2]
Function It carries out exclusive OR. Variable1 Variable the content of which is to be
swapped with Variable 2.
Lock condition None. Variable2 Value or variable (GB, LB).
Variable should be byte type.
Example Save the result of exclusive OR of LB001 and LB002 to LB001.
XOR LB001, LB002
Notes It calculates exclusive OR of the same bit A B A XOR B
digit numbers. 0 0 0
0 1 1
1 0 1
1 1 0

260 OM1009082E17
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15.11 Motion assist commands

15.11.1 ACCEL
Format ACCEL A [Acceleration correction factor], B[Deceleration correction factor]
Function It changes the acceleration and/or the [Acceleration Correction factor to the acceleration
deceleration of the next move commands. correction fac- [10-100] % (increment of 1 %)
tor]
Lock condition None. [Deceleration Correction factor to the deceleration
correction fac- [10-100] % (increment of 1 %)
tor]
Example Reduce the acceleration to 50% and the deceleration to 30%.
ACCEL A50% B30%
Note • To change the acceleration/deceleration of multi-taught points, register the ACCEL command to each
point.
<Image>
Speed

B Time

• Please note that changing acceleration/deceleration changes the smooth level at a corner.
If there is any obstructions near the robot route, check the actual trajectory using the trajectory check
function of program test.

15.11.2 GOHOME
Format GOHOME [Interpolation type] [Position name] [Speed]
Function It returns the robot to the home position. Interpolation Interpolation number to be applied to
type move to the home position
Lock condition None. Position name Variable number of the home position.
(P, GP, GA)
Speed Travel speed to the home position.
Example Move to the home position GP0001 with linear interpolation at 15 m/min.
GOHOME MOVEL GP0001, 15.00 m/min
Note • When the robot reaches the home position, the home position signal is turned ON.
• The program ends after the completion of this command.

15.11.3 LOAD
Format LOAD = [Load parameter]
Function It specifies the parameter number of the Load parame- Load parameter number.
load to be applied to the manipulator. ter
Lock condition Robot lock.
Example Change the load parameter to #1.
LOAD = 1
Note • The command is ignored (i.e. load parameter won’t be changed) if it is used in a program whose mech-
anism does not include a robot.

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15.11.4 SV-SET1
Format SV-SET1
Function It controls trajectory adjustment of the robot in the weld section; from the arc start point where this com-
mand is registered to the next arc end point.
Condition Weld package
Lock condition None
Syntax check None
Example SV-SET1
Note • Registering this command to a teaching point other than arc start point causes an error.
* Application example(s) available in section “Appendix” of the operating instructions of Teach pendant.

15.11.5 TOOL
Format TOOL [Tool No.]
Function It changes tools. Tool No. Applied tool No. and tool name.
Lock condition None.
Example Change the tool to [1:STD].
TOOL 1:STD

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15.12 Shift commands (Optional)

15.12.1 RSTALLSFT
Format RSTALLSFT
Function It clears all (sensor) shift data and turns OFF. calculates speed on the basis of the specified mechanism.
Lock condition None.
Example RSTALLSFT
Note It is not applicable to a program in concurrent execution.

15.12.2 SHIFT-OFF
Format SHIFT-OFF
Function It ends coordinate system shift.
Lock condition None.
Example Ends shift.
SHIFT-OFF

15.12.3 SHIFT-ON
Format SHIFT-ON [Coordinate system] = [Variable]
Function It stars coordinate system shift. Coordinate A coordinate system to be shifted.
system
Lock condition None Variable Shift amount (GD, GT)
Example Shift operation onwards on the robot coordinate system by the value of GD001.
SHIFT-ON ROBOT = GD001

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15.13 Sensor commands (Optional)

15.13.1 SNSLINE
Format SNSLINE[Switch][User coordinate]
Function It specifies the direction of the weld line. Switch Switching ON/OFF.
ON: Start.
OFF: End.
Lock condition Arc lock (Internal execution) User User coordinate system
coordinate
Example Start sensing in X-direction of the user coordinate system 1.
SNSLINE ON USER#(1:SPN)
Note Sensing section is determined by

15.13.2 SNSSFTLD
Format SNSSFTLD [Variable]
Function It registers the shift amount of a variable Variable Variable for shift value (GD)
as sensor shift.
Lock condition None.
Example Use the content of DD001 as shift amount.
SNSSFTLD DD001

15.13.3 SNSSFT-OFF
Format SNSSFT-OFF
Function It terminates the sensor shift.
Lock condition None.
Example Terminate the sensor shift.
SNSSFT-OFF

15.13.4 SNSSFT-ON
Format SNSSFT-ON
Function It starts the sensor shift.
Lock condition None.
Example Start the sensor shift.
SNSSFT-ON

15.13.5 SNSSFTRST
Format SNSSFTRST
Function It clears the sensor shift.
Lock condition None.
Example Clear the sensor shift amount.
SNSSFTRST

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15.13.6 SNSSFTSV
Format SNSSFTSV [Variable]
Function It stores the current sensor shift amount to Variable Variable for shift value (GD)
the variable.
Lock condition None.
Example Store the sensor shift amount to GD001.
SNSSFTSV GD001

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15.14 External axis commands (Optional)

15.14.1 EAXS_SFT-OFF
Format EAXS_SFT-OFF [Ext-Axis]
Function It terminates the external axis shift [Ext-Axis] The external axis number the applied
(EAXS_SFT) in the specified shift section. EAXS_SFT processing to be terminated.
Lock condition None. [G1-G21 (including ones for slave robot)

Example Terminate the shift of the external axis G1.

EAXS_SFT-OFF G1
Note The section between EAXIS_SFT-ON and EAXIS_SFT-OFF becomes shift section.

15.14.2 EAXS_SFT-ON
Format EAXS_SFT-ON [Ext-Axis]
Function It starts the external axis shift [Ext-Axis] The external axis number to be shifted by
(EAXS_SFT) in the specified shift section. this command.
Lock condition None. Range: G1-G21 and defined as the sys-
tem (including external axes for slave
robot.)
[Value] Shift amount (Real number, GR, LR)
[Real number: -99999.99 to +99999.99]
Unit: depending on the type of the exter-
nal axis. (i.e. shift axis: mm, rotary axis:°.)
Example Shift the external axis G1 by +100.
EAXS_SFT-ON G1 = +100
Note The section between EAXIS_SFT-ON and EAXIS_SFT-OFF becomes shift section.
* Application example(s) available in section “Appendix”.

15.14.3 VELREF
Format VELREF [Speed reference]
Function It calculates speed on the basis of the Speed Robot: Motion speed is calculated based
specified mechanism. reference on the robot movements.
Lock condition None. External axis: Motion speed is calculated
based on the movements of the external
axis.
Example From this command onwards, calculate speed based on the robot.
VELREF ROBOT

15.14.4 RSTREV
Format RESTREV [Ext axis]
Function It resets multi-rotation (The angle is indi- Ext axis An external axis name. (Rotary type axis.)
cated by a value between -180 and +180.
Lock condition None
Example Reset multi-rotation of the axis G1.
RESTREV G1
Note • If the specified axis is not rotary type, this command is ignored.

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15.15 ARC-ON/ARC-OFF programs

15.15.1 CO2/MAG/MIG welding
1) Arc start programs factory set at shipment
ArcStart1 ArcStart2 ArcStart3 ArcStart4 ArcStart5
1 GASVALVE ON GASVALVE ON GASVALVE ON DELAY 0.10 DELAY 0.10
2 TORCHSW ON DELAY 0.10 DELAY 0.20 GASVALVE ON GASVALVE ON
3 WAIT-ARC TORCHSW ON TORCHSW ON DELAY 0.20 DELAY 0.20
4 WAIT-ARC WAIT-ARC TORCHSW ON TORCHSW ON
5 WAIT-ARC WAIT-ARC
6 DELAY 0.20

2) Arc end programs factory set at shipment

ArcEnd1 ArcEnd2 ArcEnd3 ArcEnd4 ArcEnd5
1 TORCHSW OFF DELAY 0.10 DELAY 0.20 TORCHSW OFF TORCHSW OFF
2 STICKCHK ON TORCHSW OFF TORCHSW OFF DELAY 0.20 DELAY 0.20
3 STICKCHK OFF STICKCHK ON STICKCHK ON AMP 150 GASVALVE OFF
4 GASVALVE OFF STICKCHK OFF STICKCHK OFF WIRERWD ON
5 GASVALVE OFF GASVALVE OFF DELAY 0.10
6 WIRERWD OFF
7 STICKCHK ON
8 STICKCHK OFF
9 GASVALVE OFF

Note Wire retract at welding end:

Wire retract (feed backward) amount is determined by [“AMP”] x [”DELAY” for WIRERWD OFF].
Some welders ignore the welding current command during the burn back time. If so, the wire may hardly be
retracted. In such case, set a DELAY time after turning off the torch switch to 1.2 seconds or more to ensure the wire
retract after the burn back operation.

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15.15.2 TIG welding

Arc start/arc end sequences for GMAW (CO2/MAG/MIG
welding) are factory set to the robot at shipment. In case of
executing TIG welding operation, switch the sequences for
TIG welding prior to teaching operation.

1) TIG welding without filler

Arc start program Arc end program
1 GASVALVE ON TORCHSW OFF
2 DELAY 0.20s GASDELAYOFF T=3.0s
3 TORCHSW ON STICKCHK ON
4 WAIT-ARC STICKCHK OFF
5 DELAY 0.50s
* DELAY times in the above table are reference values. Adjust them to each application.

2) TIG welding with filler

Arc start program Arc end program
1 GASVALVE ON WIREFWD OFF
2 DELAY 0.50s DELAY 1.00s
3 TORCHSW ON TORCHSW OFF
4 WAIT-ARC DELAY 1.00s
5 DELAY 2.00s GASDELAYOFF T=3.0s
6 WIREFWD ON STICKCHK ON
7 STICKCHK OFF
* DELAY times in the above table are reference values. Adjust them to each application.

15.15.3 Unusable commands

In order to avoid erroneous usage of commands, which
can cause an error stop, there are some commands that
cannot be used in arc-on/arc-off programs.

Unusable commands
Arc-on program CALL, STOP
Arc-off program CALL, IF, JUMP, STOP,
WAIT_ARC, WAIT_IP,
WAIT_VAL

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16. Errors and Alarms

If the remedy doesn’t reset the error or alarm condition, or
if an error or alarm that is not listed in this document
occurs, consult our service office.

16.1 Alarm codes

Alarm
Message Probable Cause Remedy
code
A3020 Weld IF card DSP error Error in DSP on the weld IF card. Turn off the power and then newly
A3021 Filler IF card DSP error Error in DSP on the filler IF card. turn it on.
If the error recurs frequently, con-
A3030 Weld IF card DSP communication Communication error between IF and sult Panasonic representatives.
error CPU on the weld IF card.
A3031 Filler IF card DSP communication Communication error between IF and
error CPU on the filler IF card.
A3100 Weld IF card comm. Error The weld IF card did not respond
when the power was turned ON.
A3101 Filler IF card comm. Error The filler IF card did not respond.
A3200 Weld Alarm :P-side over voltage Welding power source of TAWERS
detected primary side over voltage.
A3210 Weld Alarm :Lack of Phase Welding power source of TAWERS
detected lack of phase.
A3220 Weld Alarm:S-side main circuit An error is detected at the secondary-
error side main circuit of welding power
source of TAWERS.
A3230 Weld Alarm:S-side over voltage 120 VDC or more voltage was applied Turn off the power and then check
error to the secondary-side of welding connection of secondary-side of
power source welding power source.
A3240 Weld Alarm:Inverter unbalance Error in twin inverter of TAWERS Turn off the power and then newly
welding power source. turn it on.
A3500 Wire feeder Amp ready error Servo power for the wire feeder amp. If the error recurs frequently,
did not go on. consult Panasonic
representatives.
A3510 Wire feeder IPM error Error in wire feeder IPM.
A3520 Weld IF card receive data error Weld IF card received an abnormal
command.
A3521 Filler IF card receive data error The filler IF card received an abnor-
mal command.
A3530 Wire feeder Amp low-voltage voltage Wire feeder control voltage
dropped.
A3540 Wire feeder motor speed over Wire feeder motor speed exceeded its
maximum speed.
A3550 Wire feeder current detect error Wire feeder motor current value is
abnormal.
A3560 Wire feeder regenerative register Error in regenerative register of the
over duty error wire feeder. There exists possible
motor failure or servo amp. failure.
A3570 Wire feeder IPM over current error Overcurrent of wire feeder IPM.
A3590 Wire feeder IPM over temperature A temperature error in IPM.

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 Errors and Alarms

Alarm
Message Probable Cause Remedy
code
A3600 Weld Alarm:AC Unit S-side over Secondary side over voltage error is Extend the welding cable, and
voltage error detected. then turn the power to the robot
and the AC Unit off and back on
again.
A4000 Over temperature Abnormal temperature rise is Turn off the power and allow the
detected. Continued operation may machine to cool, and then newly
damage interior equipment. turn on the power.
A4010 Contact welded:Spare Emer- Circuit is fused. Safety card may be Check the circuit connected to the
gency stop damaged. terminal indicated in the alarm
A4020 Contact welded:Panel Emer- message and replace safety card
gency stop as needed.

A4030 Contact welded:TP Emergency

stop
A4040 Contact welded:Door stop
A4041 Contact welded:Door stop (UDS)
A4042 Contact welded:Door stop (Line)
A4050 Contact welded:Over run
A4060 Contact welded: External Emer-
gency stop
A4070 Contact welded:Software Emer-
gency stop
A4080 Contact welded:Start relay stop
A4090 Contact welded:Protective stop 1
A4100 Contact welded:Protective stop 2
A4110 Contact welded:Harmony Emer-
gency stop 1
A4120 Contact welded:Harmony Emer-
gency stop 2
A4130 Contact welded:Mode switch
(LINE)
A4131 Contact welded:Mode switch
(DED, ENBL)
A4132 Contact welded:Mode switch (DS,
ENBL)
A4140 Overrun release input is detected Overrun release input is not consis- Turn off the power and then check
tent. the overrun release switch.
A4150 Safety-circuit 24V error An error in supply voltage at safety Turn off the power and then check
circuit is detected. the fuse of the safety card.
A4160 Sequencer PWR24V error An error in supply voltage at the Turn off the power. Then check
sequence circuit. fuse on the sequencer board and
power control board. Check also
connection of the supply voltage.
A4900 Contact welded: Independent E- Fuse at servo OFF input of the Inde- Check the wiring of servo OFF
axis servo Off input (**) pendent E-axis servo is detected. input of the independent E-axis
(“**” represents axis name.) servo.
A5000 System alarm (**) An error in controller. Turn off the power and then newly
(“**” represents occurrent factor.) Or introduction of noise. turn it on. If the error recurs fre-
A5010 Abort quently, consult Panasonic repre-
sentatives.
A5011 Abort (TP) An error in controller or teach pen-
dant,
Or introduction of noise.

270 OM1009082E17
 Errors and Alarms

Alarm
Message Probable Cause Remedy
code
A5020 IOP CPU error An error in controller. Turn off the power and then newly
Or introduction of noise. turn it on. If the error recurs fre-
quently, consult Panasonic repre-
sentatives.
A5021 Sequencer card comm. error An error in communication with Check the communication cable
sequencer card occurred. for wiring and breaking of wire,
A5022 Safety card comm. error An error in communication with safety and then restore power.
card occurred. If the error recurs frequently, con-
sult Panasonic representatives.
A5030 Servo CPU error An error in controller or introduction of Turn off the power and then newly
A5040 Ext1:Servo CPU error noise. turn it on. If the error recurs fre-
quently, consult Panasonic repre-
A5050 Ext2:Servo CPU error sentatives.
A5060 Weld IF card CPU error
A5070 Filler IF card CPU error
A5100 Command Generating error An error occurred while writing to the
command buffer.
A5200 Robot Comm.error An error in communication between Check the other robot and investi-
robots occurred. gate the cause.
The other robot was brought to an If the error recurs frequently, con-
alarm stop. sult Panasonic representatives.
Or an error in introduction of noise in
communication between robots
occurred.
A5300 TP Communication error An error in controller or teach pen- Turn off the power and then newly
dant, or introduction of noise. turn it on. If the error recurs fre-
A5310 IOP CPU Comm. error An error in controller, or introduction quently, consult Panasonic repre-
of noise. sentatives.

A5400 TP Connection error Although TP is connected, it is failed

to recognize the connection.
A5410 EMG-STOP box connection error The emergency stop box was
removed while operating the robot
with the emergency stop box for TP-
less function attached.
Or an emergency stop box is later-
connected to a robot controller with-
out TP or emergency stop box.
A6010 Servo comm. timeout An error in controller or introduction of
A6011 Servo comm. timeout(Position noise.
ACK)
A6012 Servo comm. timeout(Position
demand)
A6020 Servo comm. error
A6030 Servo ON/OFF response error
(There is a possibility that the
chattering of the emergency stop
input has occurred.)
A6040 Servo position command error
A6110 Ext1:Servo comm. timeout
A6111 Ext1:Servo comm. timeout(Posi-
tion ACK)
A6112 Ext1:Servo comm. timeout(Posi-
tion demand)
A6120 Ext1:Servo comm error

OM1009082E17 271
 Errors and Alarms

Alarm
Message Probable Cause Remedy
code
A6130 Ext1:Servo ON/OFF response An error in controller or introduction of Turn off the power and then newly
error noise. turn it on. If the error recurs fre-
(There is a possibility that the quently, consult Panasonic repre-
chattering of the emergency stop sentatives.
input has occurred.)
A6210 Ext2:Servo comm. timeout
A6211 Ext2:Servo comm. timeout (Posi-
tion ACK)
A6212 Ext2:Servo comm. timeout(Posi-
tion demand)
A6220 Ext2:Servo comm. error
A6230 Ext2:Ext2:Servo ON/OFF
response error
(There is a possibility that the
chattering of the emergency stop
input has occurred.)
A7000 Interpolation data error An error in processing of interpolation
data.
A7001 Servo control error An error in processing of distribution
data.
A7002 Servo CPU Comm.Error An error in servo circuit.
A7003 Skew error Difference in encoder pulse between
the gantry axis and the pair axis
exceeds the allowable range.
A7004 Drift error A drift error occurred.
A7005 Pre-set count over Detected excessive deviation at pre-
set movement.
A7006 R/D error Either disconnection or short circuit is
detected between the resolver and
the R/D converter.
A7007 Absolute encoder error Absolute encoder is not readable. In Turn off the power and then newly
case of an independent external axis, turn it on.
the brake of the external axis control- If the error recurs frequently, con-
ler is in the “off” position. sult Panasonic representatives.
A7008 Absolute data speed error Difference between the position coun-
ter and the absolute data exceeds
allowable range.
A7009 Position count over Detected excessive position devia-
tion.
A7010 Amp ready error Servo amp ready error.
A7011 IPM error An error in the intelligence power
module (IPM).
A7012 Servo Power error An error in servo amplifier.
A7013 IPM over current IPM over-current.
A7014 IPM over temperature Over temperature error of IPM.
A7015 Regenerative register over duty Over regeneration of the servo ampli-
fier.
A7016 Regenerative register over voltage An error in regenerative voltage of the
servo amplifier.
A7017 Regenerative register over tem- An error in regenerative temperature
perature of the servo amplifier.
A7018 Servo Power over temperature An error in servo power temperature.

272 OM1009082E17
 Errors and Alarms

Alarm
Message Probable Cause Remedy
code
A7019 Regenerative register over duty Over regeneration is detected when Turn off the power and then newly
power is turned on. turn it on.
Or a servo power error. If the error recurs frequently, con-
A7020 Regenerative register over voltage An error in regenerative voltage is sult Panasonic representatives.
detected when power is turned on.
Or a servo power error.
A7021 Regenerative register over tem- An error in regenerative temperature
perature is detected when power is turned on.
Or a servo power error.
A7022 Servo Power over temperature An error in servo power temperature
is detected when power is turned on.
A7023 Lack of Phase Open phase in servo power.
A7024 Servo protect card initialize error An error in initial communication
between servo CPU card and servo
protective card.
A7025 Servo protect card comm. error An communication error between
servo CPU card and servo protective
card.
A7026 Servo protect card CPU error An error in CPU of the servo protec-
tive card.
A7027 Encoder cable error An error in encoder cable of the servo
CPU card.
A7028 MainServo comm. error(DPRAM An error in communication between
FIFO full) servo and main.
A7029 Motor current stall Failed to apply the current to the
motor due to breaking of PWM wire or
motor power cable.
A7030 Counter error Failed to update the electric angle
counter 10 times in a row.
A7031 Thermal reference setting error Failed to specify the reference value
for the encoder overheat.
A7032 Status reset error Failed to reset the encoder status. Turn off the power and then newly
A7033 Encoder status error At the time of resetting the overheat turn it on.
bit of the encoder status, bits other If the error recurs frequently, con-
than overheat bit are turned on. sult Panasonic representatives.

A7034 Absolute data status error The motor was still in motion when
encoder power was turned on.
A7035 Encoder single turn count error Accuracy of the single turn data of the
encoder has been reduced.
A7036 Encoder multi turn count error An error in the multi-rotation counter
of the encoder.
A7040 Servo CPU Comm.Error An error in servo circuit.
A7041 Servo memory error An error in servo circuit.
A7042 Current detect error An over-current error.
A7050 Servo power off (PRST off) An error between servo and main.
A7051 Servo power down Servo power voltage degreased to
100 V or lower.
A7080 Servo torque free error Failed to switch to the torque free
state.
A7090 Servo undefined code error An error between servo and main.
A7100 Ext1:Interpolation data error An error in processing of interpolation
data.

OM1009082E17 273
 Errors and Alarms

Alarm
Message Probable Cause Remedy
code
A7101 Ext1:Servo control error An error in processing of distribution Turn off the power and then newly
data. turn it on.
A7102 Ext1:Servo CPU Comm.Error An error in servo circuit. If the error recurs frequently, con-
sult Panasonic representatives.
A7103 Ext1:Skew error Difference in encoder pulse between
the gantry axis and the pair axis
exceeds the allowable range.
A7104 Ext1:Drift error A drift error occurred.
A7105 Ext1:Pre-set count over Detected excessive deviation at pre-
set movement.
A7106 Ext1:R/D error Either disconnection or short circuit is
detected between the resolver and
the R/D converter.
A7107 Ext1:Absolute encoder error Absolute encoder is not readable. In
case of an independent external axis,
the brake of the external axis control-
ler is in the “off” position.
A7108 Ext1:Absolute data speed error Difference between the position coun-
ter and the absolute data exceeds
allowable range.
A7109 Ext1:Position count over Detected excessive position devia-
tion.
A7110 Ext1:Amp ready error Servo amp ready error.
A7111 Ext1:IPM error An error in the intelligence power
module (IPM).
A7112 Ext1:Servo Power error An error in servo amplifier.
A7113 Ext1:IPM over current An IPM over-current error. Turn off the power and then newly
A7114 Ext1:IPM over temperature An over temperature error of IPM. turn it on.
If the error recurs frequently, con-
A7115 Ext1:Regenerative register over An over regeneration of the servo sult Panasonic representatives.
duty amplifier error.
A7116 Ext1:Regenerative register over An error in regenerative voltage of the
voltage servo amplifier.
A7117 Ext1:Regenerative register over An error in regenerative temperature
temperature of the servo amplifier.
A7118 Ext1:Servo Power over tempera- An error in servo power temperature.
ture
A7119 Ext1:Regenerative register over Over regeneration is detected when
duty power is turned on.
Or a servo power error.
A7120 Ext1:Regenerative register over An error in regenerative voltage is
voltage detected when power is turned on.
Or a servo power error.
A7121 Ext1:Regenerative register over An error in regenerative temperature
temperature is detected when power is turned on.
Or a servo power error.
A7122 Ext1:Servo Power over tempera- An error in servo power temperature
ture is detected when power is turned on.
A7123 Ext1:Lack of Phase Open phase in servo power.
A7124 Ext1:Servo protect card initialize An error in initial communication
error between servo CPU card and servo
protective card.

274 OM1009082E17
 Errors and Alarms

Alarm
Message Probable Cause Remedy
code
A7125 Ext1:Servo protect card comm. An communication error between Turn off the power and then newly
error servo CPU card and servo protective turn it on.
card. If the error recurs frequently, con-
A7126 Ext1:Servo protect card CPU error An error in CPU of the servo protec- sult Panasonic representatives.
tive card.
A7127 Ext1:Encoder cable error An error in encoder cable of the servo
CPU card.
A7128 Ext1:MainServo comm. An error in communication between
error(DPRAM FIFO full) servo and main.
A7129 Ext1:Motor current stall Failed to apply the current to the
motor due to breaking of PWM wire or
motor power cable.
A7140 Ext1:Servo CPU Comm.Error An error in servo circuit.
A7141 Ext1:Servo memory error An error in servo circuit.
A7142 Ext1:Current detect error An over-current error.
A7150 Ext1:Servo power off (PRST off) An error between servo and main.
A7151 Ext1:Servo power down Servo power voltage degreased to
100 V or lower.
A7180 Ext1:Servo torque free error Failed to switch to the torque free
state.
A7190 Ext1:Servo undefined code error An error between servo and main.
A7200 Ext2:Interpolation data error An error in processing of interpolation Turn off the power and then newly
data. turn it on.
A7201 Ext2:Servo control error An error in processing of distribution If the error recurs frequently, con-
data. sult Panasonic representatives.t

A7202 Ext2:Servo CPU Comm. Error An error in servo circuit.

A7203 Ext2:Skew error Difference in encoder pulse between
the gantry axis and the pair axis
exceeds the allowable range.
A7204 Ext2:Drift error A drift error occurred.
A7205 Ext2:Pre-set count over Detected excessive deviation at pre-
set movement.
A7206 Ext2:R/D error Either disconnection or short circuit is
detected between the resolver and
the R/D converter.
A7207 Ext2:Absolute encoder error Absolute encoder is not readable. In
case of an independent external axis,
the brake of the external axis control-
ler is in the “off” position.
A7208 Ext2:Absolute data speed error Difference between the position coun-
ter and the absolute data exceeds
allowable range.
A7209 Ext2:Position count over Detected excessive position devia-
tion.
A7210 Ext2:Amp ready error Servo amp ready error.
A7211 Ext2:IPM error Detected the intelligent power module
(IPM) error.
A7212 Ext2:Servo power error An error in servo amplifier.
A7213 Ext2:IPM over current An IPM over-current error.
A7214 Ext2:IPM over temperature An over temperature error of IPM.

OM1009082E17 275
 Errors and Alarms

Alarm
Message Probable Cause Remedy
code
A7215 Ext2:Regenerative register over An over regeneration of the servo Turn off the power and then newly
duty amplifier error. turn it on.
A7216 Ext2:Regenerative register over An error in regenerative voltage of the If the error recurs frequently, con-
voltage servo amplifier. sult Panasonic representatives.

A7217 Ext2:Regenerative register over An error in regenerative temperature

temperature of the servo amplifier.
A7218 Ext2:Servo Power over tempera- An error in servo power temperature.
ture
A7219 Ext2:Regenerative register over Over regeneration is detected when
duty power is turned on.
Or a servo power error.
A7220 Ext2:Regenerative register over An error in regenerative voltage is
voltage detected when power is turned on.
Or a servo power error.
A7221 Ext2:Regenerative register over An error in regenerative temperature
temperature is detected when power is turned on.
Or a servo power error.
A7222 Ext2:Servo Power over tempera- An error in servo power temperature
ture is detected when power is turned on.
A7223 Ext2:Lack of Phase Open phase in servo power.
A7224 Ext2:Servo protect card initialize An error in initial communication
error between servo CPU card and servo
protective card.
A7225 Ext2:Servo protect card comm. An communication error between Turn off the power and then newly
error servo CPU card and servo protective turn it on.
card. If the error recurs frequently, con-
A7226 Ext2:Servo protect card comm. An error in CPU of the servo protec- sult Panasonic representatives.
error tive card.
A7227 Ext2:Encoder cable error An error in encoder cable of the servo
CPU card.
A7228 Ext2:MainServo comm. An error in communication between
error(DPRAM FIFO full) servo and main.
A7229 Ext2:Motor current stall Failed to apply the current to the
motor due to breaking of PWM wire or
motor power cable.
A7240 Ext2:Servo CPU Comm.Error An error in servo circuit.
A7241 Ext2:Servo memory error An error in servo circuit.
A7242 Ext2:Current detect error An over-current error.
A7250 Ext2:Servo power off (PRST off) An error between servo and main.
A7251 Ext2:Servo power down Servo power voltage degreased to
100 V or lower.
A7281 Ext2:Servo torque free error Failed to switch to the torque free
state.
A7290 Ext2:Servo undefined code error An error between servo and main.
A8000 Encoder battery error Voltage of encoder data backup bat- Replace batteries.
tery is running out.
A8001 Encoder over speed Encoder speed exceeds rated value. Turn off the power and then newly
A8002 Encoder counter over Encoder speed exceeds rated value. turn it on.
If the error recurs frequently, con-
sult Panasonic representatives.

276 OM1009082E17
 Errors and Alarms

Alarm
Message Probable Cause
code
A8003 Resolver cable disconnected It detected the occurrence of the error
displaying the error message “Sensor
cable disconnected. Check sensor
cable. And reset encoder.” when the
power is turned on.
A8004 R/D error It detected the occurrence of the error
displaying the error message “R/D
error. Check sensor cable and R/D.
And reset encoder.” when the power
is turned on.
A8005 Encoder single turn count error Accuracy of the single turn data of the
encoder has been reduced.
A8006 Encoder multi turn count error An error in the multi-rotation counter
of the encoder.
A8010 Encoder data error Encoder data error is detected.
A8110 Ext.1:Encoder data error Encoder data error is detected.
A8210 Ext.2:Encoder data error Encoder data error is detected.
Remedy
Those alarms do not display their
alarm code messages. However,
they are kept in alarm history.
When the error message is dis-
played, follow the instruction on
the screen and reset the encoder.
If the error recurs frequently, con-
sult Panasonic representatives.
Those alarms do not display their
alarm code messages. However,
they are kept in alarm history.
When the error message is dis-
played, follow the instruction on
the screen and reset the encoder.
If the error recurs frequently, con-
sult Panasonic representatives.
Turn off the power and then newly
turn it on.
If the error recurs frequently, con-
sult Panasonic representatives.
Turn off the power and then newly
turn it on.

A9010 Arc sensor:Comm. Err Detected the incoming command Turn off the power and then newly
error or interrupt error on the sensor turn it on.
side. If the error recurs frequently, con-
A9060 Arc sensor:Input parameter Tool number, current detector or RPM sult Panasonic representatives.
exceeds the setting range.
A9070 Arc sensor:Main communication Time out.

OM1009082E17 277
 Errors and Alarms

16.2 Error codes

Error
Message Probable Cause Remedy
code
E1010 Impossible to start Robot does not start. Check if start program is selected.
E1011 Operation unit is not ‘Program When the start method is set to Change the program unit setting
unit’. “Auto”, the program unit setting is not to “Program unit”. Or release the
set to “Program unit”. error settings of “Program start
method” settings.
E1020 Weaving parameter error Selected weaving pattern, speed, fre- Correct (speed, frequency or
quency or timer is out of the setting timer) settings.
range.
E1030 Coordinates error (Operation) Interpolation cannot function. Check the program.
(Manual) Eliminate movements of singular
E1040 Move data over (Operation) (Man- orientation.
ual) Change to MOVEP command.

E1050 Position does not match Robot cannot make the orientation Change robot orientation data.
taught in the program.
E1060 Wrist Swing Ovr 180 CL number (wrist calculation number) Correct the CL number.
specified in the teaching point is not
applicable to the applied interpolation.
E1061 Wrist Swing Ovr 140 While the robot is in CL #4 (wrist cal- Correct the program.
culation number) motion, the angle of
one of U-, V- or W-axis becomes 140°
or more.
E1070 You try to start the program that Program specified by CALL command Check and correct the program.
does not exist or cannot be does not exist.
started.
E1080 The label does not exist. Please The label specified by the Jump com-
confirm the label. mand does not exist in the program.
E1090 No global position variable Specified global variable does not
exist.
E1100 Cannot call any more. CALL command exceeds hierarchical
limit (max. 10).
E1120 No local position variable Specified local variable does not exist.
E1130 PULSE counter over More than 16 PULSE commands Correct the program by reducing
were executed at a time. the number of PULSE commands
to be executed at a time.
E1140 Multi program execution error. Due to the current combination of the Check and correct the program.
parallel execution programs, no fur-
ther execution is possible.
E1150 Calculation command error Impossible calculation was attempted.
(Example: Zero divisor, square root of
negative number etc.)
E1160 Undefined command The system does not support the
specified command.
E1161 Undefined command for slave A command not supported by the Correct the program.
robot slave robot was attempted to execute.
E1162 The instruction cannot be applied The target mechanism of the instruc- Check and modify the mechanism
to the current mechanism. tion does not exist in the current pro- structure and the command.
gram. (For example, a command for
slave robot is attempted in a mecha-
nism program only for master robot.)
E1170 Command parameter error Parameter of the command is out of Check and correct the program.
the support range.

278 OM1009082E17

Error
Message Probable Cause
code
E1180 Soft-limit Error Soft-limit error
E1181 Shift Soft-limit Error Position of the taught point after shift
calculation (by SHIFT-ON or sensor
shift) is out of the soft-limit.
E1182 Teaching point data Error ** Position data registered on the taught
point exceeds the soft limit.
E1183 Torch axis soft-limit Soft limit was activated when the
TAWERS JIG-Controller executed
“Lift-up” operation.
E1190 RT monitoring Error Robot is about to enter the monitored
area when the RT monitor input is
ON.
E1191 RT monitoring Error (Slave) Slave robot is about to enter the mon-
itored area when the RT monitor input
is ON.
E1200 Cube monitoring Error Robot is about to enter the monitored
area when the cube monitor input is
ON.
E1201 Cube monitoring Error (Slave) Slave robot is about to enter the mon-
itored area when the cube monitor
input is ON.
E1210 Overlap is not available The target taught points at halt and at
re-start do not match in the same weld
section.
E1220 Overlap failed The robot reached the preceding
teaching point during overlap opera-
tion.
E1230 Harmonic data Error occurred The specified harmonic coordinate
system has not defined. The specified
mechanism is inadequate for the
structure.
E1240 The mechanism overlaps An axis in the mechanism of the pro-
gram executed by the PARACALL
command is duplicated.
E1250 Weld slope command error 00 “D” or “Next” is used as argument in a
program with no mechanism.
Value of an argument to which vari-
able (GR or LR) is assigned is either
“0” or a negative number.
E1250 Weld slope command error 01 STARTSLP or/and CRATERSLP
command(s) is executed in a program
without mechanism.
E1250 Weld slope command error 02 STARTSLP or/and CRATERSLP
command(s) is executed in an arc end
program.
E1250 Weld slope command error 03 The parameters file for the slope sec-
tion specified by STARTSLP/CRA-
TERSLP command is deleted.
E1251 Low pulse slope execution error The command for the initial value of
the low pulse slope does not exist.
E1260 Mechanism is unmatched Processing is not possible as the
mechanism of the running program
and mechanism specified in the vari-
able do not match.
OM1009082E17
Errors and Alarms
Remedy
Articulated axis is at the soft-limit.
Check and change the shift
amount and the shift position of
the point so that the position after
the shift stays within the soft-limit.
Reset the position data to a point
within the soft limit.
Robot is capable of restarting
operation when the RT monitor
input goes OFF.
Slave robot is capable of restart-
ing operation when the RT moni-
tor input goes OFF.
Robot is capable of restarting
operation when the cube monitor
input goes OFF.
Slave robot is capable of restart-
ing operation when the cube mon-
itor input goes OFF.
Check the re-star position. If cor-
rectly positioned, re-start the
robot.
Check the settings of the har-
monic coordinate system and the
mechanism.
Check the mechanism structure of
the program.
Check and modify the program.
Delete the command.
Newly register the command and
create the parameters.
Correct the program.
Re-set the mechanism either of
the running program or of the vari-
able. Or use another variable.
279
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E1270 TOOL No. Error The specified tool number is not cor- Check the program.
rect.
For example, a tool number for the
slave robot is selected in the program
for the master robot.
E1280 No mechanism specified by the The mechanism number in the run- Check and modify the program
program ning program exceeds the number of and system settings.
mechanisms specified in this system.
E1290 “Start permission input" was The "Start permission input" goes off Restart the program when the
turned off while running the program. "Start permission input" is turned
on.
E1300 "Start permission input" is turned The "Start permission input" was in Start the program when the "Start
off the OFF state when the program was permission input" is turned on.
started.
E1310 Ext-Axis range monitoring Error The robot attempted to enter the area Re-start is enabled when the
specified as the "Ext-Axis range moni- "Monitor input" goes OFF.
tor" monitoring range.
E1311 Ext-Axis range monitoring Error The slave robot attempted to enter the
(Slave) area specified as the "Ext-Axis range
monitor" monitoring range.
E1320 AND condition monitoring Error All AND conditions are satisfied when Re-start is enabled when the
the monitor input is in the ON state. "Monitor input" goes OFF.
E1321 AND condition monitoring Error The AND conditions of the slave robot
(Slave) are satisfied when the monitor input is
in the ON state.
E1330 Cannot update variable value. The command that assigns a value to Change the protect level of the
a position variable was executed in a target program to "Allow Point
protected program. Change Only".
E1340 Remote-axis and mechanism The external axis you tried to remote Wait until the external axis for
overlaps control is in operation in the running remote control stops.
program.
E1350 Lift-up calculation error Position after the lift-up cannot be cal- Correct the robot orientation data.
culated because of the singular point.
E1351 Lift-up angle limit error Motion angle necessary for lift-up is
too large.
E1360 'R_MARK' command does not In ERROR RECOVERY operation, Check the program.
exist there is no 'R_MARK' command reg-
istered in either forward- or backward-
step direction.
E1370 Cannot execute ERROR RECOV- A command that prevents execution
ERY function of the ERROR RECOVERY function
exists between the stopping position
and the R_MARK command.
The ERROR RECOVERY was
attempted in one of the following con-
ditions.
• During TP operation, such as offline
edit or hot edit operation.
• During shift movement.
• During sensing operation.
• All mechanisms including the robot
itself have not started.
E1380 The command which cannot be PARACALL, STOP, GOHOME or
executed UNTIL command exists in the call pro-
gram of the R_MARK command.

280 OM1009082E17
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E1390 Teach speed is over The taught move speed exceeds the Check the program.
maximum speed of the machine.
E1391 UNTIL speed over The taught speed exceeds 15.00m/ Change the taught speed to
min when the “QUICK” is set (UNTIL 15.00m/min or below.
command).
E1400 Speed slope command error. Unable to execute the speed slope Check the program.
command.
(Example) The slope section is set to
zero “0” or a negative number.
(Example) TCHSNS command is
used together with it.
E1410 The option is insufficient Some processing cannot be con- Check the options.
ducted as corresponding option(s) is
not enabled or does not exist.
E1420 Robot angles of a taught point are All robot articular angles of the taught Check position of the taught point
all zero. point are set to zero (0). It may be a with trace operation and correct it.
temporal point added automatically.
E1440 SV-SET1 command is not on the SV-SET1 command is registered in a Register the command correctly.
Arc Start point. point other than the arc start point.
E1441 SV-SET1 command is not valid on SV-SET1 command is not available Delete the command.
this mechanism. as either the applied mechanism does
not support this command or no
mechanism exists.
E1442 SV-SET1 command is not valid in This manipulator does not support Delete the command.
this system. SV-SET1 command.
E1450 There is a command which cannot Unusable command(s) exists in the Check the arc-on program for
be executed in arc start program. arc-on program. unusable commands.
E1451 There is a command which cannot Unusable command(s) exists in the Check the arc-off program for
be executed in arc end program. arc-off program. unusable commands.
E1460 Stitch weld function is not valid. The “TIG filler stitch welding” function Check if the function has been
does not exist in the list of the system. added to the system.
E1461 This command cannot be exe- A slope command was attempted in Check the program.
cuted in stitch weld section. the “TIG filler stitch welding” section.
E1462 Timing adjustment values are not The set value of STITCH_TIG_ADJ is
appropriate. not appropriate.
E1463 Stitch weld execution error. An error in communication with the Check connections with the
(FIFO full) welder occurred. welder.
If the error recurs frequently, con-
sult Panasonic representatives.
E1470 SHOWPANEL command can’t be SHOWPANEL command was Review the program and change ti
executed while displaying a dialog attempted while opening a dialog box so that SHOWPANEL command
box. on the TP screen. won’t be executed while opening a
dialog box on the TP screen.
Or do not try to display a dialog
box or executing the SHOW-
PANEL command.
E1480 The program has no welder num- Attempted welding operation using a Check the settings.
ber. program with “’No select’ (Weld?)”
setting and “Error stop when the Or specify a welder in the pro-
welder property is ‘No select’ (Weld?)” gram.
(in “Switching TAWERS characteris-
tics” settings) setting.

OM1009082E17 281
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E1490 Parallel sequence program error Subcode Change the mechanism of the
01: A mechanism other than “No program to “No select”.
select” was executed.
02: A command not operable on the Check the program.
parallel sequence side was exe-
cuted.
03: An error due to execution of the
parallel sequence program.
Or
PAUSE or HOLD command was
executed.
For example, an error of execution
of a command registerable with the
parallel sequence program, such
as no label at the jump address.
E1500 Fixed tool coordinate is invalid. A command for fixed tool whose Specify a user coordinate system
coordinate system specified by the valid for the fixe tool coordinate
settings in a program.
program is disabled was executed.
E1900 (User defined message) HOLD command was executed. Check the program architecture.
E1910 Error input (User defined label) The “Error input” was turned ON. Investigate and remove the cause
| of the error.
E1919
E2010 Sensing not possible. The input signal had been ON when Trace backward and then restart.
the touch sensor command was exe- Check the program structure.
cuted.
In case of rotary shift, less than three
reference points have been specified.
E2011 Sensing is not possible (Slave) (Slave robot) During sensing opera-
tion, the slave robot restarted after an
emergency stop.
E2020 Sensing no input Work is not within the sensing range. Trace forward or backward to
restart.
E2030 Shift calculation error Calculation error. Change position or speed of the
In case of rotational shift, positions of teaching point.
three reference points are not proper. In case of weaving operation,
check conditions.
E2040 Compensation limit over. Com- The calculation result exceeds the Check if the applied tool compen-
pensation data of tool is not auto compensation range. sation method is correct.
stored. For details, please refer to the operat-
ing instructions of the “Auto compen-
sation of tool”.
E2041 Cannot calculate the compensa- Compensation reference date for auto
tion data, because of compensa- compensation of tool does not exist.
tion reference data not stored. For details, please refer to the operat-
ing instructions of the “Auto compen-
sation of tool”.
E2042 Cannot calculate the compensa- Invalid data exists. Check if the applied tool compen-
tion data, because of the invalid Or data is not enough for calculation. sation method is correct.
data or the lack of data. For details, please refer to the operat-
ing instructions of the “Auto compen-
sation of tool”.

282 OM1009082E17

Error
Message Probable Cause
code
E2043 Torch position error. In case of auto compensation of tool,
sensing inputs A and B had not been
turned on when the sequence com-
mand "CALBASE=7" was executed.
Or sensing input values have not
been specified.
For details, please refer to the operat-
ing instructions of the “Auto compen-
sation of tool”.
E2044 TOOLCAL command error TOOLCAL command has been exe-
cuted before TOOL commands.
For details, please refer to the operat-
ing instructions of the “Auto compen-
sation of tool”.
E2050 Sensing input is detected at sens- Sensing input was turned ON before
ing start. starting the sensing operation. In
other words, the torch contact had
occurred before starting the tough
sensor operation.
E2060 No sensor response In case that the “stick” function of the
welder is used for sensing, the welder
does not respond to the sensing start.
E2070 'Arc lock' was executed in the In TAWERS-TIG, arc lock operation
sensing motion was executed while touch sensing
activated by TAWERS-TIG touch start
operation or stick signal input.
E2120 Arc sensor:Welder Welder settings are not proper.
Spin arc sensor: Motor in the rotary
head is defective. P.C. Board is defec-
tive. Connectors are disconnected or
severed.
E2130 Arc sensor:Wire Wire settings are not proper.
Spin arc sensor: Counter data error.
E2140 Arc sensor:Weld current Welding current setting value is not in
the range from 100 A to 400 A.
E2150 Arc sensor:Welding speed Welding speed setting value is not in
the range from 0.1 to 1.2 m/min.
E2160 Arc sensor:Weave frequency Weaving frequency setting value is
not in the range from 1 Hz to 5 Hz.
Spin arc sensor: RPM exceeds
4500rpm.
E2170 Arc sensor:Weave amplitude Weaving amplitude is not in the range
from 2 mm to 6 mm.
E2180 Arc sensor:Weave pattern The system does not support the
specified weaving pattern.
E2190 Arc sensor:Current detection No input of current detect signal in 3
seconds or more after turning on the
torch switch.
E2200 Arc sensor:Buffer-over Deviation of the actual work from
teaching path exceeds allowable
range.
E2210 Arc sensor:Distance-over Distance between tracking and pro-
grammed welding path exceeds the
tracking range.
OM1009082E17
Errors and Alarms
Remedy
Check if the origin mark of the
robot is in correction position. If
not, perform the origin return.
Check and correct the program
structure.
Check the condition.
Change the position of the taught
point so as to ensure longer sens-
ing distance.
Check power and communication
cables of the welding power
source.
Trace back to the sensing start
point, and then restart operation.
Correct welder settings.
Turn off power to the robot and
spin arc sensor control unit. And
then newly turn them ON.
Correct wire related settings.
Turn off power, and then newly
turn it on.
Check welding current set value.
Check and correct the weaving
frequency set value.
Turn off the power of the spin unit,
and then newly turn it on.
Teach correct weaving amplitude
points.
Check and correct the weaving
pattern.
Check causes of no current signal
input and no arc generation.
Change position of the teaching
point(s).
Change position of the teaching
point.
Change tracking range setting.
283
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E2220 Arc sensor: Data communication An error in controller, or introduction Turn off the power, and newly turn
of noise. it on.
Power to the arc sensor is OFF.
E2230 Arc sensor:Amp. Error Servo driver inside the spin controller Remove the cover of the spin con-
is defective. An error of the motor troller and check the error display.
temperature inside the spin head. Investigate the cause of the error.
E2240 Arc sensor:Operation error Shift amount calculation error due to Turn off power, and newly turn it
error in controller or introduction of on.
noise.
E2260 Arc sensor:Rotational speed RPM of the motor inside the spin
head is either too high or too low.
E2270 Arc sensor:Data communication An error in controller, or introduction
of noise.
Power to the arc sensor unit is OFF.
E2280 Arc sensor:Detection phase Detection phase settings are not con- Check the detection phase setting
sistent. values.
E2290 Arc sensor:Encoder phase Encoder phase is out of range. Turn OFF the power switch to the
spin controller, and then back ON
again.
Check the spin controller cable.
E2320 Arc sensor:Tool number error Tool number 9 or higher is specified in Modify the program.
spin arc sensing range.
E2330 Arc sensor:Arc sensing is not Arc sense command is executed Change structure of the program.
available in a parallel processing while processing parallel programs.
program. Robot is not included in the mecha-
nism of the running program does not
inc
E2340 Arc sensor:Execution error (Arc Arc slope and arc sensing is executed Change structure of the program.
slope) at the same time.
E2350 Spin Sensor:Execution error In the "Multi-cooperative robot con- Modify the program.
(Weaving) trol" movement, weaving and spin
sensor were executed at the same
time.
E2360 Auto extension:Tracking voltage In TAWERS-TIG auto extension func- Check commands in the program.
error tion, the target voltage of the AVC-
VOLT command has not been
specified.
E2370 AUTOEXT command was exe- AUTOEXT command was executed in Check and correct the program.
cuted in a mechanism having only a mechanism having only external
external axis or on a JIG-Control- axis or on in a JIG-Controller.
ler.
E3020 M-rot reset:position Due to load inertia, external axis is not Add DELAY command (of about 1
in complete stop by the multi rotation to 2 seconds of delay time) before
reset command. RSTREV command.
E3021 M-rot reset:Abnormal fraction For a positioner whose number of Re-adjust the origin of the external
pulse data pulse per turn is not integer, the accu- axis.
mulated fraction data exceeds the
numerator of the reduction ratio while
executing the multi-rotation reset.
E3022 M-rot reset: Inhibited position For a positioner whose number of Check the positional relation of
range pulse per turn is not integer, the multi- the main axis and pair axis.0
rotation reset was executed when the
rotation angle of the main axis of the
absolute tracking pair or the pair axis
was within the range of 180 ° ±5 °

284 OM1009082E17

Error
Message Probable Cause
code
E3023 M-rot reset: The external axis is M-rot reset was executed to the slave
not applicable to M-rot reset. external axis or an external axis not in
the mechanism.
E3030 Connect error (Mode) In “multi-cooperative robot control”
movements, not accessible as modes
do not match.
Connect error (Robot No.) In “multi-cooperative robot control”
movements, not accessible as the
specified slave robot No. is inade-
quate.
Connect error (constant) In “multi-cooperative robot control”
movements, not accessible as the
settings of the slave robot has
changed.
E3040 Hold (slave err) In “multi-cooperative robot control”
movements, operation is stopped due
to error in slave robot.
E3050 Safety holder(slave) In “multi-cooperative robot control”
movements, safety holder of the slave
robot is activated.
E3060 Multi-mechanism is not set Multi-mechanism has not specified.
Calculation area not secured.
E3080 COUPLE Timeout Failed to connect to the master robot
within the preset time period after
executing COUPLE command.
E3100 Please turn on Servo(**) **is Axis The target independent E-axis servo
name. power is OFF.
E3110 Independent E-axis: Out of servo Servo power off is conducted to the
off enable section error(**) **is Independent E-axis to which "Servo
Axis name. off enable section" is not applicable.
E3120 Movement is inhibited The axis in moving inhibition state
was attempted to move.
E3130 Pair axes position error The pair axis deviates beyond the
allowable range.
E3140 Immovable axis position error Deviation of the immovable axis from
the taught position exceeds the allow-
able range.
E3150 'COUPLE' command error 'COUPLE' command is executed
redundantly at the slave side.
While executing the COUPLE com-
mand in the program running in paral-
lel at the slave side, the PARACALL
OFF is executed to the program.
OM1009082E17
Errors and Alarms
Remedy
Exclude the followings from the
object of RSTREV command
•The slave external axis,
•External axis whose pair axis is
the slave external axis
•External axis not in the mecha-
nism.
Change the mode of the slave
robot.
Check the harmonic movement
settings.
Execute system communication
between robots once again.
Remove cause(s) of the error of
the slave robot.
Correct the tool interference of the
slave robot.
On the Set menu, click Manage-
ment settings and System. Then
add the “Multi-mechanism”.
Check the program.
Turn ON the target independent
E-axis servo power, and then re-
start.
Turn ON the servo power on
again, and then re-start.
Review the reason to inhibit the
movement of the axis.
Close the current program and
then position the external axis.
Close the current program and
then position the immovable axis
to the taught position.
Check command structure in the
program.
285
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E3160 Torch Axis execution error ** For TAWERS JIG-Controller: Check and correct either settings
(**: represents sub-code number.) Subcode or program.
01: The external axis type of the torch
axis is not set to “Shift.
02: Torch axis is set to “Gantry axis
and gantry pair axis”.
03: Torch axis is in any one of the fol-
lowing conditions.
-It has no setting,
-It is not defined (exist) in the con-
troller, or
-It is not included in the mecha-
nism.
E4010 Safety-holder working Safety holder is activated due to inter- Remove the cause of interfer-
ference etc. ence.
E4020 24V input error An error in 24 V input of the Check the fuse on the sequencer
sequencer I/O circuit is detected. board.
Check if I/O power is supplied.
E4030 Teaching mode input is turned on. Teaching mode input is turned on. Place the mode select switch in
"Teach" position.
E4040 Operating mode input is turned Operating mode input is turned on. Place the mode select switch in
on. AUTO position.
E4050 I/O unit connect error. Discrepancy between actual connec- Check connection and settings of
tion and settings of the expansion I/O the expansion I/O unit.
unit.
E4060 Safety card comm. Error An error in communication with the Check the safety card for wrong
safety card at power on. wiring and loose connections.
E4070 Sequencer card comm. Error An error in communication with the Check the sequencer card for
sequencer card at power on. wrong wiring and loose connec-
tions.
E4100 Cooperative Robot Common error Failed to communicate with the Coop- Check if the communication cable
erative robot. for cooperative robot is correctly
connected.
E4110 SLAVE error: **** Received an alarm from the slave Find the details of the alarm code
(**** represents an alarm code of robot. from the operating instructions of
the slave robot.) the slave robot for remedy.
E4120 Connect error Power to the slave robot controller is Turn on power to the slave robot
not on yet. controller.
Or breaking of cooperative robot com- Or check if the cooperative robot
munication cable. communication cable is correctly
connected.
E4200 DeviceNet:Off Line DeviceNet is in the Off-line state. Investigate and remove the cause
E4201 DeviceNet:Comm. error Communication error occurred. of the error; check the master
device status or breaking of cable.
E4202 DeviceNet:Card error Card interface error occurred. Check if the card is connected
correctly.
E4210 ProfiBus:Off Line ProfiBus is in the Off-line state, i.e. not Investigate and remove the cause
in communication state when power of the error; check the master
to the robot is on. device status or breaking of cable.
E4211 ProfiBus:Comm. error Communication error occurred.
E4212 ProfiBus:Card error Card interface error occurred. Check if the card is connected
correctly.

286 OM1009082E17
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E4220 CC-Link:Off Line CC-Link is in the Off-line state, i.e. not Investigate and remove the cause
in communication state when power of the error; check the master
to the robot is on. device status or breaking of cable.
E4221 CC-Link:Comm. error Communication error occurred.
E4222 CC-Link:Card error Card interface error occurred. Check if the card is connected
correctly.
E4230 A-B Remote I/O:Off Line A-B Remote I/O is in the Off-line state, Investigate and remove the cause
i.e. not in communication state when of the error; check the master
power to the robot is on. device status or breaking of cable.
E4231 A-B Remote I/O:Comm. error Communication error occurred.
E4232 A-B Remote I/O:Card error Card interface error occurred. Check if the card is connected
correctly.
E4233 A-B Remote I/O: Set comm. Baud is set to “Auto Detect”. Specify a baud rate on the A-B
speed again on the Robot. Remote I/O setting.
E4250 Ethernet/IP:Off Line The robot is in the offline (or discon- Investigate the cause, such as
nected) state. master robot condition or breaking
E4251 Ethernet/IP:Comm. error An error in communication occurred. of wire, and remove the cause.

E4252 Ethernet/IP:Card error A card interface error occurred. Check the card if it is connected
properly.
E4253 Ethernet/IP:IP address collision The same IP address has been used Review the IP address settings.
detected. in another device.
E5000 The SLS File doesn't exist. The specified SLS file does not exist. Check if the file name is correct.
E5010 The SLS File cannot be read. Unable to read the contents of the Check if the SLS file format is cor-
SLS file. rect.
E5020 The MNU File doesn't exist. The specified MNU file does not exist. Check if the file name is correct.
E5030 The MNU File cannot be read. Unable to read the contents of the Check if the MNU file format is
MNU file. correct.
E5040 The TSF File cannot be created. Unable to create a file. (Probable If the cause is insufficient memory
causes are insufficient memory space, erase unnecessary files.
space, folder error and so on.)
E5050 The TSF File cannot be read. Unable to read the contents of the Check if the TSF file format is cor-
TSF file. rect.
E5060 The WLD File cannot be created. Unable to create a file. (Probable If the cause is insufficient memory
causes are insufficient memory space, erase unnecessary files.
space, folder error and so on.)
E5070 The WLD File cannot be read. Unable to read the contents of the Check if the WLD file is correct.
WLD file.
E5080 Invalid program of 2 point sensor. There is an error exists in the 2-point Review the 2-point sensor pro-
sensor program. gram.
E5090 An undefined sensing-library was There is an error in the motion data Check the sensor menu settings.
selected. specified by the sensor menu.
This is an infrequent error.
E5100 Arcsensor: Data from the arcsen- Unable to receive the correction data Investigate and remove the cause
sor haven't been received. from the arc sensor. of the error; check the breaking of
cable or unit power off.
E5110 Arcsensor: In the data received The order of the index numbers Turn the power switch of the arc
from the arcsensor, there is wrong attached to the data received from the sensor off and back on again.
order. arc sensor is not correct.
E5120 A ACK from the arcsensor hasn't No ACK response to the initial com-
been received. mand from the arc sensor.
E5130 Too large correction on arcsensor. Correction of the arc sensor Review the correction setting
exceeded the setting range. range or the work deviation range.

OM1009082E17 287
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E5140 The value of weaving -amplitude Initial weaving amplitude of the vari- Review the initial weaving ampli-
is too large. able arc sensor is too large. tude.
E5150 The TSF File doesn’t exist. TSF file does not exist. Continue the operation and see if
the TSF file is automatically cre-
This is an infrequent error as the TSF ated when touch sensing opera-
file is automatically created by the tion is executed in AUTO mode,
software. program test mode or trace mode.
E5200 The value of weaving -timer is too Weaving is not possible as the weav- Reduce the weaving timer set
large. ing timer set value is too large. value.
E5210 The values of weaving timer for With the variable arc sensor, the Adjust the weaving timer set val-
both edges are different. weaving timers of the both ends ues for the both ends.
should be the same.
E5300 Error on the thick plate welding Subcode If the error recurs frequently, con-
function. 4000: Unable to execute circular sult Panasonic representatives.
weaving calculation due to
improper position of taught points.
(For example, points are taught too
close to each other.)
4002: Unable to execute weaving cal-
culation due to improper position of
taught points. (For example, points
are taught too close to each other.)
4016: Unable to execute weaving cal-
culation due to improper weaving
parameters.
4024: Amplitude detection sensor has
not been specified.
(E5300) Error on the thick plate welding 4026: Too many welding points exist If the error recurs frequently, con-
function. in the multi-layer section. Deletes sult Panasonic representatives.
some points. (If the error recurs frequently, con-
4103: Wrong weaving settings. sult Panasonic representatives.)
Review the settings. (Current set-
tings could be “Amplitude: 0, pitch:
0, joint: not defined, sloped and
Height is larger than amplitude.)
Detection sensor has not been
specified.
4106: This error occurs at the start of
weaving operation if the standard
arc sensor is effective.
4107: Arc sensor correction setting is
effective in the welding conditions
being used in the variable weaving
operation. It is not possible to use
variable weaving and arc sensor at
a time.
4109: In the twin-tandem welding
function, the arc sensor correction
is set to both robots.
4110: Variable weaving is not applica-
ble to the twin robot tandem weld-
ing function.
4111: Weaving operation is not appli-
cable in the speed slope section.
4200: The multi-layer shift calculation
error due to error in shift amount
settings or in position of taught.

288 OM1009082E17
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E5310 Making a temporary program “MULTIEND” command does not Check if “MULTIEND” command is
failed. exist. written correctly in the program.
Or not enough memory space. Or erase unnecessary to secure
enough memory space.
E5320 Prohibited commands exists in Subcode Correct the program by deleting
multi-welding. 0002: Weaving commands, such as prohibited command(s) or replac-
MOVELW, MOVECW, WEAVEP, ing with a applicable one.
MOVLVW, MOVCVW and
VWEAVP, exist in the multi-welding
section.
0003: MOVEP commands exists in
weld points in the reciprocating
muti-layer section.
0004: MOVEP points (other than the
start point) exists in a weld section
of the multi-layer section.
0006: MOVEP points (other than the
start point) exist when the high
speed tandem is effective.
0007: Move commands with air-cut
exist in the section from ARC-ON
command and ARC-OFF com-
mand in a multi-layer section.
(E5320) Prohibited commands exists in 0009: • After ARC-ON command, the Correct the program by deleting
multi-welding. program ends with no ARC-OFF prohibited command(s) or replac-
command. ing with a applicable one.
• No move command exists in the
section from the beginning of the
program to ARC-ON program.
0010: KEEP-POSITION commands
exist in the reciprocating multi-
layer section.
0011: PRESET WLD commands exist
in a weld section of the multi-layer
section.
0012: A MUNTWN command exists
after ARC-ON command in the
multi-layer section.
0013: Circular split-off points (speci-
fied by MOVEC command) exist in
a welding section of the multi-layer.
0100: The WEAVSPRL-ON or
WEAVSPRL-OFF command was
executed in the multi-layer section.
0101: SV-SET1 command is executed
in a multi-layer section.
E5330 The cursor position is not proper The pass the cursor is pointing at and Correct the cursor position and
for the present pass number. the execution pass do not match. then re-start.
E5340 Too large movement of positioner In a harmonic section, the positioner Change the teaching points so
attempted to move more than 130 that the movement of the posi-
degrees between the taught points for tioner does not exceeds 130
multi-rotation. degrees between the points.

OM1009082E17 289
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E5350 Prohibited commands exists in Sub-code Correct the program; delete or
welding. 0006: MOVEP points (other than the change prohibited commands or
start point) exist when the high add necessary commands.
speed tandem is effective.
0007: Move commands with air-cut
exist in the section from ARC-ON
command and ARC-OFF.
0008: Standard weaving commands,
such as MOVELW, MOVECW and
WEAVEP, exist in the weld section.
0009: • After ARC-ON command, the
program ends with no ARC-OFF
command.
• No move command exists in the
section from the beginning of the
program to ARC-ON program.
0011: PRESET WLD commands exist
in a weld section.
0012: A MUNTWN command exists
after ARC-ON command.
0013: Circular split-off points (speci-
fied by MOVEC command) exist in
a welding section.
0100: WEAVSPRL-ON or
WEAVSPRL-OFF command was
executed.
0101: SV-SET1 command was exe-
cuted.
E5360 Temporary file error. Sub-code Check the program execution
001: Unable to load. sequence.
No file exists to load. The file may
not have been saved.
002: Unable to save.
The temporary file of the touch
sensor correction data may not
exist. Touch sensing has not been
executed.
003: Unable to save due to memory Erase unnecessary files to secure
shortage enough memory space.
E5370 Invalid command in executing MNUWV or Variable weaving was Check and correct either settings
speed slope. attempted in the speed slope section. or program.
E5380 Invalid command for the specified Variable weaving is not available in
mechanism. the mechanism having more than one
robot.

290 OM1009082E17

Error
Message
code
E5390 "KEEP-POSITION" is not avail-
able.
E5400 A mistake was found in a sensor
correction.
E5410 The coordinate system of the sec-
ond point is different from that of
the first point.
E5420 The coordinate system of the
operation is different from that of
the correction data.
E5441 It is impossible to continue the
playback operation because the
Arc Start Retry isn't complete.
E5442 It is impossible to continue the
playback operation because the
Arc Start Shift isn't complete.
E5443 It is impossible to continue the
playback operation because the
Touch sensing isn't complete.
OM1009082E17
Errors and Alarms
Probable Cause Remedy
Sub-code: Check and correct either settings
0001: This command is not valid with or program.
UNTIL_IP command.
0002: Apart from MOVEL command,
this command is not valid with
MOVE commands.
0003: This command is not valid in
speed slope.
0004: This command is not valid in a
mechanism having axes other than
robot.
0005: This command is not valid in
arc sensor correction.
0006: Distance between the start
point and the target point is less
than 2 mm.
0007: When "Direct movement" func-
tion is enabled, KEEP-POSITION
command exists before the teach
point that will serve as a restart
point.
0008: KEEP-POSITION command
does not exist in the arc start point,
or the target point of KEEP-POSI-
TION command is not set to the
arc end point.
0009: This command is not valid in
the "Ending overlap" movement.
Invalid sensor correction number is Re-do the sensor correction set-
used. Or the same sensor correction tings.
number as the one currently used is
applied.
Teaching error. Check the points and teach the
Coordinate system of the first sensing same coordinate system to the
point and that of the second sensing both points.
point do not match. In case of using harmonic motion
function for the positioner, do not
use the 2 points sensor.
Teaching error. Correct the teaching so that the
The coordinate system of the correc- coordinate system of the correc-
tion data and that of the command are tion data and that of the command
different. For example, the correction are the same.
data created in the harmonious coor- See section “3.2.3 Setting of cor-
dinate system is applied to a move rection by means of touch sensor.”
command for a movement other than
harmonious movement.
Unable to re-start as the machine Move one point back (or move to
came to a stop in mid-course of arc another point), and then restart it.
start retry operation. * “DirctGo” is useful.
Unable to re-start as the machine Move one point back (or move to
came to a stop in mid-course of arc another point), and then restart it.
start shift operation. * “DirctGo” is useful.
Unable to re-start as the machine Move one point back (or move to
came to a stop in mid-course of touch another point), and then restart it.
sensing operation.
291
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E5450 "Go to the specified point" func- An error in “Go to the specified point” Do not use the “Go to the speci-
tion: It is impossible to move to the function fied point” function, use the cursor
specified point. • No information about stop position to start.
and stopped state in auto operation.
• As the current position is on the
way to the next taught point, no
specified taught point exists, as if a
previous point was specified.
• In multi-layer section, stopping posi-
tion was specified while the execu-
tion pass number has been
changed. (There is no stop position
on the new (or changed) pass.)
E5540 Data for specified point isn't in the An error while executing WLDFILE Restart operation from the begin-
WLD files. command: ning of the multi-layer welding.
No data corresponding to the speci-
fied point ID exists in the WLD file.
E5550 WLD file write error (There are An error while executing WLDFILE Review the program so that the
more than 59 welding points). command: number of welding points in the
The 60th welding point was attempted multi-layer section is 59 or less.
to write in the WLD file.(It is possible
to write up to 59 data.)
E5560 Specified Global Variable is An error while executing WLDFILE Validate GD variable.
invalid. command:
Unable to read the specified variable
as the specified GD variable is invalid.
E5570 Start Pass/End Pass No. error. The start pass/end pass number Check the contents of the vari-
specified as variable is not correct. ables.
E5580 Relative position is far. The relative position call was Situate the master and slave
attempted when the master and slave robots close to each other, and
robots are too far away from each then retry.
other.
E5600 The weaving cannot be continued. The current position is out of the Move the robot manually so that
weaving range. the robot is positioned at a weld-
ing position within the weaving
range, and then re-start.
E5610 +TMPLOAD command error Sub-code: 001 Review the program.
The temporary file of the slave robot
does not exist.
Sub-code: 004 Review the program.
Correction data error in the master
robot. (A number other that 1 to 49 is
used as a correction data number.)
Sub-code: 005 Review the program.
Correction data error in the slave
robot. (A number other that 50 to 99 is
used as a correction data number.)
Sub-code: 008 Review the program.
It is not possible to use the “Harmoni-
ous coordinate system”
Sub-codes other than the above Consult Panasonic representa-
tives.

292 OM1009082E17
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E5620 Correction data error An error at correction and inverse cor- Review the program.
rection.
An error in correction data number or
failure to load the correction data in
the master robot.
E5630 2-point sensor data The 2-point sensor is not applicable in Review the program.
the “Twin robot tandem welding” func-
tion.
E5640 Rel pass shift error. Shift type of the current pass is differ- Uniform the shift type.
ent from other passes.
Or memory error. (11 menus exist.)
E5650 Specified pass data error. The number of the execution pass Review the MULTSTART-2 com-
data specified by the MULTSTART-2 mand.
command exceeds the number of
pass data in the MNU file.
E5660 W-SHIFT command error. Sub-code Review the program and settings.
001: The command is not applicable
when the twin tandem is effective.
002: Command execution error
Harmonious coordinate system
data of the execution mechanism
has not been registered.
or
For shift specified by an external
axis:
• The specified external axis
does not exist in the execution
mechanism.
• Unable to read GR variable.
or
For shift specified by GP variables:
• Mechanism configurations of
the execution mechanism, 1st
GP variable and 2nd GP vari-
able are different.
• The specified GP variables are
invalid.
003: Correction execution error
• Harmonious coordinate system
data of the execution mechanism
has not been registered.
• For shift specified by an external
axis:
The specified external axis does
not exist in the execution mecha-
nism.
• For shift specified by GP vari-
ables:
External axis configurations of
the execution mechanism and
the correction data are different.
E5670 Limitation of W-SHIFT command An error at start. Move the cursor to where it was
range The current cursor position doesn’t positioned at the time of stoppage
represents the W-SHIFT execution or move it to out of the W-SHIFT
state. command range, and then restart.

OM1009082E17 293
 Errors and Alarms
Error
Message Probable Cause
code
E5700 Error detected by TAWERS Arc Sub-code
sensor. 001: No sample data of the specified
number exists.
002: Mode is undefined.
E5710 TAWERS Arc sensor:Continuous Data necessary to continue operation
operation is failed. does not exist.
E5720 TAWERS Arc sensor:This function “Adaptive weaving” function is
is not available attempted with TAWERS arc sensor.
The function is for “Thick plate arc
sensor unit”.
E5800 Customize function error An error of a customized function.
E6100 Controller - PC communication Sub code
error 0001: Communication timeout
No command was received from
the computer application for five
seconds after receiving the last
command.
0002: Sum error
An error in the sum in the data
received from the computer appli-
cation.
0003: Flame data error
An error in the flame information
received from the computer appli-
cation.
****: An error in Ethernet communica-
tion tip (W5100) on the main
P.C.Board.
(Where “****” represents the error
code of W5100.)
E6440 Can not recognize the additional Additional SD memory card is not
memory. inserted or recognized.
E6441 Can not recognize the additional • Additional SD memory card is not
memory. Additional memory func- inserted.
tion is disabled • Folder structure on additional SD
memory card is not correct.
E6442 Controller doesn’t have space for Controller memory does not have
program transfer. enough free space.
E6443 Additional memory doesn’t have Additional SD memory card does not
space for program transfer. have enough free space.
E6444 Program transfer failed. 0x1*** Malfunction has been detected while
Program transfer failed. 0x2*** program is transferred from controller
to additional SD memory card.
Program transfer failed. 0x5*** Malfunction has been detected while
Program transfer failed. 0x6*** program is transferred from addi-
tional SD memory card to controller.
E7000 Servo receive data error An error occurred between servo and
communication data.
294
Remedy
Reviews arc sensor settings of
welding conditions
Use (with the lamp off) to
restart.
Delete the adaptive weaving set-
tings from the welding condition.
If the error recurs frequently, con-
sult Panasonic representatives.
Review the communication set-
tings and communication equip-
ment.
Especially, check the Ethernet
cable for poor connection and
breaking of wire.
Turn off the power switch of the
controller and turn the switch back
on again. Then restart the com-
puter application and redo the
controller-PC communication.
• Check if additional SD memory
card is inserted.
• Consult our service if these
errors occur often.
• Delete unnecessary arc start
programs/arc end programs.
• Delete “Additional SD memory”
from the system and add it to
the system again.
Delete unnecessary teaching files.
• Check if additional SD memory
card is in writable state.
• Consult our service if these
errors occur often.
If the error recurs frequently, con-
sult Panasonic representatives.
OM1009082E17
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E7001 Collision detected Collision is detected. Remove cause of interference
and restart.
If it occurs on the initial start-up opera- Execute warm-up operation.
tion of the day in cold climates,
grease may not be warm enough.
E7002 Collision detect hold limit error The robot moved over the angle limit Find and remove the cause of the
in the flex mode after detecting a colli- collision.
sion.
E7003 Over run The hard-limit switch input is activated With the overrun release mode,
due to overrun. move the axis within the range.
E7004 FlexServo:Angle limit over on Position deviation at the error occur- Investigate cause.
holding rence position exceeded shift check
angle limit while the robot is in "Angle
limit over", "Shift over" or "Drift error"
condition due to an external force.
E7005 FlexServo:Soft limit error The robot reached the soft-limit while Move the axis back within the soft-
executing Flex-Servo operation. limit, and then restart.
E7006 Collision Hold Collision or the similar disturbance Remove cause of interference
occurred. and restart.
E7020 FlexServo: Angle limit over Position deviation of the Flex-Servo- Remove cause of angle limit over
ON axis exceeded its angle limit. and restart.
E7021 FlexServo: Shift over In Flex-Servo check mode, position Investigate cause of shift over.
deviation exceeded shift check angle
limit.
E7022 FlexServo: Drift error Both "End point check angle(deg)" Investigate cause of Drift error.
and "Drift error check time" exceeded Revise "End point check
the set values. angle(deg)" and/or "Drift error
check time" set value(s) if neces-
sary.
E7040 Motor speed over Speed exceeds rated value. Turn off the power and then newly
turn it on.
If the error recurs frequently, con-
sult Panasonic representatives.
E7041 Motor over load error Motor load exceeds its limit. Change the robot orientation so
as to minimize load to the motor.
E7042 Lock detect Motor cannot rotate. Check if the motor and the robot
interfere.
E7043 Encoder over heat Temperature of the encoder board Reduce the load.
inside the motor exceeds its specified reduce speed.
value (90-degree celsius). Change position.
Add a delay command.
Change the robot orientation so
as to minimize load to the motor.
E7044 Over load movement High-speed motion was executed in Reduce the load.
the state of overload. reduce speed.
E7045 Servo power low High-speed motion was executed at Change position.
low servo power voltage. Add a delay command.
Change the robot orientation so
as to minimize load to the motor.
Check for the input voltage short-
age on the primary side.
E7052 Collision detect holding. Please While robot is in "Collision detected Turn off the servo power and then
shut off the servo power once. hold" state, robot was attempted to newly turn it on.
move manually or by restart opera-
tion.

OM1009082E17 295
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E7060 FlexServo: Speed limit over The motion speed exceeded its speed Investigate cause.
limits while executing Flex-Servo
operation.
E7062 Over duty (Average) Servo current average load factor Reduce the load or speed, change
exceeds its limit. robot orientation or add DELAY
command.
Change the robot orientation so
E7063 Over duty (Peak) Servo current exceeds its limit.
as to minimize load to the motor.
Check if the primary input voltage
is sufficient.
E7070 Torque free: Limit over The axis in torque free state went over Investigate the cause.
the limit. Or change the settings.
E7071 Torque free error:It is not possible Unable to change the torque free Review the timing to change the
to change to the torque free state state while the robot is in operation. torque free state.
when the robot or an axis is in
operation.
E7072 Torque free error:The torque free There was an torque free input to Review the settings.
function is not applicable to gantry either gantry axis or pair axis.
and gantry pair.
E7073 Torque free error:Harmonize During torque free state, the axis in Release the axis from the torque
motion torque free state got involved in the free state, and then restart.
harmonize motion.
E7078 The robot cannot enter slave state When there is at least one axis in Release the axis from the torque
as there is an axis in torque free torque free state, the slave mode is free state, and then switch to the
state. switched. slave mode.
E7079 Torque free error:The robot is in Torque free switchover is attempted in After completing the slave mode
slave mode. slave mode. operation, switch to the torque
free state.
E7100 Ext1:Servo receive data error An error occurred between servo and If the error recurs frequently, con-
communication data. sult Panasonic representatives.
E7101 Ext1:Collision detected Collision is detected. Remove cause of interference
and restart.
E7102 Ext1:Collision detect hold limit The robot moved over the angle limit Find and remove the cause of the
error in the flex mode after detecting a colli- collision.
sion.
E7103 Ext1:Over run The hard-limit switch input is activated With the overrun release mode,
due to overrun. move the axis within the range.
E7106 Ext1:Collision Hold Collision or the similar disturbance Remove cause of interference
occurred. and restart.
E7140 Ext1:Motor speed over Speed exceeds rated value. Turn off the power and then newly
turn it on.
If the error recurs frequently, con-
sult Panasonic representatives.
E7141 Ext1:Motor over load error Motor load exceeds its limit. Reduce the load or speed, change
robot orientation or add DELAY
command.
Change the robot orientation so
as to minimize load to the motor.
Check if the primary input voltage
is sufficient.
E7142 Ext1:Lock detect Motor cannot rotate. Check if robot or external axis
interferes with the motor.

296 OM1009082E17
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E7144 Ext1:Over load movement High-speed motion was executed in Reduce the load.
the state of overload. reduce speed.
E7145 Ext1:Servo power low High-speed motion was executed at Change position.
low servo power voltage. Add a delay command.
Change the robot orientation so
as to minimize load to the motor.
Check for the input voltage short-
age on the primary side.
E7162 Ext1:Over duty (Average) Servo current average load factor Reduce the load or speed, change
exceeds its limit. robot orientation or add DELAY
command.
Change the robot orientation so
E7163 Ext1:Over duty (Peak) Servo current exceeds its limit.
as to minimize load to the motor.
Check if the primary input voltage
is sufficient.
E7200 Ext2:Servo receive data error An error occurred between servo and If the error recurs frequently, con-
communication data. sult Panasonic representatives.
E7201 Ext2:Collision detected Collision is detected. Remove cause of interference
and restart.
E7202 Ext2:Collision detect hold limit The robot moved over the angle limit Find and remove the cause of the
error in the flex mode after detecting a colli- collision.
sion.
E7203 Ext2:Over run The hard-limit switch input is activated With the overrun release mode,
due to overrun. move the axis within the range.
E7206 Ext2:Collision Hold Collision or the similar disturbance Remove cause of interference
occurred. and restart.
E7240 Ext2:Motor speed over Speed exceeds rated value. Turn off the power and then newly
turn it on.
If the error recurs frequently, con-
sult Panasonic representatives.
E7241 Ext2:Motor over load error Motor load exceeds its limit Reduce the load or speed, change
robot orientation or add DELAY
command.
Change the robot orientation so
as to minimize load to the motor.
Check if the primary input voltage
is sufficient.
E7242 Ext2:Lock detect Motor cannot rotate. Check if robot or external axis
interferes with the motor.
E7244 Ext2:Over load movement High-speed motion was executed in Reduce the load.
the state of overload. reduce speed.
E7245 Ext2:Servo power low High-speed motion was executed at Change position.
low servo power voltage. Add a delay command.
Change the robot orientation so
as to minimize load to the motor.
Check for the input voltage short-
age on the primary side.
E7262 Ext2:Over duty (Average) Servo current average load factor Reduce the load or speed, change
exceeds its limit. robot orientation or add DELAY
command.
Change the robot orientation so
E7263 Ext2:Over duty (Peak) Servo current exceeds its limit.
as to minimize load to the motor.
Check if the primary input voltage
is sufficient.

OM1009082E17 297
 Errors and Alarms

Error
Message Probable Cause Remedy
code
E8000 Encoder battery is consumed: The Voltage of the encoder battery inside Contact sales distributor or
battery in the manipulator the manipulator decreased. Panasonic representatives for bat-
tery replacement as quickly as
possible.
E8002 The battery bit error An abnormally data was received If the error recurs frequently, con-
from the resolver card. sult Panasonic representatives.
E8003 Encoder battery is consumed Voltage of the encoder battery for Contact sales distributor or
each axis decreased. Panasonic representatives for bat-
tery replacement as quickly as
possible.
E9000 System data error An error in the system data. Turn off the power, and then newly
turn it on.
E9010 Weld IF card:Custom table Mem- An error in the custom table data. Contact sales distributor or
ory SumCheck Error. Panasonic representatives for re-
downloading of welding condition
table.
E9012 TAWERS:Rated setting is not cor- TAWERS power ratings and software Turn off the power and then newly
rect.(Maintenance: Select robot settings do not match. turn it on.
type) If the error recurs frequently, con-
E9013 Weld IF card: Initialize response Response from TAWERS weld IF sult Panasonic representatives.
error card is abnormal. Wrong version.
E9014 AC Unit is not connected Unable to detect the TAWERS AC Check if the wiring and connection
Unit. of the AC Unit are properly exe-
Control cable is disconnected or bro- cuted.
ken.
E9016 TAWERS:Checking status of con- Unable to detect the TAWERS AC Check if the wiring and connection
nection of AC Unit time out Unit. of the AC Unit are properly exe-
No response about connection confir- cuted.
mation. Review the software version.
E9020 Confirm the position data The position data is not properly reg- Use trace operation to check the
istered. taught point.
E9021 Position data is not correct Wrong position data is registered. Use trace operation to check the
taught point.
E9022 It failed to get the position data Registration was cancelled as the Register the position once again.
position data you are about to register
is not correct.
E9030 Please set the date/time. Date and time data was erased as Set date and time.
power remains off for a long time.
E9031 Calender IC read/write error Access error to calender IC. If the error recurs frequently, con-
E9032 Calender/clock IC error. Failed to enable the calender IC when sult Panasonic representatives.
the power was turned on.
E9033 Date/time set error (TP) TP failed to set date and time at
power on.
E9040 Filler IF Unit: Comm. Error Unable to detect the filler IF card. Check connections of card and
harness.
E9041 ‘TORCHSW ON’ was executed Welding operation was started while Review the program structure.
while checking stick. executing stick check.
E9042 Filler IF card: Initialize response Received abnormal response from Turn off the power and then newly
error the filler IF card. turn it on.
Versions do not match. If the error recurs frequently, con-
sult Panasonic representatives.

298 OM1009082E17
 Errors and Alarms

16.3 Welder error codes

Error codes start with “W” indicates either error occurred in
the applied digital communication welding equipment or
data communication error between the robot and the
applied digital communication welding equipment.
Error
Message Probable Cause
code
W0000 Weld Error: P-side ov/curr Received "P-side ov/curr" error from
welding machine
W0010 Weld Error: No current Received no "Current detect" mes-
sage from welding machine in the
preset period of time after the torch
switch was turned ON.
W0020 Weld Error: No arc Received "No arc" error from weld-
ing machine.
W0025 No arc detected by robot Robot recognized "No arc" error.
W0030 Weld Error: Wire stick Received "Wire stick" error from
welding machine.
W0031 Stick check time out No return stick check signal from
welding power source in specified
time.
W0040 Weld Error: Torch contact Received "Torch contact" error from
welding machine.
W0050 Weld Error: No wire/gas Received "No wire/gas" error from
welding machine.
W0070 Weld Error: Nozzle contact Received "Nozzle contact” error
from welding machine.
W0080 No characteristic table There is no characteristic table.
Welding conditions command can-
not be executed or corrected.
("W0900 Welder comm. Err 0003"
error occurred at power on, but
operation has been continued with-
out correcting the error.)
W0090 Weld Error: S-side ov/curr Received "S-side ov/curr" error from
welding machine.
W0100 Weld Error: Temp Err Received "Temp Err" error from
welding machine.
Remedy
Check welding machine.
Investigate why welding current
doesn't flow.
If gas pressure detector is applied,
check if the gas pressure is low.
Check welding conditions. Check if
wire feed route is clear and proper.
Check welding conditions. Check if
wire feed route is clear and proper.
If the error recurs frequently, check if
the current "No arc detection time"
setting is adequate.
Cut off the contacted part of the wire.
Change position of teaching points so
as to avoid wire stick.
Check welding power source.
Check welding power source and turn
on the power again.
Remove cause of the error.
Check around the torch nozzle and
remove cause of the error.
Turn off the controller power switch.
Check the cables and turn on the
power to the welding machine. Then
turn on the controller power switch.
Check welding machine and wire
feeder.
Check fuses 1-3 at the welding power
source.

W0110 Weld Error: P-side ov/volt Received "P-side ov/volt" error from
welding machine.
W0120 Weld Error: P-side L-volt Received "P-side L-volt" error from
welding machine.
W0130 Weld Error: Trigger Switch Received "Trigger Switch" error
from welding machine.
W0140 Weld Error: Lack of Phase Received "Lack of Phase" error Check welding machine.
from welding machine.
W0150 Retry Over (NO ARC) No arc has generated within the arc Check and remove cause and then
retry set value. restart.

OM1009082E17 299
 Errors and Alarms

Error
Message Probable Cause Remedy
code
W0160 Water circuit error Received "Water circuit error" error Check welding machine.
from welding machine.
W0170 Weld Error: Cooling water Received "Cooling water circuit"
circuit error from welding machine.
W0180 Weld Error: Gas pressure Received "Gas pressure reduction" Check gas pressure.
reduction error from welding machine.
W0190 Weld Error: Temp Err Received "Temp Err" error from Check welding machine.
welding machine.
W0200 Weld Error: Wire feed Received "Wire feed motor" error
motor from welding machine.
W0210 Weld Error: External input Received "External input 1" error
1 from welding machine.
W0220 Weld Error: External input Received "External input 2" error
2 from welding machine.
W0230 Weld Error: Emergency Received "Emergency stop" error
stop from welding machine.
W0231 Weld Error: Emergency Received "Emergency stop 2" error
stop 2 from welding machine.
W0240 Weld Error: CPU error Received "CPU error" error from
welding machine.
W0250 Weld Error: Memory error Received "Memory error" error from
welding machine.
W0260 Weld Error: Wire feed gov- Received "Wire feed governor" error
ernor from welding machine.
W0270 Weld Error: Wire feed Received "Wire feed encoder" error
encoder from welding machine.
W0280 Weld Error: CT offset Received "CT offset" error from
welding machine.
<For GZ/AZ series welders>
Detected the primary side overcur-
rent error.
W0290 Weld Error: VT offset Received "VT offset" error from
welding machine.
W0300 Weld Error: Start input sig- Received "Start input signal" error
nal from welding machine.
W0310 Weld Error: Initial output Received "Initial output voltage"
voltage error from welding machine.
W0320 Weld Error: Please replace One of the tip change conditions is Replace the tip with new one.
the tip. satisfied. Then reset the value in the tip change
dialog box. (On the [View] menu, click
[Arc weld information] and [TIP
CHANGE] to display the dialog box.)
W0370 Weld Error: Electrode con- Received "Electrode contact" error Check and correct the distance
tact from welding machine. between the electrode and the base
metal.
W0380 Weld Error: S-side over Received "S-side over voltage" error Specify and correct the cause of the
voltage from welding machine. error.
W0400 There is not welding condi- LOAD_WELD command was Review the program structure.
tion to load. attempted without executing
SAVE_WELD.
W0520 Welder is different. A command not for the connected Modify the program.
welder (or weld method) is exe-
cuted.

300 OM1009082E17

Error
Message
code
W0530 Com error between units of
welder
W0540 '0.00' was specified at the
welding speed
W0600 The welder for switching
not registered.
W0800 No welder specified by the
program.
W0810 The program has no
welder number.
W0860 The different type welding
command was executed
W0900 Welder comm. Err 0001
Welder comm. Err 0002
Welder comm. Err 0003
Welder comm. Err 0004
Welder comm. Err 0005
W0910 Welder undefined
W0920 Welder power failure
W0930 Welder com interrupting
W0940 Received code is different
from the set welder.
W0950 The welder is busy in ini-
tializing. Please restart
several seconds later.
OM1009082E17
Probable Cause
A communication error between
welder and wire feeder is detected.
The speed set value of the table
number specified by ARC-SET com-
mand in the welding condition speci-
fication settings is “0.00”.
In “Switching welders by the exter-
nal input” operation, the welder to
be switched to has not been regis-
tered.
Welder used in the program is not
registered in the default welder set-
ting.
No registered program number in
the program.
Weld type of the executed com-
mand disagrees with that of the
welder.
An error occurred while communi-
cating to welding machine.
Communication to welding machine
is interrupted. Or cable is discon-
nected.
Power to the welding power source
is off. Or cable is disconnected or
severed.
An error is found while verifying
characteristic data.
Power to the welding machine is
shut off while communicating with
welding machine while communicat-
ing to the welding machine.
Unauthorized welder has been con-
nected.
Power to the welding machine is
turned off.
Welding operation is attempted
before completion of the communi-
cation to the welder.
A welder code different form the set
welder code is received.
Robot start operation is attempted
while the welder is in initializing pro-
cess.
Errors and Alarms
Remedy
Check welding machine and wire
feeder.
Check fuses 1-3 at the welding power
source.
Set an appropriate value.
Review the settings.
Check the default welder setting.
Register the welder number.
(PROPERTY in FILE menu)
Match the weld type of the concurrent
execution programs.
Press the Cancel key to clear the
error message.
If the error occurred in operation
mode, exit from Operation mode and
newly set to Operation mode.
Press the Cancel key to clear the
error message.
If the error occurred in operation
mode, exit from Operation mode and
newly set to Operation mode.
Turn off the controller power switch.
Check cables and turn on the power
to the welding power source. Then
turn on the controller power switch.
Newly set the welding characteristics.
Check welding machine.
Check if the applied welding machine
is applicable model.
Check if upgrading of the software
version of the robot is necessary. If
so, consult our service office
Check welding machine.
Turn ON the power to the welder and
check the connecting cable for break-
ing. Then press the Cancel key.
Check if the welder settings are cor-
rect or if the correct welder is con-
nected.
Restart the robot in a few second.
301
 Errors and Alarms

16.4 Welder error codes for TAWERS

Welder error codes W1000 and higher are for errors of
TAWERS series only.
Error
Message Probable Cause Remedy
code
W1010 Weld Error:No arc "No arc" occurred while welding. Check welding conditions and the
wire feed path. If no problem with arc
is found, revise the "No arc detection
time."
W1020 Weld Error:Wire stick Wire stick is detected. Cut off the stuck wire.
W1030 Weld Error:Electrode con- Short circuit was detected between Check if circuit between the electrode
tact the electrode and the base metal. and base metal is short-circuited.
Change the position.
W1040 Weld Error:Electrode stick The electrode stuck. Recover from the stick state.
W1050 Long time wire short Abnormal short circuit time was If the error recurs frequently, consult
detected. Panasonic representatives.
W1110 Weld Error:S-side over cur- Current that exceeds its rated maxi- Check wirings between torch and
rent mum value was applied to the sec- base metal and on the secondary
ondary side circuit. side.
W1120 Weld Error:S-side voltage No voltage was detected during the Check wirings between torch and
output no detect preset time period after torch switch base metal and on the secondary
ON. side.
W1130 Weld Error:S-side output Weld current or weld voltage was Check wirings on the secondary side.
error detected at no welding state.
W1140 Weld Error: Short count It detected an abnormal short circuit Check the welding conditions.
error count.
W1170 Weld Error:S-side short Main welding control is not applied Check wire connection on the sec-
error in two seconds after detecting the ondary side of the welding power
current. source if it is short-circuit.
(Probable cause is that the voltage
does not rise to the standard volt-
age.)
W1180 Weld Error:S-side rating The average current exceeds the Review the welding commands.
error rated current for more than three
seconds.
W1210 Weld Error:P-side unit tem- It detected a temperature error in Wait for the temperature to drop. If the
perature error the primary side unit. error recurs frequently, check the
ambient surrounding of the equip-
ment.
W1220 Weld Error:S-side unit tem- It detected a temperature error in Wait for the temperature to drop. If the
perature error the secondary side unit. error recurs frequently, check the
ambient surrounding of the equip-
ment.
W1300 Weld Error:Main power Torch ON command was attempted Clear the error and restart.
error before the completion of backup
charge of the welding main power
after the robot servo power ON.
W1400 Deviation occurred The deviation conditions preset in Investigate the cause of derailment
the TAWERS weld monitor setting and then remove the cause.
are met.
W1500 Wire feeder: Servo power Servo power of the wire feeder was
error in the OFF state at the start of wire
feeding.
W1510 Wire feeder: Servo power No emergency stop was detected
off but servo power of the wire feeder
went OFF.

302 OM1009082E17
 Errors and Alarms

Error
Message Probable Cause Remedy
code
W1600 Wire feeder motor over Heavy load was applied to the wire Check the wire feed path.
load error feeder motor.
W1610 Wire feeder lock detected Wire feeder motor locked. Check the wire feed path.
W1620 Wire feeder resolver com- It detected disconnection of resolver If the error recurs frequently, consult
munication error signal cable of the wire feeder. Panasonic representatives.
W1630 Wire feeder resolver cable It detected disconnection of resolver
error signal cable of the wire feeder.
W1800 Plural characteristics error With PARACALL command, it Check and modify the program set-
attempted to execute programs for tings.
different welder characteristics at
the same time.
W1810 Too high wire feeding A wire feed speed that exceeds the Correct the welding conditions.
speed maximum value preset in the weld
condition table is specified.
W1820 Welding condition type is A welding condition parameters for Check and modify the program set-
different AMP VOLT was specified when the tings. And correct the welding condi-
WFS VOLT was selected in “TAW- tions.
ERS AMP/WFS Switching” dialog
box, and vice versa.
W1830 Welding table data is An error in the weld condition table Contact sales distributor or Panasonic
abnormal. data. representatives for re-downloading of
welding condition table.
W1840 Improper command for the In TAWERS-TIG, touch start retry Delete IF, IF-ARC, JUMP, CALL or
'Touch start retry' was executed where command(s) RET command registered on the
that cannot be used at the same sensing start point, sensing target
time, such as IF, IF-ARC, JUMP, point or the arc start point.
CALL or RET command, are regis-
tered on the sensing start point,
sensing target point or a point in the
arc start sequence.
W1850 'Arc lock' was executed in Arc lock operation was executed Trace back to the sensing start point,
the 'Touch start retry' when TAWERS-TIG touch start retry and then restart operation.
is in progress.
W1860 The different type welding Since the weld type was switched Match the weld type of the concurrent
command was executed by another program, weld type of execution programs.
the command disagrees with that of
the welder.
W1870 The table for the specified When ZI-WLDTYPE command is Check and modify the settings.
weld conditions does not attempted, the table corresponding
exist. to the welding conditions after
switching does not exist.
W1900 Weld Error: AC unit tem- TAWERS AC Unit detected a tem- Turn off the power and wait until the
perature error detect perature error. temperature drops.
If the error recurs frequently, consult
Panasonic representatives.
W1910 Pull feeder temperature Pull feeder temperature error is Wait until the pull feeder cools down.
error detected. If the error recurs frequently, check
the cooling unit installation condition.

OM1009082E17 303
 Errors and Alarms

16.5 Welder error codes for “Thick plate welding”

Welder error codes W5000 and higher are for errors of
thick plate welding functions only.

Error
Message Probable Cause Remedy
code
W5500 Feed motor current limit error The feed motor exceeded the preset Remove the cause of the load
current value and completed preset enhancement.
feed time when the feed motor current
monitor is on.

304 OM1009082E17

16.6 Supplementary explanation of errors and alarms
16.6.1 Remedy for E1050
E1050 occurs when the actual axis position and the teach-
ing position data do not match while the actual tool end
position and the tool orientation match their teaching data.
Probable causes
1 In trace operation or operation, the robot moves
between two teaching points of linear interpolation
where RW axis and TW axis are taught to rotate more
than 180 degrees.
2 RW axis and TW axis are not at appropriate position
when the robot performs trace operation toward the
teaching point 1 or when the robot performs trace oper-
ation after the wrist is manually moved.
3 FA arm is nearly parallel to the BW axis (singular orien-
tation*).
* The point where the angle of BW axis is nearly 0
degree, i.e. the TW axis is parallel to the RW axis
(singular orientation), is called “Singular point”
<Example>
The robot goes in an error condition at the point C due
to singular orientation of the robot when the robot was
moving from point A toward point B with linear interpola-
tion (see the right figure).
Remedy:
(1) Trace the robot backward toward the point A.
(2) Add a teaching point of wrist calculation 0 (CL=0)
(point D).
(3) Move the robot after the point of singular orientation
with Joint coordinates system.
(4) Add a teaching point of wrist calculation 3 (CL=3)
(point E).
OM1009082E17
Errors and Alarms
Remedy
• Switch these points to PTP interpolation.
• Change teaching data of the point so that the FA arm
and the BW axis create angle.
(Change the tool orientation only and keep the cur-
rent tool end position data.)
Add a teaching point of wrist calculation 3(CL=3) after
the singular point. (Make sure to add another teaching
point before the singular point so as to keep the CL=3
interpolation section as short as possible.)
If there is a teaching point of linear interpolation or cir-
cular interpolation near the singular point, the wrist cal-
culation 3 (CL-3) is automatically stored.
A D C E B
Note
• The tool orientation may be unstable in the CL=3 sec-
tion (the wrist calculation is set to 3). Therefore, keep
the CL=3 section (point D to point E) as short as pos-
sible by adding another point before the singular
point (the point D).
Ensure the robot operation at such section by tracing
at low speed.
• If the CL=3 section is short but creates big change of
tool orientation, the robot travel speed is reduced in
order to ensure safe operation.
To increase the robot travel speed, change the inter-
polation of the teaching point from linear to PTP and
specify the speed you want in%.
305
 Errors and Alarms

16.6.2 E7XXX (Load factor error)

Motor current of each axis of the manipulator is monitored
during operation. The robot is stopped when over-current is
E7062 Over duty (Average)
detected. Excessive load applied to the machinery ele-
ments (bearing or reduction gear) is the probable cause of E7063 Over duty (Peak)
the error. E7041 Motor over load error
E7141 Ext.1 Motor over load error
Note
E7241 Ext. 2 Motor over load error
• This function works based on the measured motor cur-
rent. Therefore, we assume about 10% of tolerance may
be the case due to individual difference of motors or
servo drivers and also temperature characteristic of fric-
tional load.
• This function is provided to warn users that improper
application of load to the robot may shorten the service
life of its machinery parts. Please be advised that the
function is not to ensure duty cycle etc. (Make sure to
operate the machine within the rated values specified in
the specifications, especially load.)

16.6.3 Errors at a point of singular orientation

With manual operation in TEACH mode, the following
errors may occur when the robot is operated at a point of
specific singular orientations. In case one of the following
errors occurs, change the robot orientation and then oper-
ate the robot again.

Types of singular • When BW axis is around 0 (zero) degree point. (i.e., the position where direction of TW axis and
orientation direction of RW axis are nearly in parallel.
• The part of the wrist; from the end of the tool to TW axis, is positioned nearly above RT axis. (i.e.
located immediately above the robot.)
Errors • Manual speed over: Do you operate at limited speed?
• E1040: Move Data Over (Manual)

306 OM1009082E17
 Errors and Alarms

16.6.4 How to handle “E7003: Overrun” error

The error occurs when the robot moves beyond the range
of movement and presses (or turns on) the overrun switch.
In order to ensure safety, the robot is not operable while
the overrun switch is in the ON position. Refer to the follow-
ing procedure to recover from the overrun condition.

• Procedure
(1) Turn off the power to the controller.

(2) Open the front panel of the controller.

Flip down the switch SW1 on the safety card
(ZUEP5808) (to the “OVERRUN RELEASE” side).

(3) Turn on the power to the controller.

Then the name of the axis in the overrun error state is
indicated on the teach pendant. (See the figure “TP
display” on the right.)

(4) Switch the mode to TEACH mode, and then turn on

the servo power.

(5) Move the axis in the overrun error state to correct the
error. SW1
Move the axis until the overrun switch is turned off. At
that time, the axis name on the teach pendant is
cleared.

(6) Turn off the power to the controller, open the front
panel, and then flip up the SW1 on the safety card (to
the “OPERATE” side).
(TP display)

Then, investigate the root cause of the overrun error to pre-

vent a recurrence of the error.

One of RT, UA or FA is in the override error state.

Check the axes to localize the error.

OM1009082E17 307
 Maintenance functions

17. Maintenance functions

17.1 TP version auto matching function
If the software version of the controller and that of TP do
not match, this function automatically fit the version of TP
Note
to that of the computer. This function is available from the software version 9.00
The function is useful if you need replace the teach pen- onwards.
dant with a different version of the teach pendant for repair
due to the TP failure or the like.

1) Procedure
(1) Preparation for version-upgrade
If the software version of the TP is different from that of
the controller, the on-screen message box shown on
the right is displayed.
Click Yes to start version-upgrade.
<Note>
While this message box is displayed, ready output
won’t be turned on.

(2) Upgrading
While upgrading, the on-screen message box on the
right is displayed.

CAUTION
Do not turn off the power while upgrading
the software version. Or the software may
not be activated properly from the next time.

(3) Restart
Once the version-upgrade has completed successfully,
the on-screen display on the right is displayed.
Then restart the teach pendant.

2) Caution
When you receive the following messages while executing
the TP version auto matching function, something may go
wrong with the recovery SD memory card or teach pendant
although there will be no problem with robot movements.
Please contact Panasonic representatives.

• Messages when power of the controller is turned on:

Message (1)
[Cause]
The software version of the recovery SD memory
card and that of the main CPU card do not match.
[Remedy]
Please contact Panasonic representatives.

308 OM1009082E17
 Maintenance functions

Message (2)
[Cause]
The software versions of the recovery SD memory
card, TP and the main CPU card do not match.
[Remedy]
Please contact Panasonic representatives.

Message (3)
[Cause]
• Recovery SD memory card failure.
• The recovery SD memory card has been removed
from the main CPU card.
[Remedy]
1. Check if the recovery SD memory card is on the
main CPU card. If not, mount the recovery SD
memory card in place.
2. If the message is still displayed, please contact
Panasonic representatives.

• Messages while upgrading TP software version:

Message (1)
[Cause]
Recovery SD memory card failure.
[Remedy]
1. Restore power to the controller, and execute the
TP version auto matching function.
2. If the message is still displayed, please contact
Panasonic representatives.

Message (2)
<Subcode:01>
[Cause]
SD memory card in the TP failure.
[Remedy]
Subcode Please contact Panasonic representatives.

<Subcode 02> <Subcode:02>

The following message box is displayed
next time the power is turned on.
TP software does not activate.
[Cause]
SD memory card in the TP failure.
• Power to the controller may be turned off during
execution of “TP version auto matching”.
[Remedy]
Please contact Panasonic representatives.

OM1009082E17 309
 Appendix

18. Appendix
18.1 Sample programs
1) Master program
A master program to let the robot efficiently work on two
work tables alternately. Since slide type work tables are
applied, loading and unloading of work-pieces can be done
from the outside of the fence.
After setting work-piece on the table, press the button near
the table to start processing immediately.
Master program monitor the input from the button near the
table. Once input is received, it starts the specified pro-
gram.

• Preconditions
Button input from Table A: “I1#0001”,
Button input from Table B: “I1#0002”
Processing program for Table A: “Prog0201”,
Processing program for Table B: “Prog0202”.
Ａ Ｂ

Sample program 1:
Master program (Master1), no mechanism
Program Description
:TOP Label for loop
IF I1#0001 = ON THEN
If button input from Table A is ON, execute the program “Prog0201.
CALL Prog0201 ELSE NOP
IF I1#0002 = ON THEN
If button input from Table B is ON, execute the program “Prog0202”.
CALL Prog0202 ELSE NOP
JUMP TOP Back to the top of the program.

310 OM1009082E17
 Appendix

Sample program 2
In sample program 1, it doesn’t reserve the button input from the table B if the robot is in processing on the table A. There-
fore, it is necessary to press the button of the table B after the completion of processing on the table A.
In this sample program (sample program 2), a program to monitor the button is executed concurrently. When the button is
pressed, it assigns the value to the variable. The master program checks the variable value and executes the correspond-
ing processing program.

Master program (Master2), no mechanism

Program Description
Begin of Program
:Init
SET GB0001 0 Assign 0 to GB0001. (Initialize the program reserve A.)
SET GB0002 0 Assign 0 to GB0002. (Initialize the program reserve B.)
PARACALL SW_Monitor ON Start the button monitoring program.
:Loop Label for loop.
IF GB0001=1 THEN NOP ELSE JUMP ENDIF1 If GB0001 is “1 (program reserve A)”, then execute the next
command. If not, jump to “ENDIF1”.
CALL Prog0201 Execute the processing program for Table A
SET GB0001 0 After completion of the processing program, turn off the pro-
gram reserve A.
:ENDIF1 Label for jump
DELAY 0.5
IF GB0002=1 THEN NOP ELSE JUMP ENDIF2 If GB0002 is “1 (program reserve B)”, then execute the next
command. If not, jump to “ENDIF2”.
CALL Prog0202 Execute the processing program for Table B.
SET GB0002 0 After completion of the processing program, turn off the pro-
gram reserve B.
:ENDIF2 Label for jump.
DELAY 0.5
JUMP Loop Repeat the program (Jump to “Loop”).
End of Program

Button monitoring program (SW_Monitor), no mechanism

Program Description
Begin of Program
:Loop Label for loop.
IF I1#0001 = ON THEN NOP ELSE JUMP ENDIF1 If the button A is ON, then move on to the next command.
If not, jump to “ENDIF1”.
SET GB0001 1 Turn on the program reserve A.
:ENDIF1 Label for jump.
IF I1#0002 = ON THEN NOP ELSE JUMP ENDIF2 If the button B is ON, then move on to the next command.
If not, jump to “ENDIF2”.
SET GB0002 1 Turn on the program reserve B.
:ENDIF2 Label for jump.
DELAY 0.5
JUMP Loop Repeat the program (Jump to “Loop”).
End of Program

OM1009082E17 311
 Appendix

Master program 3:
In sample program 2, it starts or reserve the program by pressing the button of Table A or Table B.
In this sample program (sample program 3), it provides strobe input in order to prevent erroneous operation.
In the button monitoring program (SW_Monitor), program selection or program reservation is enabled when the strobe
input is turned ON.
Master program (Master2), no mechanism
Program Description
Begin of Program
: Init
SET GB0001 0 Assign 0 to GB0001. (Initialize the program reserve A.)
SET GB0002 0 Assign 0 to GB0002. (Initialize the program reserve B.)
PARACALL SW_Monitor2 ON Start the button monitoring program.
: Loop Label for loop.
IF GB0001=1 THEN NOP ELSE JUMP ENDIF1 If GB0001 is “1 (program reserve A)”, then execute the next
command. If not, jump to “ENDIF1”.
CALL Prog0201 Execute the processing program for Table A
SET GB0001 0 After completion of the processing program, turn off the pro-
gram reserve A.
: ENDIF1 Label for jump
DELAY 0.5
IF GB0002=1 THEN NOP ELSE JUMP ENDIF2 If GB0002 is “1 (program reserve B)”, then execute the next
command. If not, jump to “ENDIF2”.
CALL Prog0202 Execute the processing program for Table B.
SET GB0002 0 After completion of the processing program, turn off the pro-
gram reserve B.
: ENDIF2 Label for jump.
DELAY 0.5
JUMP Loop Repeat the program (Jump to “Loop”).
End of Program

Button monitoring program (SW_Monitor2), no mechanism

Program Description
Begin of Program
: Loop Label for loop.
WAIT_IP I1#0003=OFF T=0 Wait for the strobe input to be turned OFF. (No time restric-
tion)
WAIT_IP I1#0003=ON T=0 Wait for the strobe input to be turned ON and the program
select input to be set. (No time restriction)
IF I1#0001 = ON THEN NOP ELSE JUMP ENDIF1 If the button A is ON, then move on to the next command.
If not, jump to “ENDIF1”.
SET GB0001 1 Turn on the program reserve A.
: ENDIF1 Label for jump.
IF I1#0002 = ON THEN NOP ELSE JUMP ENDIF2 If the button B is ON, then move on to the next command.
If not, jump to “ENDIF2”.
SET GB0002 1 Turn on the program reserve B.
: ENDIF2 Label for jump.
JUMP Loop Repeat the program (Jump to “Loop”).
End of Program

312 OM1009082E17
 Appendix

2) Repeat a program for a preset times and then turn ON the lamp to end.
Preconditions:
• Applied processing program: Prog0100,
• Variable to store the program count: GB0001,
• Lamp ON output terminal: #5,
• Number of the program execution: 10 times.
Program Description
1 SET GB0001 10 Sets the program execution time.
2 LABL0001 A label for loop action.
3 CALL Prog0100 A command to execute the processing program.
4 DEC GB0001 Subtract 1 from the program execution time “GB0001”.
IF GB0001 > 0 THEN JUMP If the program execution time is not equal to zero “0”, go back to “LABL0001".
5
LABL0001 ELSE NOP If it is equal to zero “0”, then go to the next line.
6 OUT o1#0005 = ON Turn ON the lamp.
7 STOP End of operation (… It can be omitted.)

3) In auto operation, shift the taught position(s) by a preset parameter.

Preconditions:
• Variable to store the shift parameter: GB0001,
• Shift the contents in the GD0001 using the SHIFT command.
Program Description
1 TOOL = 1:TOOL00001
2 MOVEL P1, 10.00 m/min
3 SHIFT-ON ROBOT = 1:GD0001 Starts SHIFT action.
4 MOVEL P2, 8.00 m/min
5 MOVEL P3, 3.00 m/min
6 ARC-SET AMP=120 VOLT=19.0 S=0.50
7 ARC-ON ArcStart1 RETRY=0
8 MOVEL P4, 0.50 m/min
9 CRATER AMP=100 VOLT=19.0 T=0.00
10 ARC-OFF ArcEnd1 RELEASE=0
11 MOVEL P5, 5.00 m/min
12 SHIFT-OFF Ends SHIFT action.
13 MOVEL P1, 3.00 m/min

This sample program, once started, shifts all points between SHIFT-ON command and SHIFT-OFF command by GD0001.
For example, if the value of GD0001 is X=100.00, Y=0.0 and Z=0.0, then points P2 to P5 will be shifted 100 mm in X direc-
tion on the robot coordinate system.

OM1009082E17 313
 Appendix

• Supplement 1
You can specify the coordinate system the shift will
be based on using the argument of the SHIFT-ON
command.
ROBOT TOOL USER
Robot coordinate system Tool coordinate system User coordinate system
Z Zu

Xu
Tx
Tz Ty
X Y Yu

HARMO (Harmo-coordinate system)

Rotational system Shift system
Rotational center Zr
3rd point 1st point
Z 2nd point
1st point Xr Yr
2nd point
Harmonious Harmonious Robot coordinates
coordinates coordinates
Z Y=ZxX
X
Y

Center point Origin

X = Yr x Z

(Teaching order: “+” direction of the external axis rotation) (Teaching order: “+” direction of the external axis shift)

• Supplement 2 Click
> 3D
There are two ways to change settings of 3-D >>
position global variable. Set Variable

(1) Use the menu:

• Specify the variable name you would like to
change.
• Set X, Y and Z values and click the OK button.
Specify
the name

(2) Use a sequence command “SETEL”:

For example, to change the value of GD0001 “X” to
“100”.
SETEL GD.X 1:GD0001 = 100.00

314 OM1009082E17
 Appendix

4) Count the number of production by counting the number of execution of the processing program and
assigned to a variable.
Preconditions:
• Variable the production count is to be assigned to:GI001,
• Processing program: WORK01
Production count program: Prog0001
1 CALL WORK01 Execute the processing program.
2 INC GI001 Add “1” to GI001.

Counter reset program: Prog0002

• To reset the value of the variable, execute a program (Counter reset program) to assign “0” to the variable.
1 SET GI001 = 0 Assign “0” to GI001.

• You can use the counter reset program every To see the value of the variable:
morning if you want to count the production of a
Click
day, or use it at the beginning of each month if you
want to count the production of a month. >>
View Display Display
change variable

OM1009082E17 315
 Appendix

18.2 Application example of CNVSET command

This is a variable type conversion command that assigns a
value into a different variable type.

18.2.1 How to add the command

The procedure is the same as other sequence com-
mands. Use a setting dialog box from the “Add command”
menu. The command is in the arithmetic operation com-
mands group.

1) Setting dialog box

• The selectable variable types are GB, LB, GI, LI, GL, LL,
GR, LR, GP.X, GP.Y, GP.Z、P.X, P.Y, P.Z, GD.X, GD.Y,
GD.Z, GA.X, GA.Y, GA.Z, GP.G** and P.G**. (Where
“**” represents an external axis number, such as 1, 2, 3
and 4.)
• For external axis number, only the external axes num-
bers used in the mechanism of the currently editing pro-
gram are displayed.
• It is not possible to register the command if the selected
external axis is not used in the mechanism of the editing
program.

2) Assignment rules
Type conversion assignment rule
Original var. GP, P GD GA
GB, LB GI, LI GL, LL GR, LR GP, P GD GA
Target var. [Element] [Element] [Element]
GB, LB ◎ ◎ ◎ ○ × ○ × ○ × ○
GI, LI ◎ ◎ ◎ ○ × ○ × ○ × ○
GL, LL ◎ ◎ ◎ ○ × ○ × ○ × ○
GR, LR ◎ ◎ ◎ ◎ × ◎ × ◎ × ◎
GP, P × × × × ◎ × XYZ × Rob ×
GP, P[Element] ◎ ◎ ◎ ◎ × ◎ × ◎ × ◎
GD × × × × XYZ × ◎ × XYZ ×
GD[Element] ◎ ◎ ◎ ◎ × ◎ × ◎ × ◎
GA × × × × Rob × XYZ × ◎ ×
GA[Element] ◎ ◎ ◎ ◎ × ◎ × ◎ × ◎
Where ◎ : Assignable.
○ : Round off to the closest whole number before assigning to.
× : Not assignable.
XYZ: Only X-, Y-, or Z-coordinate value is assignable.
Rob : Only robot articular angle is assignable.

3) Errors of CNVSET command

• If the variable to assign exceeds the scope of the target
variable type.
• If the specified target variable is invalid.
• No specified external axis exists due to change in mech-
anism.

316 OM1009082E17
 Appendix

4) Supplementary remarks on cut, copy and paste

When a group of copies or cut sequence commands con-
tains local position type variables (P), the group of com-
mands is pasted in the following manner.

● The same taught point exists in both commands.

If a group of copied (or cut) commands con-

tains MOVE command(s) with local position Prog0001 Prog0002
variables (P) used in the CNVSET com- TOOL 1:TOOL1 TOOL 1:TOOL1
mand, the local position variables (P)
MOVEL P1 7.5m/min ・・・ MOVEP P1 7.5m/min ・・・
change the variable name when it is Copy
pasted. At that time, the teaching point CNVSET 1:GR001 = P.X P1 MOVEL P2 2.5m/min ・・・

name of the CNVSET command is changed MOVEP P2 MOVEL P3 0.5m/min ・・・

in conjunction with the variable. ： MOVEL P4 7.5m/min ・・・
Paste
<About the right figure> ： CNVSET 1:GR001 = P.X P4
As “P1” has already used in Prog0002, “P1” ：
in Prog0001 is changed to “P4” when it is
：
pasted in the Prog0002. At that time, the
teaching position name of CNVSET com-
mand is automatically changed to “P4.”

● In other cases
If a group of copied (or cut) commands
does not contain MOVE command(s) with Prog0001 Prog0002
local position variables (P) used in the TOOL 1:TOOL1 TOOL 1:TOOL1
CNVSET command, the teaching point
MOVEL P1 7.5m/min ・・・ MOVEP P1 7.5m/min ・・・
name of the CNVSET command is erased.
CNVSET GR 1:GR001 = P.X P1 Copy MOVEL P2 2.5m/min ・・・
<About the right figure> MOVEP P2 MOVEL P3 0.5m/min ・・・
The teaching point name is erased to avoid
： CNVSET GR 1:GR001 = P.X
any possible error as “P1” in Prog0001 and Paste
“P1” in Prog0002 are different. ： ：

OM1009082E17 317
 Appendix

18.3 Application examples of TRANSBASE/TRANSBASV

* Both commands can be used when the touch sensor is * Use TRANSBASV command in case of using variable to
used. specify the reference point for the rotary shift conversion.

18.3.1 How to add the command

The procedure is the same as other sequence commands Use the dialog box to add commands. It is in the touch sen-
(starting from the Add command menu). sor commands group.

18.3.2 Sample program

Specify the three reference points for conversion using
either TRANSBASE or TRANSBASV command.
Execute SNSSFT-ON to start rotary shift. The rotary shift
continues until the SNSSFT-OFF command is executed. Shifted
[P3']

The rotary shift to be executed by the SNSSFT-ON com-

mand shifts teaching points so that the shape formed by [P1'] Shift amount 3
the shifted reference points (triangle [P1’]-[P2’]-[P3’]) retain
[P2']
the original form (triangle [P1]-[P2]-[P3]).
Shift amount 2 Shift amount 1 Original
<Program> [P3]
: [P2]
1 MOVEL • • • [P1]
TRANSBASE 1 [P1’] ←[P1] + Sensor shift amount
:
2 MOVEL • • •
TRANSBASE 2 [P2’] ← [P2] + Sensor shift amount
:
3 MOVEL • • •
TRANSBASE 3 [P3’] ← [P3] + Sensor shift amount
:
MOVEL • • •
SNSSFT-ON
MOVEL • • •
:
Rotary shift section
:
MOVEL • • •
SNSSFT-OFF
:

18.3.3 Supplementary explanation

• If the triangle [P1’]-[P2’]-[P3’] won’t match its original
form (the triangle [P1]-[P2]-[P3]), then the shifted teach-
ing points are corrected with reference to the shifted ref-
erence points in ascending order so that the shapes of
those two triangles match.
(i.e. Using the shifted point [P1’] as the base, correct the
point [P2’] and then [P3’] so as to create the same trian-
gle as the triangle [P1]-[P2]-[P3] on the line determined
by [P1’] and [P2’] and the plane determined by [P1’], [P2’]
and [P3’].
• There is no specific order to assign those three reference
points 1, 2 and 3.
• In case of execution of the command with the repeated
operand, the data of the operand will be updated by the
newly executed command.
• The rotary shift executed by the SNSSFT-ON command
ends when the SNSSFT-OFF command is executed.
• The SNSSFTRST command is a command to clear the
rotary shift.
• If the program is terminated without executing the
SNSSFT-OFF or SNSSFTRST command, the rotary shift
of the program will be applied to the next program.
The error “E2010 Sensing not possible” occurs if three
reference points have not specified correctly when the
TRANSBASE or TRANSBASV command is executed.
• The rotary shift is applied to the program called by the
CALL command during the rotary shift operation.
• It is possible to apply the shift buffer data to the rotary
shift.
• As commands are ignored in trace operation,
If the operation is switched from auto to trace within the
rotary shift section and moved to the out of the rotary
shift section in trace operation and then re-started auto
operation, then the robot resumes the rotary shift.
If the robot is moved into the rotary shift section in trace
operation and then re-started auto operation within the
rotary shift section, then the rotary shift won’t be exe-
cuted.
• Those TRANSBASE and TRANSBASV commands can
be used together.

318 OM1009082E17
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18.4 Application examples of STARTSLP/CRATERSLP

They are commands for TAWERS-MAG welding.
Use STARTSLP command to change the welding condi-
tions from the initial condition to standard conditions gradu-
ally in the specified section after the arc start.
Use CRATERSLP command to change the welding condi-
tions to the terminal condition gradually starting from the
specified section before the weld end point.

18.4.1 How to edit welding fine adjustment parameters

(1) On the command edit dialog box for STARTSLP/CRA- <STARTSLP/CRATERSLP command edit dialog box>
TERSLP, select a welding fine adjustment parameter
table number (1-10) for the “Parameters for the slope
section”
Click Detail button, then the specified welding fine
adjustment parameters table is displayed to edit.

(2) It is also possible to display the welding fine adjust-

ment parameters table without editing the command.

• On the System screen, click "Slope PRM”, then the

list of slope parameters table numbers is displayed
on the right pane of the screen. <Welding fine adjustment parameter table>
Then, select the intended table number (i.e.
SLP_PRM 01) to display the table.

• Or from the menu, click (view) and (File

list), and then select the intended table number (i.e.
SLP_PRM 01) to display the table.
* Use this procedure if “Slope PRM” folder is not dis-
played even though STARTSLP/CRATERSLP com-
mand(s) are registered.
<System screen>

<Supplementary notes>
(1) Where to register the commands
• STARTSLP: Register the command to the arc start point
where the command will be executed before turning on
the torch switch. (There is no precedence relation with
ARC-SET command.)
• CRATERSLP: There is no specific rules for registration
position. However, it is recommended to register to the
arc end point so that it is easy to see where the slop
starts.
• It is possible to use the STARTSLP command by regis-
tering to the arc start program to be called by ARC-ON.
• If STARTSLP command is registered to the arc start pro-
gram, the command will be executed at restart operation
of a weld section.
• It is not possible to use the commands by registering to
the arc end program to be called by ARC-OFF.

OM1009082E17 319
 Appendix

(2) Processing when the slope section setting is wrong.

• When either STARTSLP or CRATERSLP command is
registered to a section of consecutive taught points and if
the specified distance of the slope section is longer than
the distance between taught points, NEXT or BACK pro-
cessing is applied

• When both STARTSLP and CRATERSLP commands are

registered to a weld section of consecutive taught points
a weld section (with no intermediate point), if preset
arguments create inconsistency, such inconsistency will
be corrected as follows.

STARTSLP CRATERSLP Processing

NEXT D or T NEXT of STARTSLP
D or T BACK BACK of CRATERSLP
NEDT BACK BACK of CRATERSLP
Sum of STARTSLP time (Ts) and CRATERSLP Ts and Tc are applied by reducing the overall speed. (The total
time (Tc) is bigger than the time required to travel travel time between the taught points is [Ts+Tc])
between the taught points at the average speed * If the same inconsistencies occurs using “D” (distance), the
for slope. above mentioned method is used to adjust the inconsistencies.

(3) Errors for ST ARTSLP/CRATERSLP

Error message Cause

E1250 Weld slope command error 00 A negative value is assigned to the variable that designates the distance
for the slope section.
E1250 Weld slope command error 01 STARTSLP or/and CRATERSLP command(s) was executed in a program
without mechanism.
E1250 Weld slope command error 02 STARTSLP or/and CRATERSLP command(s) was executed in an arc end
program.
E1250 Weld slope command error 03 The parameters file for the slope section specified by STARTSLP/CRA-
TERSLP command is deleted.

320 OM1009082E17
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18.5 Sample programs of palletizing

• Operation:
Pick up unloaded works and put in a pallet one by one in good
order.

• Precondition:
This sample program is a program to put the workpiece in a
pallet one by one in good order using minimum teaching
points. Therefore, the sample program abbreviated a program
to pick up unloaded a work with “PICK-UP” and a program to
release the work with “WORK-Rel”

18.5.1 Sample 1
In this sample program, teaching points are used to
specify the row pitch and column pitch.
Row

P1
Work

P3
P1-P2: Placing the work. Row pitch
P4
P3: Specifying the row pitch. P2

P4: Specifying the column pitch.

Column pitch
Column
Relationship between work and teaching points

Note
For better understanding, this sample program simply Row pitch
multiplied the taught row pitch and column pitch to
specify the position. That means, the pitch errors at
teaching are also multiplied. Therefore, the sample pro-
gram is not suitable for a system that requires preci-
sion.
To ensure precision, teach the end points of both row
and column and then divide each point value by (the
number of column/row (“n”) –1). With this way, the pitch
errors may be reduced.

“n” pieces

OM1009082E17 321
 Appendix

Sample program 1 (Pallet01)

Program Description
TOOL 1:TOOL001 Specify a tool
JUMP START Jump to START
MOVEL P1 5.00m/min Specify the shunting point (Before insertion)

MOVEL P2 5.00m/min Specify the inserting point

MOVEL P3 5.00m/min Specify the row pitch (P2-P3 distance)

MOVEL P4 5.00m/min Specify the column pitch (P2-P4 distance)

:START Operation starting point
SET GI001 =5 Specify the number of rows.
SET GI002 =4 Specify the number of column.
SET LI001 =0 Reset the row counter.
SET LI002 =0 Reset the column counter.
CNVSET GD0002 P2 Get coordinates only.
CNVSET GD0003 P3 Get coordinates only.
CNVSET GD0004 P4 Get coordinates only.
SUB GD0003 GD0002 Calculate row pitch.
SUB GD0004 GD0002 Calculate column pitch
:LOOP2 For row loop
:LOOP1 For column loop
[C]CALL PICK_UP Pick up a work.
SET GD0001 GD0003 Assign the row pitch value to the shift variable.
CNVSET LR001 LI001 Convert the row counter into a real number.
MUL GD0001 LR001 Multiply the row pitch by (the row counter value –1).
SET GD0005 GD0004 Assign the column pitch to the shift variable.
CNVSET LR001 LI002 Convert the column counter into a real number.
MUL GD0005 LR001 Multiply the column pitch by (the column counter value –1).
ADD GD0001 GD0005 Row shift value + Column shift value.
SHIFT-ON ROBOT =GD0001 Shift (on the robot coordinate system).
MOVEL P1 15.00m/min Move to the shunting point before insertion.

MOVEL P2 0.50m/min Move to the inserting point.

[C]CALL WORK_Rel Release the work.
MOVEL P1 5.00m/min Move to the shunting point.
SHIFT-OFF End shift
INC LI001 Add to the row counter.
If the row counter is less than the preset number of rows,
IF LI001 <GI001 THEN JUMP LOOP1 ELSE NOP
then jump to LOOP 1.
SET LI001 =0 Reset the row counter.
INC LI002 Add to the column counter.
If the column counter is less than the preset number of col-
IF LI002 <GI002 THEN JUMP LOOP2 ELSE NOP
umns, jump to LOOP 2.
GOHOME MOVEP GPHOME 15 m/min Move to the shunting point.
STOP End of operation.

322 OM1009082E17
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18.5.2 Sample 2
In this sample program, teach a user coordinate system Z
P1 Column
taking the direction row as “X” and the direction of column User coordinate Column pitch
system
as “Y”. Y
P2
Specify the row pitch and column pitch with numerical Row pitch
Work
values.
Row

X
P1-P2: Placing the work.

Relationship between work and teaching points

Sample program 1 (Pallet01)

Program Description
TOOL 1:TOOL001 Specify a tool
JUMP START Jump to START
MOVEL P1 5.00m/min Specify the shunting point (Before insertion)
MOVEL P2 5.00m/min Specify the inserting point
:START Operation starting point
SET GI001 =5 Specify the number of rows.
SET GI002 =4 Specify the number of column.
SET LI001 =0 Reset the row counter.
SET LI002 =0 Reset the column counter.
SETEL GD.X#GD0003 =100 X element of row pitch
SETEL GD.Y#GD0003 =0 Y element of row pitch
SETEL GD.Z#GD0003 =0 Z element of row pitch
SETEL GD.X#GD0004 =0 X element of column pitch
SETEL GD.Y#GD0004 =80 Y element of column pitch
SETEL GD.Z#GD0004 =0 Z element of column pitch
:LOOP2 For row loop
:LOOP1 For column loop
[C]CALL PICK_UP Pick up a work.
SET GD0001 GD0003 Assign the row pitch value to the shift variable.
CNVSET LR001 LI001 Convert the row counter into a real number.
MUL GD0001 LR001 Multiply the row pitch by (the row counter value –1).
SET GD0005 GD0004 Assign the column pitch to the shift variable.
CNVSET LR001 LI002 Convert the column counter into a real number.
MUL GD0005 LR001 Multiply the column pitch by (the column counter value –1).
ADD GD0001 GD0005 Row shift value + Column shift value.
SHIFT-ON USER#(1)=GD0001 Shift (on the user coordinate system.)
MOVEL P1 15.00m/min Move to the shunting point before insertion.
MOVEL P2 0.50m/min Move to the inserting point.
[C]CALL WORK_Rel Release the work.
MOVEL P1 5.00m/min Move to the shunting point.
SHIFT-OFF End shift
INC LI001 Add to the row counter.
IF LI001 <GI001 THEN JUMP LOOP1 ELSE NOP If the row counter is less than the preset number of rows,
then jump to LOOP 1.
SET LI001 =0 Reset the row counter.
INC LI002 Add to the column counter.
IF LI002 <GI002 THEN JUMP LOOP2 ELSE NOP If the column counter is less than the preset number of col-
umns, jump to LOOP 2.
GOHOME MOVEP GPHOME 15 m/min Move to the shunting point.
STOP End of operation.

OM1009082E17 323
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18.6 A program to calculate distance between points

A program to calculate distance between points by calcu-
lating differences of X, Y and Z of two points respectively, 2 2 2
and then find the distance from the square root of sum of [ Equation: (X1 – X2 ) + ( Y1 – Y2 ) + ( Z1 – Z2 ) ]
the squares of X, Y and Z.

18.6.1 Program (PtoPlen)

The following is a program to calculate distance between
points (point-1 and point-2) and then add the result to
“GR0001”.
The coordinate of the point-1 is assigned to “GD0001” and
that of the point-2 to “GD0002”.
Program Description
SUB GD0001 GD0002 Difference between GD0001 and GD0002.
GETEL LR001 = GD.X#(1:GD0001) Take X element of GD0001.
MUL LR001 LR001 Raise the X element to the second power.
GETEL LR002 = GD.Y#(1:GD0001) Take the Y element of GD0001.
MUL LR002 LR002 Raise the Y element to the second power.
ADD LR001 LR002 Add the square of the Y element to the square of the X ele-
ment.
GETEL LR003 = GD.Z#(1:GD0001) Take the Z element of GD0001.
MUL LR003 LR003 Raise the Z element to the second power.
ADD LR001 LR003 Add the square of the Z element to the sum of the square
of the X element and of the Y element.
SQRT LR001 LR001 Calculate the square root of the sum to find the distance.
ADD GR0001 LR001 *1) Add the distance to GR0001.
RET End of the program

• Application example
TOOL 1:TOOL0001
MOVEL P1
MOVEL P2
CNVSET GD0001 P1
CNVSET GD0002 P2
CALL PtoPLen

*1)
Please note that in the above sample program, result of the
calculation (distance) is added to the GR variable. Since
the maximum value of the GR variable is “99999.99”, in
case of calculation distance longer than 100 m, it is neces-
sary to use the GL variable. (See the following example.)

ADD GR0001 LR001 → CNVSET LL001 LR001

ADD GL0001 LL001

324 OM1009082E17
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18.7 Sample program of TW seek

Flow of the program:
(1) A handling robot clamps a work and transfers the work to above
the work inserting hole.
(2) Then the robot stops and rotates the TW axis.
(3) While rotating the TW axis, the sensor detect the work-and-hole
matching position and send the detect signal to the robot.
(4) After receiving the detect signal, the robot stops the TW axis Sensor
rotation and then insert the work into the hole.
[Structure of the program]
Program name Contents
TWTEST Main program. No mechanism.
TWTEST1 Transfer the work to the loading point.
Rotate the TW axis.
TWTEST2 Move back to the shunting point.
TWTEST3 Insert the work.

TWTEST (main program)

Program Description
[C] PARACALL TWTEST1 ON Transfer the work to above the inserting position.
Parallel processing of the TW axis rotation.
WAIT_IP i1#(40:I1#0040) ON T=0.00 s Wait for input signal from the sensor.
Go on to the next step when the signal is received.
[C] PARACALL TWTEST1 OFF End the program to rotate the TW axis.
DELAY 0.50 s
[C] CALL TWTEST3 Execute the work insertion program.
[C] CALL TWTEST2 Execute the program to move to the shunting point.

TWTEST1 (TW rotation)

Program Description
TOOL = 1:TOOL01
MOVEL P1 3.00 m/min
MOVEP P2 3.00 m/min Work inserting point.
OUT o1#(40:o1#0040) = ON Notify the sensor to start sensing.
MOVEP P3 25.00 % Rotate TW axis
MOVEP P4 25.00 % Rotate TW axis
HOLD NoSignal Error due to no signal from the sensor.

TWTEST3 (Work insertion)

Program Description
TOOL = 1:TOOL01
GETPOS P#(P1) Get the current position and orientation to “P1”.
CNVSET LR#(1:LR001) = P.Z#(P1) Add “-100” to the Z direction value of “P1”.
ADD LR#(1:LR001) -100.00
CNVSET P.Z#(P1) = LR#(1:LR001)
MOVEL P1 1.00 m/min Move to the new P1 position.
OUT o1#(39:o1#0039) = ON Release the work.
DELAY 3.0s Wait for time.
CNVSET LR#(1:LR001) = P.Z#(P1)
ADD LR#(1:LR001) 100.00
CNVSET P.Z#(P1) = LR#(1:LR001)
MOVEL P1 1.00 m/min

TWTEST3 (Move to the shunting point)

Program Description
TOOL = 1:TOOL01
MOVEL P1 3.00 m/min Move to the shunting point.

OM1009082E17 325
 Appendix

18.8 Application example of EAXS_SFT-ON/EAXS_SFT-OFF

A command to shifts position of the external axis(axes)
between the EAXS_SFT-ON and EAXS_SFT-OFF com- Sample program
mands.
● Begin of Program
Note TOOL =1
(1) This “External axis shift” command is applied to a ● MOVEP P1
called program if it is called by ALL or PARACALL EAXS_SFT-ON G1= +100
command in the shift section. ● MOVEP P2
(2) Even if a program ends without executing EAXS_SFT- ● MOVEP P3 Shift section
OFF command, the shift won’t be retained at the next ● MOVEP P4
program start. Please refer to section “5.1.1 Initializa-
EAXS_SFT-OFF
tion at start” on page 63.
● MOVEP P5
(3) As shift ON/OFF is switched by executing the com-
● End of Program
mand, the shift won’t be executed if the robot is moved
in the specified shift section in trace operation and
then started.

18.8.1 Application example 1

A program to mount a work on each Prog0001
of several works (three in the figure 800mm 1000mm
on the right) set on a long work table
Work table
parallel to the external axis G4 by off-
setting the position of the external
axis.
With the use of EAXS_SFT-ON/
EAXS_SFT-OFF commands, all you
need to do to complete the program
is to teach the mounting operation External axis G4

once. Robot Robot ＋1000mm Robot

＋800mm

Precondition: CALL Prog0001 Processing the first work

Distance between 1st and 2nd works:
EAXS_SFT-ON G4 = +800 Shift the external axis (G4) by +800mm.
+800 mm
Distance between 2nd and 3rd works: CALL Prog0001 Processing the second work
+1000 mm EAXS_SFT-ON G4 = +1800 Shift the external axis (G4) by+1800mm
CALL Prog0001 Processing the third work
EAXS_SFT-OFF G4 Terminate the shift of the external axis (G4).

326 OM1009082E17
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18.8.2 Application example 2

A system to weld stiffening ribs to a pipe shape work.

Measure the deviation of the rib using the touch

sensor and then shift the positioner by the measured
deviation (in angle).

Note
• Touch sensor moves only the positioner for sensing
and keeps the robot at the fixed posture.
• The shift amount is determined by
• The difference between the touched position of the
positioner and the position of the positioner if there
Torch
is no deviation of the corresponding rib (programed
(correct) position) is the shift amount. P3
P1 P2
• As robot does not move in this touch sensing opera-
tion, unlike normal touch sensor, sensing operation
ends at the sensing end position. Therefore, it is
Rib
necessary to teach the sensing end point at the
point after passing the correct rib position (P3).
(If no sensing end point is set, an error occurs.) P1: Sensing start position
P2: Sensing end position
P3: Correct rib position
G2

• Sample program
Preconditions:
• Processing program:EAXSSFT-WORK01: Mechanism: Robot+G1+G2
• Production program:EAXSSFT-SAMPLE00: Mechanism: Robot+G1+G2
Program Description
TOOL = 1:TOOL01
MOVEP P1 3.00m/min Move to the sensing start position (P1)

TCHSNS SPD=1.00 Start touch sensing.

MOVEP P2 2.00m/min Sensing end position (P2)

GETPOS GP001 Assign the TOUCH position data to GP001.

JUMP LABL0001 Jump to the specified address without moving to P3.
MOVEP P3 2.00m/min The correct rib position is the TOUCH position.

:LABL0001 Jump address

CNVSET LR001 = GP.G2#(GP001) Get the position data of the positioner at the touched position.
CNVSET LR002 = P.G2#(P3) Get the position data of the positioner at P3.

SUB LR001 LR002 Find deviation value by calculating the difference between LR001
and LR002.
EAXS_SFT-ON G2 = LR001 Start the external axis shift.
[C] CALL EAXSSFT-WORK01 Execute the rib welding program
EAXS_SFT-OFF G2 Terminate the external axis shift.

OM1009082E17 327
 Appendix

18.9 Application example of IF-ARC

It applies different actions depending on whether or not the
arc is generated.
This command is useful to adjust the arc start timing in a
system using a multi-cooperative robot control or two
torches.

18.9.1 Application example:

In a multi-cooperative robot control system, a program to start a weld start program when either the master
robot or slave robot generates the arc.
Program Description
SET LB001 20 Upper limit of the loop count. (This example shows 20)
+GASVALVE ON Open the gas valve of the slave robot.
GASVALVE ON Open the gas valve of the master robot.
+TORCHSW ON Turn ON the torch switch of the slave robot.
TORCHSW ON Turn ON the torch switch of the master robot.
:LABL0001 Loop label
DELAY 0.1s Delay time
+IF-ARC=ON THEN JUMP If the slave robot is generating the arc, jump to the “End label
LABL0002 ELSE NOP (LABL0002).
IF-ARC=ON THEN JUMP If the master robot is generating the arc, jump to the “End label
LABL0002 ELSE NOP (LABL0002).
DEC LB001 Subtract “1” from the loop count.
IF LB001 > 0 THEN JUMP If the loop count is larger than “0”, return to the loop label.
LABL0001 ELSE NOP
HOLD No-ARC Error stop
(No arc has generated after checking 0.1s ×20 times.)
:LABL0002 End label.

* Commands start with “+” are one for the slave robot.

328 OM1009082E17
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18.10 Application example of INTERLOCK command

A command provided to prevent the robot from interfering Note
with a jig in trace operation in TEACH mode by judging
The command is not applicable to trace backward opera-
input/output status to stop the robot.
tion.
With this command, prior to moving trace forward, the
The command also determines the condition in AUTO
robot checks the clamp/unclamp signal of the jig to deter-
operation.
mine whether to execute trace forward movement or not.
• The robot remains stopped unless the condition is satis-
fied, like “WAIT_IP” command.
• Once the condition is satisfied, the robot resumes opera-
tion.

18.10.1 How to add the command

In program edit operation, add an INTERLOCK command
to the point you would like to judge the input status in trace
operation.

18.10.2 Sample program

<Program image>
A program to check an input status at the taught point P2.
(Refer to the figure on the right)
1 Interlock check 6
Add an INTERLOCK command to a point between the
move command for P2 and the next move command. Trace
forward
2 5
• The conditional expression of the INTERLOCK com- Work
mand should be the one that permits entrance, if the con-
dition is satisfied. 3 4
Vicinity of work

• Place the cursor on the P2 and start trace forward opera- ● MOVEP P1
tion, then if the condition is satisfied, the robot traces for- ● MOVEL P2
ward to the P3. INTERLOCK l2#(1:l1#001)=ON
● MOVEL P3
• If the condition is not satisfied, the robot remains ARC-SET
ARC-ON
unmoved, and the cursor stays at the P2.
● MOVEL P4
CRATER
ARC-OFF
● MOVEL P5
● MOVEL P6
:

• The current status, in this case “Interlocking”, is dis-

played on the status bar at the lower right of the screen.
(See the figure on the right.)

OM1009082E17 329
 Appendix

18.10.3 Interlock release

If the interlock condition is not satisfied, the robot cannot
continue trace operation. In that case, forcibly release the
interlock.
<Procedure>
Display the interlock release dialog box.
Click OK to close the dialog box.

Click
Note
>>
With this interlock release operation, the robot ignores the
next trace operation. More Interlock
release
• With the following operation, the robot terminates inter-
lock release operation.
• Execute trace operation.

• Turn off the (robot motion) icon.

• Switch to AUTO mode.

• Close all programs.
• Turn off power. (Cannot restore the interlock release
operation even if resume function is applied.)

18.10.4 Supplementary explanation

• The (Interlock release) icon can be allocated to

the user function key.
• While running a program it is not possible to release the
interlock condition temporarily.
• When the robot motion icon is in OFF state, it is possi-
ble to move the cursor ahead of the INTERLOCK com-
mand with the jog dial.

330 OM1009082E17
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18.11 Application example of UNTIL_IP command

A command to stop the robot to execute the commands
registered to the next taught point when the preset input is
turned on while traveling.

18.11.1 How to add the command

The procedure is the same as other sequence com-
mands. Use a setting dialog box from the “Add command”
menu. The command is in the flow commands group.

[Deceleration]
Slow: The robot reduces speed until it stops completely,
and then executes operation of the next taught point.
QUICK: The robot stops rapidly, and then executes
operation of the next taught point. If the set speed
exceeds 15 m/min, the error “E1391: UNTIL speed over”
occurs.

18.11.2 Sample program

(1) Arc end point detection:
Create a program to turn on the input during welding MOVE P1 MOVE P4
operation. Then, when the input is turned on, the robot
starts arc end sequence.

(2) Work detection:

Create a program to turn on the input while searching
MOVE P3
the work position. Then, when the input is turned on, MOVE P2
CRATER
the robot executes work position load and commands, ARCSET
ARC-OFF
such as conditional branching. ARC-ON
UNTIL IP#1 IN# ON

At the point IN#1 is turned ON, the robot executes

commands registered after MOVE P3, such as
CRATER and ARC-OFF, and then travels to P4.

<Supplementary notes>
(1) The UNTIL_IP command is valid until the robot
reaches the next taught point.
(2) After executing the UNTIL_IP command, if the robot
goes in the following state before the input is turned
on, the robot releases the input check.
• Reached the end of program.
• Executed CALL or JUMP command.
• Jumped to a subparameter by means of IF, IF-ARC or
IF-SERVO command.
(3) If the input is turned on during weaving (including spi-
ral weaving) operation,
• With “SLOW” deceleration settings, the robot returns
to the main trace and then execute commands of the
next taught point.
• With “QUICK” deceleration settings, the robot exe-
cutes commands of the next taught point at that point
without returning to the main trace.
(4) In error recovery operation, if the UNTIL_IP command
is executed in the program called by the R_MARK
CALL command, the error “E1380: The command
which cannot be executed.” occurs.
(5) If the input for UNTIL_IN commad is turned on in the
middle of slope operation, the target welding condition
is applied at that point.
(6) The command is not applicable to the slave robot.
(7) With “QUICK” deceleration settings, even if the teach-
ing speed is set to 15 m/min or low, the “Collision
detected” error can occur when the robot makes fast
movements as a part of cooperative movement or tool
pivot movement or the like. If occurred, either reduce
the teaching speed settings or change the pattern of
the robot movements.

OM1009082E17 331
 Appendix
18.12 SV-SET1 command
This command is to be used when the robot needs to make
a small circular movement while changing tool orientation,
when change in tool orientation of the robot is rather large
for the distance of the specified section, or when move-
ment of the robot manipulator is rather large for the travel
distance of the tool end. In such cases, the trajectory error
of the tool end could be large. By using this command, the
trajectory error of the tool end can be reduced.
Please note that this command is applicable to a weld sec-
tion only.
18.12.1 Applicable example
The program on the right shows how to reduce the trajec-
tory error between the weld section P2 and P4.
<Supplement>
(1) Please note that this command is applicable only to
the weld section. Register this command to an arc start
point (the point where “ARC-ON command exists).
If the command is registered other than the arc start
point, an error occurs when the command is executed
during operation.
(2) As long as this command is registered to an arc start
point, there is no specific order in relation with registra-
tion of commands, such as ARC-ON or ARC-SET, to
the same point.
(3) This command becomes invalid at the arc end point of
the weld section. (Specifically, the command loses its
validity when either ARC-OFF command is executed.)
332
:
| MOVEP P1, 100%
z MOVEL P2, 5.00m/min
SV-SET1
ARC-SET AMP = 120 VOLT = 16 S = 1.00
ARC-ON ArcStart1 PROCESS = 0
z MOVEL P3, 2.00m/min
| MOVEL P4, 2.00m/min
ARC-OFF ArcEnd1 PROCESS = 0
:
(4) When this command is used, the robot takes about 0.2
extra seconds at the arc end point before starting the
next operation.
(5) Depending on movements, application of this com-
mand can cause the robot to jiggle significantly during
operation or at stopping in the section this command is
applied. If that is the case, please do not use this com-
mand.
(6) In case of using the thick plate welding function, this
command is not applicable if the motion program uses
MNU. Please note that although the command can be
registered, an error occurs during operation.
(7) This command is disabled in weaving sections includ-
ing variable weaving using VWEAVP.
OM1009082E17
 Appendix

18.13 How to calculate the load parameters (TA/TB manipulators)

Note This function is available only when TA/TB series are used.

In order to use this collision detect function properly, the
load parameters need to be set correctly. The load parame-
ters include total load mass, the position of the center of
gravity of the total load (hereinafter called “Offset”) and
moment of inertia around the position of the center of grav-
ity (hereinafter called “Inertia”). If you know the approxi-
mate values of those three, set them as the load
parameters. Otherwise, calculate them.
You can find the “Offset” by calculating the mass and the
center of gravity of individual parts that make up the load.
You can find the “inertia” of a part by approximating the part
by column or rectangular solid. Assign the mass and outer
dimension of the part to the following calculating formula to
find the “Inertia.”

18.13.1 Calculating formula of “Inertia” of typical shapes

1) Column
X-axis rotational inertia: Ix
Z
1 2
Ix = --- ⋅ M ⋅ D
8
Y-axis rotational inertia: Iy L
2 2
Iy = M ⋅  -----
L -
D - + -----
 16 12 Y
Z-axis rotational inertia: Iz
2 2 D
Iz = M ⋅  ----- L -
D
- + -----
 16 12
X
D: Diameter [Unit: m]
L: Column height [Unit: m]
M: Column mass [Unit: kg]

2) Rectangular solid
X-axis rotational inertia: Ix
Z
1 2 2 L2
Ix = ------ ⋅ M ⋅ ( L2 + L3 )
12
L1
Y-axis rotational inertia: Iy L3
1 2 2
Ix = ------ ⋅ M ⋅ ( L1 + L3 )
12
Z-axis rotational inertia: Iz
Y
1 2 2
Ix = ------ ⋅ M ⋅ ( L1 + L2 )
12
L1: Length in X-axis direction [Unit: m] X
L2: Length in Y-axis direction [Unit: m]
L3: Length in Z-axis direction [Unit: m]
M: Rectangular solid mass [Unit: kg]

OM1009082E17 333
 Appendix

18.13.2 An example of calculating load parameters

The followings show the calculation of load parameters in
case of a robot with parts having various masses; two tools
and one plate (see the right figure (Fir.1)) attached to the
TW-axis.

(1) Plate that connects Tool 1 and Tool 2

Mass;Mp = 0.8[kg]
Outer dimensions
Side 1;Lp1 = 230.0[mm]
Side 2;Lp2 = 200.0[mm]
Thickness;Lp3 = 10.0[mm]
Position of the center of gravity Ｚ Ｙ
X-axisY-axis;Xlp = 70.0[mm]
Y-axis;Ylp = 0.0[mm] Ｘ
Z-axis;Zlp = 80.0[mm]
Inertia Fig.1: TW-axis load
Around X-axis;Ixp = 6.193 x 10-3[kg•m2]
Around Y-axis;Iyp = 2.673 x 10-3[kg•m2]
Ｚ
Around Z-axis;Izp = 3.533 x 10-3[kg•m2]
Tool 2 Tool 1
(2) Tool 1
９０ ７５
Mass;M1 = 2.5[kg]
Outer dimensions
Diameter;D1 = 70.0[mm]
Length;L1 = 115.0[mm]
Position of the center of gravity
X-axis;Xl1 = 20.0[mm]
１４０
８０ ２００
Y-axis;Yl1 = -75.0[mm]
Z-axis;Zl1 = 140.0[mm]
Inertia
Ｙ
Around X-axis;Ix1 = 1.531 x 10-3[kg•m2] (Unit: mm)
２３０
Around Y-axis;Iy1 = 3.521 x 10-3[kg•m2]
Around Z-axis;Iz1 = 3.521 x 10-3[kg•m2] Fig.2: Top view of TW-axis load

(3) Tool 2
Mass;M2 = 2.5[kg]
Outer dimensions
Diameter;D2 = 70.0[mm] TW-axis flange center
Length;L2 = 115.0[mm]
Position of the center of gravity ２０
X-axis;Xl2 = 20.0[mm] １０ Ｙ
Y-axis;Yl2 = 90.0[mm] ７０
Z-axis;Zl2 = 140.0[mm]
Inertia
Around X-axis;Ix2 = 1.531 x 10-3[kg•m2]
Around Y-axis;Iy2 = 3.521 x 10-3[kg•m2]
Around Z-axis;Iz2 = 3.521 x 10-3[kg•m2]
Ｘ
Tool 1 Tool 2

(Unit: mm)
Fig.3: Front view of TW-axis load

334 OM1009082E17
 Appendix

(4) Mass (Unit: kg) = [2.5 x {(20.0-26.9)2 +(140.0-131.7)2} x 10-6

M = M1 + M2 + Mp = 2.5 + 2.5 + 0.8 = 5.8 [kg] +3.521 x 10-3]
+ [2.5 x {(20.0-26.9)2 +(140.0-131.7)2} x 10-6
(5) Offset (Unit: mm)
+3.521 x 10-3]
( Xl1 × M1 + Xl2 × M2 + Xlp × Mp ) + [0.8 x {(70.0-26.9)2+(80.0-131.7)2} x 10-6
X = ------------------------------------------------------------------------------------
M1 + M2 + Mp +2.673 x 10-3]
( 20.0 × 2.5 + 20.0 × 2.5 + 70.0 × 0.8 ) = 1.392 x 10-2 =0.01392
= ---------------------------------------------------------------------------------------------------
2.5 + 2.5 + 0.8
= 26.9 Iz = [ M1 x {(Xl1-X)2 +(Yl1-Y)2} x 10-6+Iz1]
+ [ M2 x {(Xl2-X)2+(Yl2-Y)2} x 10-6+Iz2]
( Yl1 × M1 + Yl2 × M2 + Ylp × Mp ) + [ Mp x {(Xlp-X)2+(Ylp-Y)2} x 10-6+Izp]
Y = ------------------------------------------------------------------------------------
M1 + M2 + Mp = [2.5 x {(20.0-26.9)2 +(-75.0-6.5)2} x 10-6
( – 75.0 × 2.5 + 90.0 × 2.5 + 0.0 × 0.8 ) +3.521 x 10-3]
= ----------------------------------------------------------------------------------------------------
2.5 + 2.5 + 0.8 + [2.5 x {(20.0-26.9)2 +(90.0-6.5)2} x 10-6
= 6.5 +3.521 x 10-3]
+ [0.8 x {(70.0-26.9)2+(0.0-6.5)2} x 10-6
( Zl1 × M1 + Zl2 × M2 + Zlp × Mp ) +3.533 x 10-3]
Z = ------------------------------------------------------------------------------------
M1 + M2 + Mp = 4.637 x 10-2 =0.04637
( 140.0 × 2.5 + 140.0 × 2.5 + 80.0 × 0.8 )
= ---------------------------------------------------------------------------------------------------------
2.5 + 2.5 + 0.8
(7) Set values
= 131.7
X Y Z
(6) Inertia (Unit: kg•m2) Mass 5.80
Ix = [ M1 x {(Yl1-Y)2 +(Zl1-Z)2} x 10-6+Ix1] Offset 26.9 6.5 131.7
+ [ M2 x {(Yl2-Y)2+(Zl2-Z)2} x 10-6+Ix2]
Inertia 0.04581 0.01392 0.04637
+ [ Mp x {(Ylp-Y)2+(Zlp-Z)2} x 10-6+Ixp]
= [2.5 x {(-75.0-6.5)2 +(140.0-131.7)2} x 10-6
+1.531 x 10-3]
2 +(140.0-131.7)2} x 10-6
0.00
+ [2.5 x {(90.0-6.5)
0.0 0.0 0.0
+1.531 x 10-3] 0.00000 0.00000 0.00000
+ [0.8 x {(0.0-6.5)2+(80.0-131.7)2} x 10-6 5.8
5.80
-3 26.9 6.5
71.0 131.7
+6.913 x 10 ]
0.04581
0.01671 0.01392
0.01392 0.04637
0.01727
= 4.581 x 10-2 =0.04581

Iy = [ M1 x {(Xl1-X)2 +(Zl1-Z)2} x 10-6+Iy1]

+ [ M2 x {(Xl2-X)2+(Zl2-Z)2} x 10-6+Iy2]
+ [ Mp x {(Xlp-X)2+(Zlp-Z)2} x 10-6+Iyp]

OM1009082E17 335
パナソニック溶接システム株式会社
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TEL: 81-6-6866-8505
FAX: 81-6-6866-0709
URL:http://panasonic.net/pws/

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OM1009082E17