Sequence Manual ENG-SEQ

Robot Manual UL-CE-NSEQ-05
-Original instructions-
Robot Sequence commands
Okura Yusoki Co., Ltd.

History
Version Content Page

(Date)
01 (2011.9.22) First edition
Addition of Updating history This page.
The sequence logic commands
of [MOVDZ],[MVSTP] & [POSCK] are
02（2013,10,23） 30,37.41.
added.
53
Related Parameter is corrected.
Last page.
Date update
03（2014.02.05） Word correction. 37
Date update
Last page.
Word correction and some more explanations 7,33,41,51,57
04（2014.03.17）
are added. .
Last page.
Date update
Word correction. Functional
05（2014.05.26） Classification.61
37,64
Date update
Last page.
Introduction
Thank you for purchasing a model from the Okura Robot Palletizer A series.
This manual is a guidebook to help you safely and correctly use your A Series Robot
Palletizer. It should be useful not only to beginners who are using an Okura Palletizer
for the first time, but also to experienced users, who can use this Manual to reconfirm
their knowledge. Please read this Manual carefully and use the Palletizer with a clear
understanding of its content.
NOTE
Unauthorized reproduction of part or all of the content of this manual is forbidden.
The content of this manual is subject to future change without prior notice.
Safety Instructions
Each A Series Robotic Palletizer is equipped with a variety of protective features.
However, an increased level of safety results when these safety precautions are
constantly reviewed and consistently followed with a separate manual of “Safetey”.
IMPORTANT The safety instructions with left sign of IMPORTANT

throughout this manual are enforcement or warning that if
not correctly operated or handled, you may be seriously
injured or killed.
Be sure to follow those safety instructions.
IMPORTANT
Only AUTHORIZED PERSONNEL can operate, maintain the robot or work on
programming.
The definition of “AUTHORIZED PERSON” is that the only personnel who can
operate the robot and/or robot system, are those who have enough knowledge or
experience of robot operation and have also been trained to operate the robot.
They must also have been authorized by the employer.
Alphabetical order
AMSPS ................................................................................ 1
ASPD................................................................................... 3
BMEPS ................................................................................ 4
BMETM ................................................................................ 5
CALC ................................................................................... 6
CALL ................................................................................... 7
CLOOP ................................................................................ 8
CLRSB ................................................................................. 9
COUNT ...............................................................................10
DMOV.................................................................................11
ELSE ..................................................................................12
ELSIF .................................................................................13
ENCHK ...............................................................................14
ENDIF ................................................................................15
ENDP .................................................................................16
ENDLP................................................................................17
HMOV.................................................................................18
IF.......................................................................................19
IFCNT ................................................................................20
IFD ....................................................................................21
IFRDT ................................................................................22
IFJPL .................................................................................23
JMPL ..................................................................................24
JMPP..................................................................................25
JTOP ..................................................................................26
LBL ....................................................................................27
LOOP .................................................................................28
MOV ...................................................................................29
MOVDZ...............................................................................30
MOVRT ...............................................................................31
MOVX.................................................................................32
MOVZ .................................................................................33
MVDWN..............................................................................34
MVHZU...............................................................................35
MVPOS ...............................................................................36
MVSTP(Move step).............................................................37
NOP ...................................................................................38
OSFT ..................................................................................39
PGSEL ................................................................................40
POSCK(POS check).............................................................41
RDCP .................................................................................43
RDCZ..................................................................................44
RDPOS ...............................................................................45
RDPZ..................................................................................46
RDSPD ...............................................................................47
RDVS .................................................................................48
RESTM ...............................................................................49
RET ....................................................................................50
RTOFT ................................................................................51
SDVS..................................................................................52
SETER ................................................................................53
SMOV .................................................................................54
SMOV2 ...............................................................................54
SPD....................................................................................55
SPSET ................................................................................56
STATM ...............................................................................57
STOPA................................................................................58
STOPB................................................................................59
STPTM................................................................................60
SUBP..................................................................................61
TRQC..................................................................................62
WTAOC ..............................................................................64
WTARM ..............................................................................65
WTCON ..............................................................................66
WTHND ..............................................................................67
WTMSP ..............................................................................68
WTTMR ..............................................................................69
Condition/Operation/Comparison ......................................70
Functional Classification
Data Access Data Memory Control

RDCP RESTM
RDCZ STATM
RDPOS STPTM
RDPZ
RDSPD System Control
CALC
Serial Communications COUNT
RDVS CLRSB
SDVS ENCHK
NOP
Wait Conditions OSFT
AMSPS POSCK
BMEPS RTOFT
BMETM SETER
WTAOC SPSET
WTARM
WTCON Motion Speed Control
WTHND ASPD
WTMSP SPD
WTTMR
Arm Position Control
Condition Branch DMOV
ELSE MOV
ELSIF MOVDZ
ENDIF MOVRT
IF MOVX
IFCNT MOVZ
IFD MVDWN
IFJPL MVHZU
IFRDT MVPOS
MVSTP
Loop Control SMOV
CLOOP SMOV2
ENDLP
LOOP C-axis Motion Control
HMOV
Subroutine Control TRQC
CALL
RET Stop Control
SUBP STOPA
STOPB
Program Control
ENDP Condition/Operation/Comparison
JMPL
JMPP
JTOP
LBL
PGSEL
AMSPS
[ Functional Classification ]
Wait Conditions
[ Outline of processing ]
Wait until the arm reaches to a height of current one plus n mm.
[ Format ]
AMSPS n (n: ascent value mm)
AMSPS Dn (Dn:Data memory no..)
[ Example ]
Turning on a signal of “entry allowed” the arm move 200mm up above the station.
MOV 2
WTARM
MOV 4
AMSPS 200
M6002 = 1 :a signal of “entry allowed” turn ON
WTARM
MOV 5
WTARM
Position step 4
In case of ascending
200mm up
Next command is executed
Position step 2
Station
Next Command Hand

Execute
AX (Robot Arm) When it moves

horizontally
Center of R-axis
radius
Top view
Image of concept
1
[ Detail ]
When designated by data memory, value of the data memory is understood height [mm].
Dn: distance [mm]
When it moves off by more than the designated distance the position where this command
is executed, control moves to the next sequence command.
<Note>
Since BMEPS or AMSPS acquires the current position when BMEPS or AMSPS starts to be
executed, ending timing of these commands’ execution may be fluctuated if the command is
executed during moving.
[ Related Command ]
SUBP
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]
2
ASPD
Motion Speed Control
Setting % of an absolute speed.
[ Format ]
ASPD n (n: 1 -100, % of speed)
[ Example ]
Operate MOV 1 at 50% of the absolute speed.
ASPD 50
MOV 1
WTARM
[ Detail ]
The following commands associated with MOV command are operated with this speed
regardless of external speed and step speed. It is effective only one time for the commands
of MOV, SMOV, SMOV2, DMOV, MOVRT, MOVX, MOVZ, MVHZU, MVDWN and MVPOS.
[ Related Command ]
SPD
[ SH Soft Version ]
[ Purpose ]
3
BMEPS
Wait Conditions
Waiting until arm reaches, in its descending movement, to a point ‘n’ mm away from a target
in currently executing MOV
[ Format ]
BMEPS n (n: distance [mm].)
[ Example ]
When a vacuum hand is used, vacuum is turned on 300mm above the
station.
MOV 2
BMEPS 300
Y1C = 1
WTARM
[ Detail ]
It is effective only during not in ascending but descending motion.
<Note>
Since BMEPS or AMSPS acquires the current position when BMEPS or AMSPS starts to be
executed, ending timing of these commands’ execution may be fluctuated if the command is
executed during moving.
[ Related Command ]
BMETM
[ SH Soft Version ]
[ Purpose ]
It is used with hand of a side vacuum type and a downward sensor as collision prevention
installed in the Palm in case of de-palletizing. The downward sensor checks collision with PLC,
and the lower is detected when descending to the load removing position of the article.
The check is stopped by 200mm downward motion because to avoid collision sensing.
vacuum
Touch down
sensor
Example of hand mechanism
Image of concept
MOV 5
WTARM
Y0 = 1 Start sensing
MOV 7
BMEPS 200
Y0 = 0 Finish sensing
WTARM
4
BMETM
Wait Conditions
Waiting until ‘n’ ms before MOV being currently executed ends
[ Format ]
BMETM n (n: time ms)
[ Example ]
Hand closing and arriving at step 2 are completed at a time. Period of time hand finishes
closing is 500ms.
MOV 2
BMETM 500
Y1C = 0
Y1D = 1
WTARM
Speed of axis
500 msec
Y1C
Y1D
Image of concept
[ Detail ]
[ Related Command ]
BMEPS
[ SH Soft Version ]
[ Purpose ]
5
CALC
System Control
Calculating one cycle movement in accordance with the data memory
[ Format ]
CALC Dn (n: data memory no.)
[ Example ]
[ Detail ]
In case of de-palletizing, In case of Palletizing
Dn Pallet Position[HX] (mm) Dn Station Position[HX] (0.1mm)

Dn+1 Pallet Position[HY] (mm) Dn+1 Station Position[HY] (0.1mm)
Dn+2 Pallet Position[HT] (deg) Dn+2 Station Position[HT] (0.01deg)
Dn+3 Pallet Position[HZ] (mm) Dn+3 Station Position[HZ] (0.1mm)
Dn+4 not use Dn+4 Pallet Position[HX] (0.1mm)
Dn+5 not use Dn+5 Pallet Position[HY] (0.1mm)
Dn+6 article height (mm) Dn+6 Pallet Position[HT] (0.01deg)
Dn+7 Pallet Position[HZ] (0.1mm)
Dn+8 Approach direction
Dn+9 article height (0.1mm)
Dn+10 article Weight(kg)
In case of de-palletizing, Station Position is:

Planar one: just copy step 12.
Height one: height at step 12 plus article height (Dn+6).
In case of Palletizing, Station Position and Pallet Position are needed to designate.
[ Related Command ]
Move type (Program parameter)
Step 12 (Step parameter)
[ SH Soft Version ]
[ Purpose ]
6
CALL
Program Control
Call subroutine with label No.
[ Format ]
CALL n (n: Label No..)
[ Example ]
CALL 1
--
--
LBL 1
--
--
RET
[ Detail ]
CALL inside a called subroutine cannot be used.
What’s the difference between CALL and SUBP:
CALL: Process through subroutine as a regular way.
(Process next command after CALL after the subroutine is completed.)
SUBP: Process through subroutine as a parallel way.
(Process next command after SUBP in spite of that the subroutine is not completed
yet.)
[ Related Command ]
SUBP, LBL, RET
[ SH Soft Version ]
[ Purpose ]
7
CLOOP
Loop Control
It repeats processing until next ENDLP while value in data memory specified by argue is not
less than ‘1’. In case of less than ‘1’, it executes sequence on and after ENDLP. The value in data
memory is decremented by ‘1’ at every CLOOP executed.
[ Format ]
CLOOP Dn (Dn: Data memory No.)
[ Example ]
Repeats “Process” 5 times.
D1000 = 5
CLOOP D1000
“Processing”
ENDLP
[ Detail ]
JUMP cannot be used inside CLOOP.
You may be unable to operate POD while it is being executed in CLOOP unless there is
WTTMR or WTARM between CLOOP and ENDLP.
The max nesting depth of IF, IFCNT, IFRDT, ELSEIF, LOOP and CLOOP is ‘10’.
Set data memory ‘0’ within the loop to force to terminate the CLOOP.
[ Related Command ]
ENDLP
[ SH Soft Version ]
[ Purpose ]
8
CLRSB
System
It forces to terminate subroutine specified by SUBP.
[ Format ]
CLRSB
[ Example ]
The signal of “Station loading enable” is wanted to be turned on inside subroutine. But it
may have to wait at AMSPS due to height too short. So, just in case, the subroutine is forced to be
terminated when “Station loading enable” comes on after reached to step 5.
MOV 4
SUBP 1
WTARM
MOV 5
WTARM
CLRSB
M6008 = 1
.
.
LBL 1
AMSPS 200
M6008 = 1 Station loading enable ON
RET
[ Detail ]
[ Related Command ]
SUBP, AMSPS
[ SH Soft Version ]
[ Purpose ]
9
COUNT
System Control
Updating value of palletizing or depalletizing
[ Format ]
COUNT
[ Example ]
Counter is updated after it starts to move toward step 9
MOV 9
COUNT
WTARM
[ Detail ]
Layer counter (D0) and work counter (D1) in internal data memory on currently operating
program are updated.
When “palletizing” is selected in function type, work counter is incremental.

When “de-palletizing” is selected, work counter is decremented.
In case the number of work counter exceeds that per a layer, layer counter is increased or
decreased to reset the work counter back to initial value of the corresponding layer.
Unit of incremental or decremented value of work counter is “1” in regular program, but in
multiple picking, it is updated by the number of picking- at- a-time specified at step auxiliary
data.
[ Related Command ]
ENCHK
Move type (Program parameter)
[ SH Soft Version ]
[ Purpose ]
10
DMOV
Move arm to the position at the designated step along with linear motion on a plane.
[ Format ]
DMOV n (n: step no..)
[ Example ]
Move to step 1
DMOV 1
WTARM
[ Detail ]
WTARM command is necessary afterward.
R-axis can move in linear motion regardless of PTP/CP set in step parameter.
Target position
Path of hand Robot arm (AX)
Start Position Center of R-axis
image of Concept
<Note>
1. It errors out on a half way when arm is out of teaching area (AX is too short), because the
path is checked only at start and target positions.
Target Position Teaching area
Path of hand
Error is caused by out

of the teaching area.
Center of R-axis
Start Position
Image of concept
2. The error of [117 DMOV movement T axis discontinuous] may occur depending on the T
axis conditions. In that case, turn memory switch SW1-6 on.
[ Related Command ]
WTARM
Memory switch SW1-6 (system parameter)
[ SH Soft Version ]
[ Purpose ]
11
ELSE
Condition Branch
If the condition of either aforesaid IF or ELSIF has been fulfilled, operation up to the next
ENDIF is not performed. If not, the operation is performed up to ENDIF.
[ Format ]
ELSE
[ Example ]
The 1st work of each layer keeps on moving from step 6 to 7 until input relay X0 comes on.
Other than that, it moves to step 7 canceling step 6.
IF D1 = = 0
MOV 6
WTARM
MOV 7
WTAOC X0
STOPA
WTARM
ELSE
MOV 7
WTARM
ENDIF
[ Detail ]
It is used between IF and ENDIF.
[ Related Command ]
ENDIF, ELSIF, IF
[ SH Soft Version ]
[ Purpose ]
12
ELSIF
Condition Branch
When the condition of either aforesaid IF or ELSIF has not been fulfilled and the condition at
this time has been fulfilled, operation cancels the commands between either next ELSIF or
ELSE and ENDIF.
[ Format ]
ELSIF (condition 1)
“ (condition 1)” format is referred to page as “ Condition/Operation/Comparison” .
[ Example ]
IF (condition A): condition A is False
------
ELSIF (condition B) :condition B is True
------
(This only block Commands are Executed)
------
ELSIF (condition C) :condition C is True
------
(This block Commands aren’t Executed)
------
ELSE
------
ENDIF : Correspond to condition C
ENDIF : Correspond to condition B
ENDIF : Correspond to condition A
[ Detail ]
It is used between IF and ENDIF. The nesting depth of IF, IFCNT, IFRDT, ELSIF, LOOP, CLOOP
command is ‘10’ at max. In the case of above [ Example ], the nesting depth is ‘3’ times.
[ Related Command ]
ENDIF, ELSE, IF
[ SH Soft Version ]
[ Purpose ]
13
ENCHK
System Control
Check if palletizing or de-palletizing operation is completed, and turns relay Rn ON if
completed.
[ Format ]
ENCHK Rn (n: Relay No.)
[ Example ]
Check if one pallet operation is completed right after starting toward step 9.
If completed, it turns relay M600A ON.
MOV 9
ENCHK M600A
COUNT
WTARM
[ Detail ]
Following is a table to show how the memory and the relay are changed at the time of
completion of one pallet operation
(an example for 5 works 4 layers)
Layer Work M600A

MOV 9 4 5 OFF
ENCHK M600A 4 5 ON
COUNT 1 1 ON
WTARM 1 1 ON
[ Related Command ]
COUNT
[ SH Soft Version ]
[ Purpose ]
14
ENDIF
Condition Branch
End of IF sentence
[ Format ]
ENDIF
[ Example ]
Movement for 1st work of each layer keeps on going from step 6 to 7 until input relay X0
comes on. Other cases than that, it moves to step 7 not through step 6.
IF D1 = = 0
MOV 6
WTARM
MOV 7
WTAOC X0
STOPA
WTARM
ELSE
MOV 7
WTARM
ENDIF
[ Detail ]
[ Related Command ]
ELSE, ELSIF, IF
[ SH Soft Version ]
[ Purpose ]
15
ENDP
Program Control
End of program
[ Format ]
ENDP
[ Example ]
[ Detail ]
To find the end of the program by this command, it is necessary for every program.
[ Related Command ]
JMPL, JMPP JTOP
[ SH Soft Version ]
[ Purpose ]
16
ENDLP
Loop Control
End of LOOP, CLOOP sentence
[ Format ]
ENDLP
[ Example ]
Refer to LOOP command.
[ Detail ]
[ Related Command ]
LOOP, CLOOP
[ SH Soft Version ]
[ Purpose ]
17
HMOV
C-axis Control
Moving hand axis to a designated step position
[ Format ]
HMOV n (n: hand step No.) move to step ‘n’
HMOV Dn (Dn: Data memory No.) move to position specified by data memory
(Unit of value = 0.1 mm)
[ Example ]
Move hand axis to position of hand Step No.1.
HMOV 1
WTHND
Move hand axis to position of 300mm.

D1000 = 3000
HMOV D1000
WTHND
[ Detail ]
It controls C-axis.
WTHND command is necessary afterward.
[ Related Command ]
WTHND
[ SH Soft Version ]
[ Purpose ]
18
IF
Condition Branch
Upon fulfilling the condition, perform through until end of commands grouped by either one
of ELSIF, ELSE or ENDIF.
If not fulfilled, operation will not be performed until either one of such commands.
[ Format ]
IF (condition 1)
“ (condition 1)” format is referred to page as “ Condition/Operation/Comparison” ..
[ Example ]
Movement for 1st work of each layer keeps on going from step 6 to 7 until input relay X0
comes on. Other cases than that, it moves to step 7 not through step 6.
IF D1 = = 0
MOV 6
WTARM
MOV 7
WTAOC X0
STOPA
WTARM
ELSE
MOV 7
WTARM
ENDIF
[ Detail ]
Maximum nesting depth of IF, IFCNT, IFRDT, ELSIF, LOOP, CLOOP command is 10.
[ Related Command ]
ELSE, ELSIF, ENDIF
[ SH Soft Version ]
[ Purpose ]
19
IFCNT
Conditional Branch
Upon fulfilling the condition, perform through until end of commands grouped by either one
of ELSIF, ELSE or ENDIF.
If not fulfilled, operation will not be performed until either one of such commands.
[ Format ]
IFCNT (Layer count) & (product count)
(Layer count), (product count) : number (1- ) or EVN(even number), ODD(odd number)
Possible operator is ‘&’ only.
[ Example ]
Slow down speed to a half at 1st product onto every even layer.
IFCNT ODD & 1

SPD 50
ENDIF
[ Detail ]
[ Related Command ]
ELSE, ELSIF, ENDIF
[ SH Soft Version ]
[ Purpose ]
20
IFD
Conditional Branch
Upon fulfilling the condition in comparing with and calculating to both contents in a couple of
any data memories, perform through until end of commands grouped by ENDIF.
[ Format ]
IFD (condition 2)
On how to describe (condition2), see the last page of “Condition/Operation/Comparison” in
this manual for detail.
[ Example ]
It turns relay M601D on when 1st layer and 1st product.
IFD D0 == 0 & D1 == 0
M601D = 1
ENDIF
[ Detail ]
Maximum nesting depth of IF, IFCNT, IFD, IFRDT, ELSIF, LOOP, CLOOP command is 10.
[ Related Command ]
ELSE, ELSIF, ENDIF, IF
[ SH Soft Version ]
Ver 1.00H newly added
[ Purpose ]
21
IFRDT
Condition Branch
If [Data 1] in step auxiliary data is equal to argue (or data memory specified by argue),
perform through until end of commands grouped by either one of ELSIF, ELSE or ENDIF.
If not equal, operation will not be performed through until either one of ELSIF, ELSE or
ENDIF.
[ Format ]
IFRDT n
IFRDT Dn (Dn: data memory No.)
[ Example ]
Slow down speed to a half when [data 1] is ‘1’.
IFRDT 1
SPD 50
ENDIF
[ Detail ]
[ Related Command ]
ELSE, ELSIF, ENDIF
[ SH Soft Version ]
[ Purpose ]
22
IFJPL
Condition Branch
Upon fulfilling the condition, jump to label line specified by argue. Upon not fulfilled, execute
next commands.
[ Format ]
IFJPL (condition 1) n (n: label No.)
[ Example ]
Move to label 1 when input relay X0 is turned on.
IFJPL X0 1
.
.
.
LBL 1
[ Detail ]
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
23
JMPL
Program Branch
Jump to label No.
[ Format ]
JMPL n (n: Label No..)
[ Example ]
Move to step 1 after program switched over, but the step 1 is skipped thereafter
MOV 1
WTARM
LBL 1
MOV 2
---
JMPL 1
ENDP
[ Detail ]
[ Related Command ]
LBL
[ SH Soft Version ]
[ Purpose ]
24
JMPP
Program Control
Jump to other program specified
[ Format ]
JMPP Dn (n: data memory no..)
[ Example ]
Jump to program 100
D1000 = 100
JMPP D1000
[ Detail ]
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
25
JTOP
Program Control
Return to beginning of a program
[ Format ]
JTOP
[ Example ]
Repeat to execute a program
MOV 1
WTARM
---
JTOP
ENDP
[ Detail ]
[ Related Command ]
ENDP, JMPL, JMPP
[ SH Soft Version ]
[ Purpose ]
26
LBL
Program Control
Designate labels for commands of CALL, JMPL or SUBP.
[ Format ]
LBL n (n: Label No..)
[ Example ]
Move to step 1 after program switched over, but the step 1 is skipped thereafter
MOV 1
WTARM
LBL 1
MOV 2
---
JMPL 1
ENDP
[ Detail ]
Label No. is used from 1 through 9.
(Note)
LBL command cannot be used within such blocks as IF-ENDIF, LOOP-ENDLP or
CLOOP-ENDLP.
[ Related Command ]
CALL, JMPL, SUBP
[ SH Soft Version ]
[ Purpose ]
27
LOOP
Loop Control
An operation keeps on going until the next ENDLP as far as a condition is being fulfilled. If not
fulfilled, sequence logic after ENDLP is executed.
[ Format ]
LOOP (condition 1)
[ Example ]
An operation repeats until touch down sensor (X04) is turned on. But it errors out at over 5
times.
D1000 = 0
LOOP !X4
MVDWN 7
WTARM
D1000 = D1000 + 1
IF D1000 > 5
SETER 132 (Position data processing error)
ENDIF
ENDLP
[ Detail ]
JMPL cannot be used inside LOOP.
You may be unable to operate POD while it is being executed in LOOP unless there are such
wait commands as WTTMR or WTARM between LOOP and ENDLP.
The max nesting depth of IF, IFCNT, ELSEIF, LOOP and CLOOP is ‘10’.
[ Related Command ]
ENDLP
[ SH Soft Version ]
[ Purpose ]
28
MOV
Move arm to designated step position
[ Format ]
MOV n (n: Step No.)
[ Example ]
move to step 1
MOV 1
WTARM
[ Detail ]
(1) Moving speed

(2) Accelerating time
(3) Decelerating time
(4) Path control compensation type
(5) Timing to execute next WTARM command follows the pre-determined value specified by
the step parameter.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
29
MOVDZ
Move the arm to the height designated by data memory.
[ Format ]
MOVDZ Dn (n: data memory no..)
[ Example ]
Move 100mm up from current position.MOV operation with the standard step no. is 2.
RDCZ D1001 :Reading in the current height
D1000 = 2
D1001 = D1001 +1000
D1004 = 0
D1005 = 0
MOVDZ D1000
WTARM
[ Detail ]
Data setting is needed before executing command.

Dn : Moving standard step no.(Speed, acc-dec time, etc. designated by this step No.)
Dn+1 : Moving height data (unit is 0.1 mm)
Dn+4 : Moving flat position (0 : current position, except 0 : step position of Dn)
Dn+5 : Moving mode (0 : MOV, except 0 : DMOV)
Speed, acc-dec time and the likes shall be of a step movement designated by Dn.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
30
MOVRT
Move arm (R, T axis only) to designated step positions
[ Format ]
MOVRT n (n: Step No.)
[ Example ]
Assuming there is a column between station and pallet. So, arm needs to be shrunk first and
then rotates.
MOV 4
WTARM
D1000 = 1
D1001 = 15000
MOVX D1000 Arm shrinks down to AX=1500mm
WTARM
MOVRT 5 Only R and T axes rotate
WTARM
MOV 5 Move to position at step 5
WTARM
[ Detail ]
[ Related Command ]
WTARM, MOVX
[ SH Soft Version ]
[ Purpose ]
31
MOVX
Move arm (AX direction only) to designated step positions
[ Format ]
MOVX n (n: Step No.)
MOVX Dn (Dn: data memory No.)

Dn: Operational basic step No. (step that speed and time of acceleration,
deceleration are specified)
Dn+1: AX data (incremental unit: 0.1 mm)
[ Example ]
Assuming there is a column between station and pallet. So, arm needs to be shrunk first and
then rotates.
MOV 4 Going up above station

WTARM
D1000 = 1
D1001 = 15000
MOVX D1000 Arm shrinks to AX=1500mm
WTARM
MOVRT 5 Only R and T axes rotate
WTARM
MOVX 5 Move to position at step 5
WTARM
[ Detail ]
[ Related Command ]
WTARM, MOVRT
[ SH Soft Version ]
[ Purpose ]
32
MOVZ
Move arm (AZ direction only) to designated step positions
MOVZ n : Never move arm if the designated step positions are lower than the current
height.
MOVZ Dn : Move arm to the height designated by Dn+1.
[ Format ]
MOVZ n (n: Step No.)
MOVZ Dn (Dn: data memory No.)

Dn: Operational basis step No. (Step that the speed and the acceleration/
deceleration are specified)
Dn+1: AZ data (incremental unit: 0.1 mm)
[ Example ]
After it vertically goes up to height at step 1, then horizontally moves to step 1. (Program
0 movement)
MOVZ 1
WTARM
MOV 1
WTARM
Directed by data memory.

Goes up by 100mm from the current position.
RDCZ D1001 suck the current height
D1000 = 2 Movement by MOV at step 2.
D1001 = D1001 + 1000
MOVZ D1000
WTARM
[ Detail ]
The data is to be set before the command is executed.
(Operand)
Dn : Operation basis step No. (Step that the speed and the acceleration/ deceleration are
specified)
Dn+1 : Operation height data [unit: 0.1 mm]
The speed and the acceleration/ deceleration are the exact same as specified
by Dn.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
33
MVDWN
Goes down by 10 mm from the current position.
[ Format ]
MVDWN n (n: step No.)
[ Example ]
Move to step 7 and then goes down by 10 mm specified in parameter at step 7 after waiting
for 200msec.
MOV 7
WTARM
WTTMR 20
MVDWN 7
WTARM
[ Detail ]
Arm moves on the parameters (acceleration and deceleration time) of the step specified.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
34
MVHZU
Move arm to step specified. However, it moves horizontally (never goes down) if the
specified step is lower than the current.
[ Format ]
MVHZU n (n: step No.)
MVHZU Dn (Dn: Data memory No.)

Dn: Operation base step No. (the step at which speed and acceleration and
decelaration are specified.)
Dn+1: AZ data (Unit: 0.1mm)
[ Example ]
In case of multi-stacking, you don’t mind the height difference from one station to another,
or from step 8 to another station, if you insert it to the upfront of the program.
MVHZU 9
WTARM
[ Detail ]
[ Related Command ]
WTARM
[ SH Soft Version ]
Ver 1.00H Function of data memory speicified is added
[ Purpose ]
35
MVPOS
Move to the position designated by a value of data memory based on pallet coordinates.
[ Format ]
MVPOS Dn (n: data memory No.)
[ Example ]
[ Detail ]
Moving speed, acceleration and deceleration time are set by specifying the moving standard
step No. to data memory Dn.
Dn: Moving standard step No. (Speed, acc-dec time, etc. designated by this step No.)
Dn+1 : Layer number -1
Dn+2 : Work number -1
Dn+3 : Coordinates system [ except 1 or 2 : Arm coordinates 1 : Hand coordinates 2 :
Pallet coordinates]
Dn+4 : Move mode [ 0 : MOV, except 0 : DMOV ]
Dn+5 : AR(HX,PX) [unit AR : 0.01 deg HX : 0.1 mm PX : 0.1 mm]
Dn+6 : AX(HY, PY) [unit AX : 0.1mm HY : 0.1 mm PY : 0.1 mm]
Dn+7 : AT(HT, Pb) [unit AT : 0.01deg Ha : 0.01deg Pb : 0.01deg]
Dn+8 : AZ(HZ, PZ) [unit AZ : 0.1mm HZ : 0.1mm PZ : 0.1 mm]
[ Related Command ]
WTARM
[ SH Soft Version ]
Ver2.00G Added this Command
[ Purpose ]
36
MVSTP(Move step)
Arm movement command
Move arm to new position that some offset distance is added on to the registered step
position.
[ Format ]
MVSTP Dn (n: data memory number)
(Specified Part)
Dn : Movement step No.
Dn+1: Type of coordinate [other than 1 & 2: arm coordinate, 1:hand coordinate, 2:pallet
coordinate]
Dn+2 : Move mode [ 0 : MOV, except 0 : DMOV ]
Dn+3: AR(HX, PX) offset value [unit AR;0.01deg HX:0.1mm PX;0.1mm]
Dn+4: AX(HY, PY) offset value [unit AX;0.1mm HY:0.1mm PY;0.1mm]
Dn+5: AT(Hα,Pβ) offset value[unit AT:0.01deg Hα:0.01deg Pβ:0.1mm]
Dn+6: AZ(HZ, PZ) offset value [unit AZ:0.1mm HZ:0.1mm PZ:0.1mm]
[ Example ]
MOV1
WTARM
D1000 = 2 // Move arm to new position that the offset distance is added on to the step 2
position.
D1001 = 1 // D1003 - D1006 are specified by hand coordinate.
D1002 = 0
D1003 = 0
D1004 = 0
D1005 = 0
D1006 = 1000 // Only HZ is moved to new position that 100mm is added on to that of HZ at
step 2
MVSTP D1000
WTARM
[ Detail ]
The above example shows you that arm moves from step 1 to new position of 100mm above
step 2.
Offset value can be specified with +/-.
[ Related Command ]
WTARM
[ SH Soft Version ]
Ver. 1.02A
[ Purpose ]
The existing combination of RDPOS + MVPOS can be simplified by this MVSTP.
37
NOP
System Control
Execute next command without processing
[ Format ]
NOP
[ Example ]
[ Detail ]
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
NOP is not normally used.
It is used as just a sign to do temporary substitution or to make you easily read programs.
38
OSFT
System Control
Shift pallet origin and then copy program
[ Format ]
OSFT Dn (n: data memory No.)
[ Example ]
Save into program 2 a program which the pallet origin of the program 1 is shifted by PX (PX
= 10 mm)
D1000 = 1
D1001 = 2
D1002 = 100
D1003 = 0
D1004 = 0
D1005 = 0
OSFT D1000
[ Detail ]
Data setting is needed before executing command.
(Specifying part)
Dn : Program No. (to be copied )
Dn+1 : Program No. ( to be pasted)
Dn+2 : Shifting distance of PX ( x 0.1 mm)
Dn+3 : Shifting distance of PY (x 0.1 mm)
Dn+4 : Shifting distance of Pβ (x 0.01 deg)
Dn+5 : Shifting distance of PZ (x 0.1 mm)
<Note>
- It is impossible for program 0 to set both Dn and Dn+1.
- It is impossible to set Dn and Dn+1 with same value.
- Program in which Dn+1 is being executed is impossible.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
In case of de-palletizing, if pallet arrived and deviated off the supposed, the pallet position
data can be shifted to make pre-set program to a new one.
39
PGSEL
Program Control
Wait for selection of an executing program No.
[ Format ]
PGSEL
[ Example ]
[ Detail ]
Refer to the explanation of the chapter “Program Check Procedure” in robot manual
“Teaching”.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
40
POSCK(POS check)
System Control
Confirm if it locates on the exact planar position at the step that the current position
specifies.
[ Format ]
POSCH Dn (n: data memory number)
(Specified Part)
Dn : Result (0: Out of range at specified step 1: Within range at specified step 2:The target
planar position of the currently executing step is within the range at the specified step)
When the current position is within the range at the specified step, “1” is returned to the result (Dn).
When the current position is out of range at specified step and also when the target position currently
being executed is within the range, “2” is returned to the result (Dn).
When both the current position and the target position at the currently executing step are out of range
at the specified step, “0” is returned to the result (Dn).
At FULL overlap, for instance, the previous step is assumed the currently executing step.
Step1 Step2
It compares with the position at the black dot

though the movement has got into step 2after
reached the accuracy range.
Dn+1: Specified step number
[ Example ]
D1001 = 2 // check the range based on step 2
POSCK D1000
If D1000 == 0 // if planar position is out of step 2,
MOV1 // moves to step1 first then moves to step2.
WTARM // if not, directly moves to step2.
ENDIF
MOV 2
WTARM
[ Detail ]
The current position is compared with the programmed position at the current count of the
step No.
designated. The answer is returned after confirming that the planar coordinate positions
(AR/AX/AT)
are within the axis-accuracy.
AZ position is not checked.
[ Related Command ]
41
[ SH Soft Version ]
Ver. 1.02A(Result = 2 is added by Ver1.02G)
[ Purpose ]
On a program in which it waits at step 2, arm won’t go up to execute step1 whenever
program is switched over.
42
RDCP
Data Access
Importing the current position data
[ Format ]
RDCP Dn (n: data memory No.)
[ Example ]
Import a robot’s position data into data memory D1000 when a sensor connected with input
relay X0 comes on.
D1004 =1 : Hand Coordinates system is specified

MOV 1
WTCON X0
RDCP D1000
WTARM
(Imported part)
D1000 : HX (x 0.1mm)
D1001 : HY (x 0.1mm )
D1002 : HT (x 0.01deg)
D1003 : HZ (x 0.1 m)
[ Detail ]
Standard coordinates system of position data is designated by data memory Dn+4.
The position data when sequence command has been executed is written into 4 segments
areas of which top one’s address is designated by Dn.
(Specified part)
Dn+4:standard coordinates system (0:Arm Coordinates, except 0:hand Coordinates)
(Imported)
Dn :AR(HX) [0.1mm]
Dn+1:AX(HY) [0.1mm]
Dn+2:AT(Hα) [0.01deg]
Dn+3:AZ(HZ) [0.1mm]
[ Related Command ]
RDCZ, RDPOS, RDPZ, RDSPD
[ SH Soft Version ]
[ Purpose ]
43
RDCZ
Data Access
Importing the current height data
[ Format ]
RDCZ Dn (n: data memory No.)
[ Example ]
Import a robot’s height data into data memory D1000 when a sensor connected with input
relay X0 comes on.
MOV 1
WTCON X0
RDCP D1000
WTARM
[ Detail ]
The height data when sequence command has been executed is imported into data memory
designated by Dn.
Height value is same in all coordinates system (ARM, HND, STA, PAL).
Dn: Height (unit is 0.1 mm)
[ Related Command ]
RDCP, RDPOS, RDPZ, RDSPD
[ SH Soft Version ]
[ Purpose ]
44
RDPOS
Data Access
Importing position data
[ Format ]
RDPOS Dn (n: data memory No.)
[ Example ]
[ Detail ]
Teaching position data of layer, product, step No. designated by the data memory is
imported into a data memory.
(Specified part)
Dn: Step No.
Dn+1 : Layer -1
Dn+2 : Product -1
Dn+3 : Coordinates system [except 1 or 2 : Arm, 1 : Hand, 2 : Pallet.]
Dn+4 : Not use
(Imported part)
Dn+5 : AR(HX) [unit AR : 0.01 deg HX : 0.1 mm PX : 0.1 mm]
Dn+6 : AX(HY) [unit AX : 0.1mm HY : 0.1 mm PY : 0.1 mm]
Dn+7 : AT(HT) [unit AT : 0.01 deg Ha : 0.01 deg Pb : 0.01 deg]
Dn+8 : AZ(HZ) [unit AZ : 0.1mm HZ : 0.1 mm PZ : 0.1 mm]
[ Related Command ]
RDCP, RDCZ, RDPZ, RDSPD
[ SH Soft Version ]
[ Purpose ]
45
RDPZ
Data Access
Importing the height data at designated step of special product
[ Format ]
RDPZ Dn (n: data memory No.)
[ Example ]
Import height data of 2nd layer 1st work at step 7 into the data memory D1001.
D1000 = 7 Step 7
D1002 = 1 2nd layer
D1003 = 0 1st work
RDPZ D1000
[ Detail ]
Import height data (unit: 01mm) of layer, work and step designated by the data memory
into a data memory which is next to the designated one.
(Specified part)
Dn: Step No.
Dn+2: Layer -1
Dn+3: Work -1
(Imported part)
Dn+1: Height data (unit is 0.1 mm)
[ Related Command ]
RDCP, RDCZ, RDPOS, RDSPD
[ SH Soft Version ]
[ Purpose ]
46
RDSPD
Data Access
Acquisition of the operation speed
[ Format ]
RDSPD Dn (n: data memory No.)
[ Example ]
[ Detail ]
(Specified part)
Dn: Step No.
(Imported part)
Dn+1 : internal speed (0-10)
Dn+2 : external speed (1-10)
Dn+3 : SPD set value (1-10: It is 10 usually. )
<Note>
Internal speed =0 when specified step No. doesn't exist.
Actual operation speed is decided by (internal speed) × (external speed) × (SPD set value).
When speed is set by ASPD,
(Imported part)
Dn+1 : ASPD set value (1-100)
Dn+2 : Fixed to 1
Dn+3 : Fixed to 10
[ Related Command ]
SPD, ASPD
[ SH Soft Version ]
[ Purpose ]
47
RDVS
Serial Communications
Receiving data from host computer for vision system
[ Format ]
RDVS Dn (n: data memory No.)
[ Example ]
It receives data and set the data into D1000.
D1000 = 0 : Initialize D1000 memory data

LOOP D1000 = = 0 : If data is received, goes out of loop
RDVS D1000 : Received data is set on data memory form D1000 to D1006
WTTMR 10
ENDLP
[ Detail ]
Received data is set on data memory as follows:
Dn:Pallet Position[HX] (mm)

Dn+1:Pallet Position[HY] (mm)
Dn+2:Pallet Position[HT] (deg)
Dn+3:Pallet Position[HZ] (mm)
Dn+4:Product length(mm)
Dn+5:Product width(mm)
Dn+6:Product height (mm)
<Note>
The communication format isn’t explained in this manual.
[ Related Command ]
SDVS, CALC
[ SH Soft Version ]
[ Purpose ]
Exclusive use for vision system
48
RESTM
Data Memory operation
Clearing the count area of data memory
[ Format ]
RESTM Dn (n: data memory No.)
[ Example ]
Refer to STPTM command.
[ Detail ]
Operation is same as Dn = 0
[ Related Command ]
STATM, STPTM
[ SH Soft Version ]
[ Purpose ]
49
RET
Subroutine Control
Return from the subroutine
[ Format ]
RET
[ Example ]
Refer to Call command.
[ Detail ]
[ Related Command ]
CALL, SUBP
[ SH Soft Version ]
[ Purpose ]
50
RTOFT
System
Turn relay specified on and turn it off after the interval specified. (Same condition if
operation is turned off within the specified interval.) Sequence processing continues to execute next
commands discarding the foresaid interval.
[ Format ]
RTOFT Rn n {Rn: relay (Only M, Y possible), n: time [x 10ms])
[ Example ]
After arrived at step 7, hand (Y1C) is opened for 200 msec. (jogging in opening).
MOV 7
WTARM
RTOFT Y1C 20 hand jog-opened
MOV 8
WTARM
Y1C = ! hand fully opened
[ Detail ]
Conventional way:
Y1C = 1
WTTMR 200
Y1C = 0
If operation is shut down during WTTMR 200 for example, it immediately stops executing
sequence logic on half way and hand is fully opened.
[ Related Command ]
CALL, SUBP
[ SH Soft Version ]
[ Purpose ]
51
SDVS
Serial Communications
Sending data to host computer for vision system.
[ Format ]
SDVS Dn (n: data memory No.)
[ Example ]
In case of transmission of work type command “3”,
D1000=3 : Command 3 is designated

D1001=1 : Additional data is designated
SDVS D1000 : Command 3 transmission
In case of transmission of work size command “8”,
D1000=8 : Command 8 is designated

D1001=0 : Additional data is designated
D1002=400 : Work length is designated
D1003=300 : Work width is designated
D1004=150 : Work height is designated
SDVS D1000 : Command 8 transmission
[ Detail ]
Data set to the below data memories is edited into the format of vision system transmission
and sent.
In case of transmitting command except “8”
Dn: command No.

Dn+1:additional data is designated
In case of transmitting command “8”
Dn: command No.

Dn+1:additional data
Dn+2:work length(mm)
Dn+3:work width(mm)
Dn+4:work height (mm)
[ Related Command ]
RDVS
[ SH Soft Version ]
Ver1.00G
[ Purpose ]
Exclusive use for vision system
52
SETER
System Control
Simulate each error situation by sequence command.
[ Format ]
SETER n (n: error No.)
[ Example ]
MVDWN is being repeated until touch-down sensor (X04) is turned on. However, it errors out
at over 5 times.
D1000 = 0
LOOP !X4
MVDWN 7
WTARM
D1000 = D1000 + 1
IF D1000 > 5
SETER 132 : (Position data processing error)
END IF
ENDLP
[ Detail ]
The next command is not executed even if operation is ON. It stays there.
Sub code is fixed to ‘0’.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
53
SMOV
SMOV2
Arm movement Control
Three step movements are overlapped to make it smoother.
[ Format ]
SMOV n (n: Step No.)

SMOV2 n (n: Step No.)
[ Example ]
It moves smoothly to step 4, 5, and 7 It moves smoothly to step 8, 9, and 2
SMOV 4 SMOV2 8
WTARM WTARM
MOV 5 MOV 9
WTARM WTARM
MOV 7 MOV 2
WTARM WTARM
[ Detail ]
SMOV/SMOV2 is to be set at the first move command among the three-step processing.
If the positions of three steps are consecutive relations (conditions) mentioned below, the
robot arm can move smoother than just in MOV.
(The following conditions for overlapping by three steps need to be fulfilled.)

1. Motion to the first step is ascending (AX motion range should be within 10mm, AR motion
range within 1 degree), parameter “ deceleration coefficient” is ‘0’, parameter” overlap” is
‘FUL’.
2. Motion to the second step is horizontal (AZ motion range should be within 10mm),
parameter of ”acceleration coefficient” and “deceleration coefficient” is ‘0’, parameter”
overlap” is ‘FUL’.
3. Motion to the third step is descending (AX motion range should be within 10mm, AR
motion range within 1degree), parameter “deceleration coefficient” is ‘0’.
SMOV or SMOV2” motion can respectively be controlled by SMOV or SMOV2 parameters

which are in the system parameter. How much robot arm moves smoothly is adjusted by the
SMOV/SMOV2 parameters. If SMOV is distinguished from SMOV2 in usage, picking and
setting down products can be independently controlled.
[ Related Command ]
MOV, WTARM
SMOV/SMOV2 parameter in system parameter
[ SH Soft Version ]
Ver1.00G
[ Purpose ]
It is used when robot arm motion needs to be smoother than in MOV.
54
SPD
Motion Speed Control
Ratio to {(External speed) x (internal speed)} is set. (n=1 - 10)
[ Format ]
SPD n (n:×10%)
[ Example ]
Only for the 1st product per each layer, the motion speed to step7 is to be set at 50% to the
initial setting.
IF D1 = = 0
SPD 5
ENDIF
MOV 7
WTARM
SPD 10
[ Detail ]
The arm motion speed is changed. Set a ratio to {(External speed) x (internal speed)} of
‘10’.
The setting condition is automatically reset to SPD 10 when;
1. Main power is cycled

2. Sequence reset is executed
3. Program is changed
[ Related Command ]
ASPD
[ SH Soft Version ]
[ Purpose ]
55
SPSET
System
Change step parameter of MOV to be executed next.
[ Format ]
SPSET Dn (Dn: data memory No.)
Dn: Sort (0: internal speed, 1: overlap, 2: drop high)
Dn+1: In case of internal speed………speed is set to is ‘1 – 10’.
Overlap…………………3: FUL, 2: HLF, 1: QRT, 0: ZRO, 4: SPC
Drop high………………0: No, 1: yes (It works only at step 7)
[ Example ]
Normally overlapped with FULL, however overlapped with ZRO only at layer 10th, product
th
5 .
IFCNT 10 & 5
D1000 = 1
D1001 = 0
SPSET D1000
ENDIF
MOV 8
WTARM
[ Detail ]
It works only one time for MOV, SMOV, SMOV2, DMOV, MOVX, MOVZ, MVHZU, MVDWN or
MVPOS.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
56
STATM
Data Memory Operation
Value of data memory is incremental by ‘+ 1’ every 100 msec.
[ Format ]
STATM Dn (n: data memory No.)
[ Example ]
Refer to STPTM command.
[ Detail ]
0 100 200 300 400 500 [msec]

STATM Dn
Value of Dn 0 1 2 3 4 5
Image of concept
[ Related Command ]
STPTM, RESTM
[ SH Soft Version ]
[ Purpose ]
57
STOPA
Stop Control
Robot arm stops following MOV with deceleration
[ Format ]
STOPA
[ Example ]
Arm stops when input relay X0 comes on.
MOV 7
WTCON X0
STOPA
WTARM
[ Detail ]
Arm stops in the same manner as when a stop button is pressed even while it is moving at
constant speed under MOV command.
<Note>
STOPA is executed right after accelerating is completed.
STOPA STOPA STOPA
Accelerating Constant Decelerating
Image of concept
[ Related Command ]
STOPB
[ SH Soft Version ]
[ Purpose ]
58
STOPB
Stop Control
Force to stop robot arm under MOV
[ Format ]
STOPB
[ Example ]
[ Detail ]
This command has no deceleration. STOPA functions same as stop button while STOPB as an
emergency button.
STOPB
STOPB
STOPB
Accelerating Constant Decelerating
Image of concept
[ Related Command ]
STOPA
[ SH Soft Version ]
[ Purpose ]
<Caution>
Don’t use STOPB when robot arm is moving at high speed as larger impact-like force is
applied to gear reducers and other mechanical parts when it is executed.
59
STPTM
Data Memory Control
Stop counting data memory.
[ Format ]
STPTM Dn (n: data memory No.)
[ Example ]
It measures the time per a cycle of stacking operation. The last measurement data is to be
set in D1001.
STPTM D1000
D1001 = D1000
PRGSEL
RESTM D1000
STATM D1000
[ Detail ]
[ Related Command ]
STATM, RESTM
[ SH Soft Version ]
[ Purpose ]
60
SUBP
Subroutine Control
Call subroutine with label No. which is processed in background
[ Format ]
SUBP n (n: Label No.)
[ Example ]
Signal of station loading enable is turned on 500mm above station. It doesn't affect
overlapping between MOV4 and 5.
MOV 4
SUBP 1
WTARM
MOV 5
WTARM
---
JTOP
LBL 1
AMSPS 500
M6002 = 1
RET
ENDP
[ Detail ]
It doesn’t wait for the subroutine to be completed in process which is different from CALL
command.
The commands that can be processed by subroutine are as follows.
- AMSPS
- WTTMR
- Assignment statement
Only one subroutine can be executable at a time.

If a subroutine is being executed, this command is discarded.
[ Related Command ]
LBL, RET
[ SH Soft Version ]
Ver1.00G
[ Purpose ]
61
TRQC
C-Axis Control
Control the torque (ratio in % to the rated) of C axis to protect products from damaged.
[ Format ]
TRQC n {n: torque limit (ratio in % to the rated) of C axis}
[ Example ]
When products are picked
TRQC 0
HMOV 1
WTHND
TRQC 70 torque limit is changed to 70% of the rated
When products are released
TRQC 0 torque limit returns back to the default

HMOV 2
WTHND
pick hold release

C-axis speed
308%(0:default data) 308%(0:default data)

Torque limit
70%
Image of concept
[ Detail ]
n : 1%-308%
n=0 : Default data
<Caution>
In case of n=0, the torque is determined by the default data (308) designated by the servo
parameter of C-Axis.
[ Related Command ]
[ SH Soft Version ]
62
[ Purpose ]
When product is picked, TRQC command is used for C-Axis torque to be controlled after
holding (WTHND). In order to securely hold product, the target position for holding is set a
bit inside (somewhat approx. 10mm) than product width and at a time the axis accuracy of
C-Axis is set to contain neighborhood of the product edge.
C-axis motion
Target position Axis accuracy
Image of concept
63
WTAOC
Wait Conditions
This is used after MOV command and executes next sequence upon either fulfilling condition
or axis accuracy arrived.
[ Format ]
WTAOC Rn (or !Rn) (n: Relay No.)
WTAOC Rn (or !Rn) operator Rn (or !Rn) (n: Relay No.)
[ Example ]
After MOV 7 is executed in de-palletizing, vacuum (Y1D) is turned on when either relay X0
for touch-down sensor comes on or axis accuracy is arrived.
MOV 7
WTAOC X0
STOPB
WTARM
Y1D= 1
[ Detail ]
[ Related Command ]
MOV, WTARM, WTCON
[ SH Soft Version ]
[ Purpose ]
64
WTARM
Wait Conditions
Wait for arm to complete movement
[ Format ]
WTARM
[ Example ]
After completion of moving to step 1, turn relay M0 on.
MOV 1
WTARM
M0 = 1
[ Detail ]
This is a command to make sure if arm completes movement. A completion timing follows
pre- determined value set by ”overlap parameter” of step parameter.
This is to be used, as a pair, with such following commands as MOV, SMOV, SMOV2, DMOV,
MOVRT, MOVX, MOVZ, MVHZU, MVDWN and MVPOS.
Be sure to use if this command is paired with one of those within the same program.
(Correct programming) (Incorrect programming)

IF M0 IF M0
MOV 7 MOV 7
WTARM ELSE
ELSE MOV 10
MOV 10 ENDIF
WTARM WTARM
ENDIF
[ Related Command ]
MOV, SMOV, SMOV2, DMOV, MOVRT, MOVX, MOVZ, MVHZU, MVDWN and MVPOS.
Overlap Parameter (FUL/HLF/QRT/ZRO/SPC) in the step parameter
axis accuracy is large
1/4 axis accuracy is small

1/2
axis speed 1/1 axis speed
F H Q Z S Z S
U L R R P R P
L F T O C O C
Image of concept
SPC: If each axis position measured by encoder enters into the range of “axis accuracy”,
it is considered arm movement is completed. Time of the axis accuracy cannot be
specified.
FUL/HLF/QRT/ZRO:
Time of completion of arm movement is decided by the deceleration time.
[ SH Soft Version ]
[ Purpose ]
65
WTCON
Wait Conditions
Wait for the condition to have been fulfilled
[ Format ]
WTCON (condition 1)
[ Example ]
Wait until relay M5002 turns on.
WTCON M5002
Wait until relay M5002 turns off.

WTCON !M5002
[ Detail ]
[ Related Command ]
WTAOC
[ SH Soft Version ]
[ Purpose ]
66
WTHND
Wait Conditions
Wait for C axis to complete movement
[ Format ]
WTHND
[ Example ]
C axis moves to step 1.
HMOV 1
WTHND
[ Detail ]
[ Related Command ]
HMOV
[ SH Soft Version ]
[ Purpose ]
67
WTMSP
Wait Conditions
Timer to change operated together with automatic operation speed
Execute next sequence command having time in inverse proportion to automatic operation
speed.
[ Format ]
WTMSP n (n: Wait time [×10msec]: In case of automatic operation speed is 10)
WTMSP Dn (Dn: data memory No.)
(Value of data memory: waiting time [x 10ms]: at auto-operation speed 10)
[ Example ]
Relay Y1D (hand open) is turned off 100ms after deceleration starts on way toward step 7.
”overlap” parameter of step7 is FUL.
MOV 7
WTARM
WTMSP 10
Y1D = 0
Automatic speed 5 Automatic speed 10 Overlap(FUL)

Overlap(FUL)
Axis speed Axis speed

200 msec 100 msec
Y1D Y1D
In case of WTMSP 10
[ Detail ]
Waiting time is variable according to automatic operation speed.
Time specified by the command is at the automatic operation speed of 10. The time becomes
longer in inverse proportion to automatic operation speed during operation.
For instance, in case of WTMSP 20

Automatic operation speed is 10 - wait time is 200ms
[ Related Command ]
WTTMR
[ SH Soft Version ]
[ Purpose ]
It is convenient that this command is used to change time operated together with automatic
operation speed.
This is worthy at lower speed operation when peripheral equipment like hand is actuated
while arm is decelerating.
Acceleration and deceleration time to/from steps is in inverse proportion to external speed.
The slower the external speed, the longer the acc/dec time. If the timer set value would be
fixed, peripheral equipment (like a hand) would move too fast during like slow speed
operation for evaluation.
68
WTTMR
Wait Conditions
Execute sequence command after setting time is expired
[ Format ]
WTTMR n (n: wait time [×10msec])
WTTMR Dn (Dn: data memory No.)
(Value of data memory: waiting time [x 10ms])
[ Example ]
When arm completed moving to step 7, relay Y1D is turned off after 300ms.
MOV 7
WTARM
WTTMR 30
Y1D = 0
Overlap(FUL)
Overlap(ZRO)
axis speed axis speed
300 msec 300 msec
Y1D Y1D
Image of concept
[ Detail ]
Wait timer is n×10msec. It does not link with automatic operation speed.
[ Related Command ]
WTMSP
[ SH Soft Version ]
[ Purpose ]
69
Condition/Operation/Comparison
Assignment statement:
Assigned to relay
(1=ON, 0=OFF)
Rn1 = 1
Rn1 = 0
Rn1 = Rn2 Operator Rn3
(n1 – n3: relay No.)
Assigned to data memory

Dn1 = constant
Dn1 = Dn2
Dn1 = constant operation constant
Dn1 = Dn2 operation constant
Dn1 = Dn2 operation Dn3
(n1 – n3: data memory No.)
Condition1
Condition by relay
Mn1 (relay n1 turned on)
!Mn1 (relay n1 turned off)
Mn1 operation Mn2
(n1 – n2: replay No.)
Operation
[+] Addition between data memory and constant
[-] Subtraction between data memory and constant
[*] Multiplication between data memory and constant
[/] Division between data memory and constant
[%] Remainder of division between data memory and constant
[&] Logical AND between relays,
Logical AND between data memory and constant
[|] Logical OR between relays
Logical OR between data memory and constant
[^] Exclusive OR between data memory and constant
[<<] Left shift of data memory
[>>] Right shift of data memory
Comparison
A> B A greater than B
A>=B A greater than or equal to B
A==B A equal to B
A!=B A not equal to B
A<B A smaller than B
A<=B A smaller than or equal to B
A is data in data memory and B is data in data memory or a constant.
70
Robot manual
Robot Sequence Command
Version 05: 2014.05.26
<Caution>
Unauthorized reproduction of part or all of the content of this manual is forbidden.
The content of this manual is subject to future change without prior notice.
Okura Yusoki Co., Ltd.

900 Furuouchi, Noguchi-cho, Kakogawa,
Hyogo 675-8675 Japan

Sequence Manual ENG-SEQ

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Sequence Manual ENG-SEQ

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Robot Manual UL-CE-NSEQ-05

Robot Sequence commands

Okura Yusoki Co., Ltd.

Version Content Page

IMPORTANT The safety instructions with left sign of IMPORTANT

Data Access Data Memory Control

Next Command Hand

AX (Robot Arm) When it moves

Dn: distance [mm]

Example of hand mechanism

In case of de-palletizing, In case of Palletizing

Dn Pallet Position[HX] (mm) Dn Station Position[HX] (0.1mm)

In case of de-palletizing, Station Position is:

When “palletizing” is selected in function type, work counter is incremental.

Path of hand Robot arm (AX)

Start Position Center of R-axis

Target Position Teaching area

Error is caused by out

Layer Work M600A

Move hand axis to position of 300mm.

IFCNT ODD & 1

(1) Moving speed

WTARM command is necessary afterward.

Data setting is needed before executing command.

MOVX Dn (Dn: data memory No.)

MOV 4 Going up above station

MOVZ Dn (Dn: data memory No.)

Directed by data memory.

MVHZU Dn (Dn: Data memory No.)

WTARM command is necessary afterward.

It compares with the position at the black dot

Dn+1: Specified step number

D1004 =1 : Hand Coordinates system is specified

Dn: Height (unit is 0.1 mm)

D1000 = 0 : Initialize D1000 memory data

Dn:Pallet Position[HX] (mm)

D1000=3 : Command 3 is designated

In case of transmission of work size command “8”,

D1000=8 : Command 8 is designated

In case of transmitting command except “8”

Dn: command No.

In case of transmitting command “8”

Dn: command No.

SMOV n (n: Step No.)

(The following conditions for overlapping by three steps need to be fulfilled.)

SMOV or SMOV2” motion can respectively be controlled by SMOV or SMOV2 parameters

1. Main power is cycled

0 100 200 300 400 500 [msec]

STOPA STOPA STOPA

Accelerating Constant Decelerating

Accelerating Constant Decelerating

Only one subroutine can be executable at a time.

When products are released

TRQC 0 torque limit returns back to the default

pick hold release

308%(0:default data) 308%(0:default data)

Target position Axis accuracy

(Correct programming) (Incorrect programming)

axis accuracy is large

1/4 axis accuracy is small

Wait until relay M5002 turns off.

Automatic speed 5 Automatic speed 10 Overlap(FUL)