-
FANUC Robotics System R-J3, R-J3iB & R-30iA ArcTool eLearn
Student Manual MATELRNAT0511CE REV. A
This publication contains proprietary information of FANUC
Robotics America Corporation furnished for customer use only. No
other uses are authorized without the express written permission of
FANUC Robotics America Corporation FANUC Robotics America
Corporation 3900 W. Hamlin Road Rochester Hills, Michigan
48309-3253
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i
Table of Contents
1 FRAMES
.....................................................................................................................
1 1.1 SLIDE 2-TYPES OF FRAMES
..............................................................................................1
1.2 SLIDE 3-FRAME
OVERVIEW...............................................................................................1
1.3 SLIDE 4-TWO DIMENSIONAL CARTESIAN
COORDINATE.......................................................1
1.4 SLIDE 5-ONE QUADRANT
..................................................................................................1
1.5 SLIDE 6-THREE DIMENSIONAL CARTESIAN
COORDINATE....................................................1 1.6
SLIDE 7-9-ORIENTATION IN WORLD MODE-MINOR
AXES...................................................1 1.7 SLIDE
10-CARTESIAN COORDINATE SYSTEM
.....................................................................1
1.8 SLIDE 11-WORLD
FRAME..................................................................................................1
1.9 SLIDE 12-RIGHT HAND RULE
............................................................................................1
1.10 SLIDE 13-TOOL
FRAME.....................................................................................................1
1.11 SLIDE 14-TOOL FRAME
FEATURES....................................................................................1
1.12 SLIDE 15-ADJUSTING TOOL CENTER
POINT.......................................................................1
1.13 SLIDE 16-ACTUAL TOOL CENTER
POINT............................................................................1
1.14 SLIDE 17-METHODS OF DEFINING THE TOOL
FRAME..........................................................1
1.15 SLIDE 18-TEACHING A TOOL CENTER POINT 6 POINT METHOD
..........................................1 1.16 SLIDE 19-TOOL
CENTER POINT 6 POINT METHOD PROCEDURE
.........................................1 1.17 SLIDE 20-VERIFY
TCP......................................................................................................1
1.18 SLIDE 21-SELECTING A TOOL FRAME FROM THE JOG
MENU...............................................1 1.19 SLIDE
22-HOW THE ROBOT FRAMES ARE
LINKED...............................................................1
1.20 SLIDE 23-USER
FRAME.....................................................................................................1
1.21 SLIDE 24- EXAMPLE OF USER & TOOL FRAME IN A TP
PROGRAM.......................................1 1.22 SLIDE
25-SAMPLE PROGRAM UFRAME VS. WORLD FRAME
................................................1 1.23 SLIDE
26-USER FRAME PROCEDURE
................................................................................1
1.24 SLIDE 27-YOU TRY IT-USER
FRAME..................................................................................1
1.25 SLIDE 28-REMOTE TOOL CENTER
POINT...........................................................................1
1.26 SLIDE 29-FUNCTION
KEY..................................................................................................1
1.27 SLIDE 30-RTCP
INSTRUCTION..........................................................................................1
1.28 SLIDE 31-NO RTCP INSTRUCTION
....................................................................................1
1.29 SLIDE 32-JOG
FRAME.......................................................................................................1
1.30 SLIDE 33-JOG FRAME
PROCEDURE...................................................................................1
1.31 SLIDE 34-FRAMES
SUMMARY............................................................................................1
1.32 SLIDE 35-QUIZ
.................................................................................................................1
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2
INPUT/OUTPUT............................................................................................................
1 2.1 SLIDE 2-ANALOG
..............................................................................................................1
2.2 SLIDE 3-DIGITAL INPUT/OUTPUT
.......................................................................................1
2.3 SLIDE
4-DIGITAL...............................................................................................................1
2.4 SLIDE 5-ROBOT I/O
..........................................................................................................1
2.5 SLIDE 6-ROBOT I/O
..........................................................................................................1
2.6 SLIDE 7-MODEL A INPUT/OUTPUT
.....................................................................................1
2.7 SLIDE 8-RACK ASSIGNMENT
.............................................................................................1
2.8 SLIDE 9-MODEL A RACK
................................................................................................1
2.9 SLIDE 10-SLOT
ASSIGNMENT............................................................................................1
2.10 SLIDE 11-MODEL A SLOT
ASSIGNMENT.............................................................................1
2.11 SLIDE 12-STARTING POINT/CHANNEL
ASSIGNMENT...........................................................1
2.12 SLIDE 13-MODEL A-STARTING POINT ASSIGNMENT
...........................................................1 2.13
SLIDE 14-CONFIGURING
I/O..............................................................................................1
2.14 SLIDE 15-CONFIGURIG I/O
STATUS...................................................................................1
2.15 SLIDE 16-COMPLEMENTARY SIGNALS
...............................................................................1
2.16 SLIDE 17-I/O DETAIL
........................................................................................................1
2.17 SLIDE 18-19-MONITORING/CONTROLLING I/O
...................................................................1
2.18 SLIDE 20-SIMULATING
I/O.................................................................................................1
2.19 SLIDE 21-CONFIGURING GROUP
I/O..................................................................................1
2.20 SLIDE 22-GROUP INPUT/OUTPUT
......................................................................................1
2.21 SLIDE 23-INPUT/OUTPUT REVIEW
.....................................................................................1
3 PROGRAM
INSTRUCTION..............................................................................................
1 3.1 SLIDE 2-MODULE CONTENT
..............................................................................................1
3.2 SLIDE 3-DATA REGISTER
..................................................................................................1
3.3 SLIDE 4-POSITION REGISTER
INSTRUCTIONS.....................................................................1
3.4 SLIDE 5-POSITION REGISTER
ELEMENT.............................................................................1
3.5 SLIDE 6-PROGRAM
INSTRUCTIONS....................................................................................1
3.6 SLIDE 7-BRANCHING
INSTRUCTIONS..................................................................................1
3.7 SLIDE 8-LABEL DEFINITION INSTRUCTION LBL[X]
...............................................................1
3.8 SLIDE 9-UNCONDITIONAL BRANCH
CALL.........................................................................1
3.9 SLIDE 10-CONDITIONAL BRANCHING INSTRUCTIONS
..........................................................1 3.10
SLIDE 11-IF REGISTER
.....................................................................................................1
3.11 SLIDE 12-EXAMPLE #1 IF REGISTER
..............................................................................1
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3.12 SLIDE 13-EXAMPLE #2 IF REGISTER
..............................................................................1
3.13 SLIDE 14-IF INPUT/OUTPUT
..............................................................................................1
3.14 SLIDE 15-EXAMPLE #3 IF /
OR.......................................................................................1
3.15 SLIDE 16-IF PROCEDURE
.................................................................................................1
3.16 SLIDE 17-YOU TRY IT IF REGISTER
................................................................................1
3.17 SLIDE 18-SELECT
INSTRUCTIONS....................................................................................1
3.18 SLIDE 19-SELECT INSTRUCTION
PROCEDURE..................................................................1
3.19 SLIDE 20-SELECT INSTRUCTIONS YOU TRY
IT...............................................................1
3.20 SLIDE 21-WAIT
INSTRUCTION...........................................................................................1
3.21 SLIDE 22-REMARK INSTRUCTION
....................................................................................1
3.22 SLIDE 23-OVERRIDE
INSTRUCTION.................................................................................1
3.23 SLIDE 24-MESSAGE
INSTRUCTION..................................................................................1
3.24 SLIDE 25-TIMER INSTRUCTION
........................................................................................1
3.25 SLIDE 26-MODULE COMPLETE
..........................................................................................1
4 ARCTOOL PROGRAMMING
...........................................................................................
1 4.1 SLIDE 2-MODULE CONTENT
..............................................................................................1
4.2 SLIDE 3-ARCTOOL PROGRAM GUIDELINES
........................................................................1
4.3 SLIDE 4-WELD
I/O............................................................................................................1
4.4 SLIDE 5-CONTROLLED START R-J3 THRU R-3IB
................................................................1
4.5 SLIDE 6-CONTROLLED START FOR R-30IA
........................................................................1
4.6 SLIDE 7@ CONTROLLED START WELD I/O EQUIPMENT
SELECTION....................................1 4.7 SLIDE 8-SETTING
UP THE WELDING SYSTEM
.....................................................................1
4.8 SLIDE 9-WELD
EQUIPMENT...............................................................................................1
4.9 SLIDE 10-SETTING LINCOLN
EQUIPMENT...........................................................................1
4.10 SLIDE 11-ARC DEFAULTS INSTRUCTION DEMO
..................................................................1
4.11 SLIDE 12-ARC
PROGRAMMING..........................................................................................1
4.12 SLIDE 13-WELD ENABLED KEY
.........................................................................................1
4.13 SLIDE 14-ARC START
.......................................................................................................1
4.14 SLIDE 15-ARC
END...........................................................................................................1
4.15 SLIDE 19-ARC WELD
SCHEDULE.......................................................................................1
4.16 SLIDE 20-DELAY TIME
......................................................................................................1
4.17 SLIDE 21-ARC START SCHEDULE DEMO
............................................................................1
4.18 SLIDE 23-WEAVE INSTRUCTIONS
......................................................................................1
4.19 SLIDE 24-ARC WEAVE
SETUP...........................................................................................1
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4.20 SLIDE 25-WEAVE SCHEDULE
............................................................................................1
4.21 SLIDE 26-WEAVE INSTRUCTION
PROGRAM........................................................................1
4.22 SLIDE 28-PATH
JOGGING..................................................................................................1
4.23 SLIDE 29-TORCHMATE
.....................................................................................................1
4.24 SLIDE 30-TORCHMATE
VIDEO...........................................................................................1
4.25 SLIDE 31-INSTALLING & ALIGNING THE TOUCH BLOCK
.......................................................1 4.26 SLIDE
32-SETUP TORCHMATE
..........................................................................................1
4.27 SLIDE 33-EXECUTE TM_ADJST
MACRO...........................................................................1
4.28 SLIDE 34-VIEW THE TCP OFFSETS
...................................................................................1
4.29 SLIDE 35-COURSE OVERVIEW
..........................................................................................1
5 MODIFYING A
PROGRAM..............................................................................................
1 5.1 SLIDE 2-MODIFYING PROGRAMS
.......................................................................................1
5.2 SLIDE 3-INSERT
.............................................................................................................1
5.3 SLIDE
4-DELETE.............................................................................................................1
5.4 SLIDE 5-COPY
................................................................................................................1
5.5 SLIDE
6-PASTE...............................................................................................................1
5.6 SLIDE 7-PASTE-F2 LOGIC
...............................................................................................1
5.7 SLIDE 8-9 PASTE F3 POS-ID
.......................................................................................1
5.8 SLIDE 10-11 PASTE F4 POSITION
..............................................................................1
5.9 SLIDE 12-REVERSE
PASTE...........................................................................................1
5.10 SLIDE 13-PASTE - F1 R-LOGIC
......................................................................................1
5.11 SLIDE 14-PASTE F1 R-LOGIC
.....................................................................................1
5.12 SLIDE 15-PASTE F2 R-POS-ID
....................................................................................1
5.13 SLIDE 16-PASTE F2 R POS-ID
....................................................................................1
5.14 SLIDE 17-PASTE F4
R-POS.........................................................................................1
5.15 SLIDE 18-PASTE F4
R-POS.........................................................................................1
5.16 SLIDE 19-PASTE F3 RM-POS-ID
.................................................................................1
5.17 SLIDE 20-PASTE F3 RM-POS-ID
.................................................................................1
5.18 SLIDE 21-PASTE F5
RM-POS......................................................................................1
5.19 SLIDE 22-PASTE F5
RM-POS......................................................................................1
5.20 SLIDE 23-FIND
................................................................................................................1
5.21 SLIDE
24-REPLACE........................................................................................................1
5.22 SLIDE
25-RENUMBERING..............................................................................................1
5.23 SLIDE 26-COMMENT
......................................................................................................1
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5.24 SLIDE 27-UNDO
..............................................................................................................1
5.25 SLIDE 28-YOU TRY IT
.......................................................................................................1
5.26 SLIDE 29-MODULE
REVIEW...............................................................................................1
6 MACRO
COMMANDS....................................................................................................
1 6.1 SLIDE 2-MODULE CONTENT
..............................................................................................1
6.2 SLIDE 3-OVERVIEW OF MACROS
.......................................................................................1
6.3 SLIDE 4-TEACH PENDANT USER KEYS
..............................................................................1
6.4 SLIDE 5-MACRO COMMAND
ASSIGNMENTS........................................................................1
6.5 SLIDE 6-OPERATOR PANEL BUTTONS
...............................................................................1
6.6 SLIDE 7-MANUAL FUNCTIONS MACROS
.............................................................................1
6.7 SLIDE 8-SETTING UP MACRO
COMMANDS..........................................................................1
6.8 SLIDE 9-YOU TRY IT
.........................................................................................................1
6.9 SLIDE 10-MACRO REVIEW
................................................................................................1
7 PRODUCTION SETUP
...................................................................................................
1 7.1 SLIDE
2-AGENDA..............................................................................................................1
7.2 SLIDE 3-REMOTE/LOCAL MODE
........................................................................................1
7.3 SLIDE 4-PRODUCTION SETUP IN SYSTEM CONFIG
MENU....................................................1 7.4 SLIDE
5-PRODUCTION SETUP
...........................................................................................1
7.5 SLIDE 6-PRODUCTION START CHECKS
..............................................................................1
7.6 SLIDE 7-PRODUCTION SETUP GENERAL
CONTROLS........................................................1
7.7 SLIDE 8-STYLE SELECT USING DIN START METHOD PROCEDURE
......................................1 7.8 SLIDE 9-SUMMARY
...........................................................................................................1
8 FILE
MANAGEMENT.....................................................................................................
1 8.1 SLIDE 2-MODULE CONTENT
..............................................................................................1
8.2 SLIDE 3-DISPLAY PROGRAM
FILES....................................................................................1
8.3 SLIDE 4-COPY A
PROGRAM...............................................................................................1
8.4 SLIDE 5-DELETE PROGRAM
FILES.....................................................................................1
8.5 SLIDE 6-7-ABORTING A PROGRAM
....................................................................................1
8.6 SLIDE 8-YOU TRY IT
.........................................................................................................1
8.7 SLIDE 9-TYPES OF FILES
..................................................................................................1
8.8 SLIDE 10-STORAGE
DEVICES............................................................................................1
8.9 SLIDE 11-SET THE DEFAULT DEVICE & GENERATE A
DIRECTORY.......................................1 8.10 SLIDE 12-YOU
TRY IT
.......................................................................................................1
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8.11 SLIDE 13-BACKUP UP FILES VS. CONTROLLER
BACKUP.....................................................1 8.12
SLIDE 14-BACKUP FILES USING THE FILE MENU
...............................................................1
8.13 SLIDE 15-LOADING FILES USING THE FILE
MENU..............................................................1
8.14 SLIDE 16-BACKUP UP A CONTROLLER AS
IMAGES..............................................................1
8.15 SLIDE 17-RESTORING CONTROLLER
IMAGES.....................................................................1
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System R-J3, R-J3iB & R-30iA
1
Course Overview
Course Overview
1 Frames
2 Input/Output
3 Program Instruction
4 - ArcTool Programming
4 Modify a Program
5 Macro Commands
6 Robot Setup for Production
7 File Management
Module Contents Frames:
World Frame,
Tool Frame,
User Frame and within user frames, the Remote Tool Center Point
which is only available in some applications,
Jog Frame
Input/Output:
After successfully completing this module, you should know the
different types of Inputs and Outputs and how to configure
them.
There are several types of I/Os, but in this module, the
different types of Inputs and Outputs are:
Robot
Digital;
Analog
Group
Inputs and Outputs are electrical signals that enable the robot
controller to communicate with End of Arm Tooling, process
equipment, other external sensors and other devices.
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Course Overview MATELRNAT0511CE REV. A
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Program Instructions
Data Register
Position Register Instruction
Branching Instructions
Label
Unconditional
JMP LBL
CALL
Conditional
Wait Instructions
Miscellaneous Instructions
Remark
Override
Message
Timer
ArcTool Programming
ArcTool Program Guideline
Weld I/O
Setup and Select Weld Equipment
ArcTool Instructions
ArcTool Default Instructions
Arc Weld Schedule
Delay Time
Weld Enable
Weave Patterns
Weave Instructions
Weave Schedule
Torchmate
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Course Overview MATELRNAT0511CE REV. A
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Modifying a Program
Inserting blank lines into a Program.
Deleting lines from a Program
Copying and Pasting lines within a Program
Finding program instructions within a Program
Replacing Items
Renumbering Positional IDs
Turning ON and OFF Comments
And the UNDO function
Macro Commands
Overview of Macros
Setting Up Macro Commands
Assigning a Macro to a Teach Pendant User Key,Manual Functions
or Operator Panel Buttons
Robot Setup for Production
Learn how setup a robot for production using the teach
pendant.
Cover various production modes, system and Cell I/O
configurations.
A video to reinforce the step by step process needed to
configure the settings
File Management
Copying and Deleting Programs,
Backup all or specific types of files to a specific device.
Learn how to load program from the backup device
Then wrap-up with how to do an image backup and Restore
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System R-J3, R-J3iB & R-30iA
5Frames 1 1 FRAMES
Frames
Frames
Audio:
Welcome to Frames. In this course we will investigate what type
of frames there are. We will see how to set them up and what they
are used for.
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1.1 Slide 2-Types of Frames
Frames
Types of Frames
World frame - default frame of the robot Tool frame - user
defined frame User frame - user defined frame
RTCP Remote Tool Center Point HandlingTool, DispenseTool,
and
SpotTool+ only)
Jog frame - user defined frame
Audio:
This course will cover all the frames available within FANUC
software. The robot uses four kinds of frames which are World
Frame, Tool Frame, User Frame and within user frames, the Remote
Tool Center Point which is only available in
some applications, and finally wrap up with Jog Frame
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1.2 Slide 3-Frame Overview
Audio:
1. But first, an overview of what a frame is. A frame is an
intersection of three planes at right angles to each other. The
point where all three planes intersect is called the origin point.
Where X,Y & Z values are all 0. Here are more examples of a
Frame with the Origin point in different positions.
2. Any point can be located within a frame by providing three
positive or negative numbers to represent the X,Y & Z distances
from the origin. This kind of system is called a Cartesian
coordinate system.
3. The frame itself is a set of numbers used to describe the
location, and orientation about the X,Y,Z axes of the reference
frame.
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1.3 Slide 4-Two Dimensional Cartesian Coordinate
Frames
I
Two Dimensional Cartesian Coordinate y-axis
x-axis
Origin = 0
+
+
II
III IV
I
x values
yvalues
I >0 >0IIIIIIV
0
>0
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1.4 Slide 5-One Quadrant
Audio:
To determine the robots position in millimeters we use this
scale to figure this out. The result is positive 600 in the x
direction and positive 800 in the y direction
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1.5 Slide 6-Three Dimensional Cartesian Coordinate
Audio:
In the three dimensional Cartesian Coordinate system we are
adding another axis to the plane. X axis becomes forward and
backward movement. Y axis becomes a side to side movement. Z is the
UP and DOWN movement.
The values reflect the location for positional information, the
values shown in this slide reflects
Distance from the origin along the X axis which reflects in
example 600
Distance from the origin along the Y axis which is 800
Distance from the origin from the Z axis which is negative
700
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1.6 Slide 7-9-Orientation in WORLD mode-Minor Axes
Frames
Orientation in WORLD mode Minor Axes
Major Axes
Minor Axes
Roll (R) Rotation around Z
OrientationYaw (W) Rotation around XPitch (P) Rotation around
Y
Frames
Orientation in WORLD mode Minor Axes
Major Axes
Minor Axes
Roll (R) Rotation around Z
OrientationYaw (W) Rotation around XPitch (P) Rotation around
Y
Audio:
The orientations of a position is expressed in three dimensions
also, but are measured in degrees of rotation about the x, y, and z
axes.
Use the minor axes from the teach pendant when jogging about the
x, y and z axes
When rotating Yaw it is Rotating around X
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1.7 Slide 10-Cartesian Coordinate System
Frames
Cartesian Coordinate System
+X=1800mm
+Y=1000mm
+Z=800mm
-BCKEDT- LINE 0 AUTO ABORTED
POSITION JOINT 100 %
World Tool: 1
Configuration: N U T, 0, 0, 0
x: 1800.000 y: 1000.000 z: 800.000
w: -146.360 p: -33.432 r: -22.691
[ TYPE ] JNT USER WORLD
Teach Pendant POSN menu
0
Audio:
Putting it all together this robots position in Cartesian is
positive 1800 millimeters in the x direction, positive 1000
millimeters in the y direction and positive 800 in the z direction
all from the origin.
The robots orientation is negative 146 degrees about X which is
the yaw value and negative 33 degrees about Y which is the pitch
value and negative 22 degrees about Z which is the roll value.
You can view the robots positional values from the Position menu
on the Teach Pendant.
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1.8 Slide 11-World Frame
Frames
World Frame
J2
J2
ORIGIN OF WORLD FRAME
J1
J1
Audio:
Starting with World Frame.
1. The World Frame is the default frame of the robot. It cannot
be changed by the user.
2. The origin of the world frame is located on the centerline of
the J1-axis and at the height of the centerline of the J2-axis.
3. The location of this origin never changes.
4. And the orientation of the World frame never changes.
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1.9 Slide 12-Right Hand Rule
Frames
Right Hand Rule
+X
+X+Y
+Y
+Z
+Z
Audio:
The directions of the World frame can be represented by the
right hand rule. Also the World coordinates can be better
understood if you stand behind or by the side of the robot and then
use the right handed rule.
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1.10 Slide 13-Tool Frame
Frames
Tool Frame
+X
+Y
+ZA Tool frame is
defined using the Cartesian
coordinate system
Default Tool Frame Origin
+X
+Y
+Z
Tool Center Point has moved from the faceplate to the tool
Audio:
Now we will discuss the Tool Frame.
Its origin is called the tool center point (TCP). By default,
the TCP is located at the center of the robots faceplate. When you
set up a Tool frame, also called a UTool, you move the TCP from the
robots faceplate to define the point on the applicator, gun, torch,
or other tool where the painting, welding, sealing, handling, or
other application work is to be done.
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1.11 Slide 14-Tool Frame Features
Audio:
So why define a Tool Center Point.
An important reason to define a TCP is simply to jog the TCP to
the workpiece which makes programming easier. Some software
applications are based on a correctly defined TCP. For an Example,
in a SpotTool servo gun application, the TCP is tied to the tip
wear compensation.
Another important reason to define a TCP is to have consistency
from robot to robot, especially in a plant that has many cells.
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1.12 Slide 15-Adjusting Tool Center Point
Audio:
Here is another example of the default Tool Frame located on the
Face Plate. When the tool is mounted, it does not take into account
the actual position of the tooling where the work is to be done.
Therefore if you jog the robot using default tool coordinates you
will be unable to control the position of the robot relative to the
center of the attached tooling.
In order for the Tool coordinates X,Y,& Z to refer to the
center of the tooling, you must adjust the Tool Frame offset as
shown here.
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1.13 Slide 16-Actual Tool Center Point
Frames
Actual Tool Center Point
Audio:
Here are some examples of different toolings Tool Frame Offsets.
in PaintTool, the TCP is approximately 12 inches from the end of
the applicator, but this can vary depending on your particular
applicator; in ArcTool, the TCP is the tip of the wire; in
SpotTool+, the TCP is where the tips of the gun meet when they are
closed; in HandlingTool, the TCP is where the gripper closes to
pick the part up.
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1.14 Slide 17-Methods of Defining the Tool Frame
Frames
Methods of Defining the Tool Frame
Three Point Method defines just the location of the tool frame
when the values
cannot be measured and directly entered
Six Point Method defines the location and orientation of the
tool frame when the
values cannot be measured and directly entered.
Direct Entry Method used when tool dimensions are known and can
be entered
directly into Tool Frame settings. Direct Entry must be used
with 4-axis robots
Audio:
There are three ways to define a tool Frame:
The Three Point Method, the Six Point Method, and the Direct
Entry Method. Use the three point method to define just the
location of the tool frame when the values
cannot be measured and directly entered Use the six point method
to define the location and orientation of the tool frame when
the
values cannot be measured and directly entered. The direct entry
method provides for direct numerical entry of known tool
dimensions. Direct
Entry is used when tool dimensions are known and can be entered
directly into Tool Frame settings. Direct Entry must be used with
4-axis robots, such as the M410iB and the A520iB.
In this exercise you will set up the Tool Frame using the 6
point method.
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1.15 Slide 18-Teaching a Tool Center Point 6 Point Method
Audio:
This video (which will repeat) is displaying the 6 point method
which requires you to teach 6 points. The first 3 approach points
are used to define the location of the Tool Center Point and are
the same approach points as in the 3 Point method. The three
additional points define the direction vector for the tool. These
three additional points define orientation, measured in degrees of
rotation about an axis. W stands for Yaw. Yaw rotates about the X
axis. P stands for Pitch, and rotates about the Y axis. R, for
Roll, rotates about the Z axis. All are measured in degrees.
When recording the Orient origin point or to simplify teaching
points 4, 5, and 6, align the desired X, Y, and Z directions of the
tool with the X, Y, and Z of the World frame in any order that
avoids singularity. In this example it is convenient to align the
tool frame Z with the World frame Z and the Tool frame X with the
World frame X. This alignment is based on the shape of the tool and
the need to avoid singularity.
When you teach the Orient Origin point it is often helpful to
start with all of the Zero position reference marks aligned. Then
you can move the minor axes until the tool is squared up with the
World Frame. Just be sure the robot is not in singularity. Then you
can record the Orient Origin point.
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1.16 Slide 19-Tool Center Point 6 Point Method Procedure
Audio:
The following video will show how to define a Tool Center Point
using the 6 point method. You will teach 3 different approach
points, an Orient origin point and then define your Positive X and
Positive Z direction points. In the process of learning the 6 point
method, you will learn the 3 Point Method as well.
1 The first thing you need to do is turn the Teach Pendant to
the ON position, then press the key. From the pop-up menu cursor
down to SETUP and press the key.
2 Press the TYPE key and cursor down to FRAMES and press the
key. Upon selecting Frames, the Tool frame setup is the default
screen.
3 Press the DETAIL key to select TOOL Frame #1.
4 To name this Tool Frame, press key. You will name this tool
frame POINTER, after you have typed the name PRESS the key.
5 Select the 6 point method from the function key . 6 You begin
by teaching 3 points on a fixed reference, with the orientation of
the tool 90
degrees different on each point. This is all that is required
when teaching a 3 point method.
7 You will now jog the tool to the approach point #1 and HOLD
the key and PRESS RECORD to record it.
MENUS
ENTER
ENTER
F5 SHIFT
F2
ENTERENTER
F2
F1
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8 Now cursor down to approach point #2 . Remember you need 3
different planes recorded. Now jog the tool to approach point #2,
and again hold the key and PRESS RECORD.
9 Release the key and cursor down to APPROACH point 3. Jog the
tool to approach point 3 position then press and HOLD the key plus
the key to record this position.
10 This completes the 3 point method. The 6 point method
continues to the next step of defining the Orient Origin point. Any
orientation of the tool will work as long as the tool is square to
the World Frame and the robot is not in Singularity.
11 In the final 2 steps you define the Positive X and Positive Z
directions of the Tool Frame. First we will define the Positive X
direction by jogging the tool from the Orient Origin point at least
250 mm, then HOLD the key and PRESS the RECORD.
12 Finally you need to define the Positive Z Direction. Start by
moving back to the Orient Origin point being careful that the tool
doesnt move the part.
13 Now jog the tool at least 250mm in the direction that you
want to define as the Positive Z direction and HOLD the key and
PRESS the RECORD.
The Tool Frame have now been defined.
F5SHIFT
F5SHIFT
SHIFT F5SHIFT
SHIFT F5
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1.17 Slide 20-Verify TCP
Frames
Verify TCP
Audio:
If the TCP was taught correctly, it will move in the direction
you want when you jog in X, Y, or Z.
When you rotate the tool, it should rotate about the Tool center
point. The TCP should remain stationary.
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1.18 Slide 21-Selecting a Tool Frame from the Jog Menu
Frames
Selecting a Tool Frame from the Jog Menu
Tool #1 Tool #2
+Tool ( .=10) 2Jog 0User 3Group 2
Audio:
When there are multiple tools and groups defined on a robot, you
can use the jog menu to verify and change the following jogging
information:
TOOL, JOG, and USER frame number of each frame.
Additionally, you can change motion group number be aware that
before changing motion group number, the frame number that is
displayed is the frame number defined within that motion group.
First press plus the coordinate key on the Teach Pendant. Select
TOOL and enter the number of the frame you want. Then press the
coordinate key without the shift key until desired coordinate
system is selected.
After you have taught the Tool Center Point and that tool is
selected, you can test the tool by jogging in the Tool Frame you
have just taught.
SHIFT
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1.19 Slide 22-How the Robot Frames are linked
Frames
How the Robot frames are linked
Robot
Tool Frame (TCP)
Positional data
User Frame origin
Taught PositionJ P[1] 100% FINE
Audio:
In Summary, the Tool Frame Offset tells the controller where the
Tool frame is relative to the center of the faceplate
Positional data tells the controller where the Tool frame is,
relative to the User frame. In this example, there is a defined
User Frame that is not using the default world frame.
User frame offset data (UFRAME) tells the controller where the
defined USER frame is relative to World frame. This is the next
subject.
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1.20 Slide 23-User Frame
Frames
User Frame
+Z
-Z
+Y
-Y+X
-X+Z
-Z
+Y
-Y
+X-X
X PLANE
X PL
ANE
Y PLANE
Y PLANE
Z PLANE
Z PL
ANE
World Frame
You can define up to 9 user frames within R-J3 controllers
User Frame is this offset in
the X,Y,Z,W,P,R
User frame - user defined frame
User:
Now lets discuss the User Frame
User frame is a frame that you can set up in any location, with
any orientation. User frames are used so that positions in a
program can be recorded relative to the origin of the frame.
If you do not set up the location and orientation of the user
frame before you create a program, then the user frame will be set,
by default, to the world frame origin point.
When jogging the robot in User coordinates and you have not
defined a user frame, then the XYZ motion will be the same as XYZ
motion in world.
If you jog the robot in User Coordinates, and a user frame has
been defined and that defined user frame is selected, you must
remember that the X, Y, & Z origin point is referenced from the
defined user frame, not the center of the robot, like World
Coordinates does.
You can define up to nine user frames within the R-J3
controllers
There are three methods of setting the Uframe: The Three Point
Method, the Four Point Method and the Direct Entry Method.
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1.21 Slide 24- Example of User & Tool Frame in a TP
Program
Frames
Example of User & Tool Frame in a TP Program
Program Position Detail
Audio:
Each time a point is taught in a program, the recorded
positional data provides the location of the TCP, expressed as X,
Y, & Z, relative to the origin of the currently selected User
Frame. The orientation of the Tool Frame, expressed as W, P, &
R, for Yaw, Pitch and Roll, is also relative to the User Frame.
Therefore, if no Tool Frame has been taught, the X, Y, & Z
positional data will reference from the center of the robot
faceplate and not the center of the attached tool. However, if a
Tool frame has been taught, and, that Tool Frame is selected, the
X, Y, Z, W, P, & R data will reference the actual Tool Center
Point.
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1.22 Slide 25-Sample Program UFrame vs. World Frame
Frames
Sample Program UFrame vs. World Frame
Program is referenced from UFrame
Program Points
Audio:
One of the benefits of defining a user frame is when multiple
programs are based on a user frame which can be referenced from the
workpiece and when the workpiece moves, then editing the user frame
would adjust all programs based on that user frame.
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1.23 Slide 26-User Frame Procedure
Audio:
This video will show you how to define a User Frame using the 3
point method.
1 First turn the Teach Pendant to the ON position, then press
the key. From the pop-up menu cursor down to SETUP and press the
key.
2 Now press the TYPE key and cursor down to FRAMES and press the
key. Upon selecting Frames, the Tool frame setup is the default
screen.
3 Select User frame from the function key labeled OTHER and
press
4 Press DETAIL function key to define and name the user frame. 5
You can name the user frame within the Comment line; however this
has already been
defined. To delete the existing name and rename it hold the
Shift key plus arrow right to delete one character at a time. We
will rename it to be called BOX. The Teach Pendant recognizes the
Frame number and not the comment name you provide.
6 Press the softkey labeled method to select the method that you
will be using when defining the User Frame
7 Jog the robot to the Orient origin point position and record
it using the and Record key
8 Next, you define the Positive X direction by jogging the robot
from the Orient Origin point at least 250 mm, then HOLD the key and
PRESS the RECORD key.
MENUS
F5SHIFT
ENTER F3
ENTER
ENTER
F2
F5SHIFT
F2
F1
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9 Now jog the tool at least 250mm in the direction that you want
to define as the Positive Y direction and HOLD the key and PRESS
the RECORD key.
10 This completes the procedure on how to define a user frame
using the three point method 11 Now we will demonstrate using the
newly defined the User Frame. newly
12 When you press the plus the key, you can verify the user
frame number that is selected.
This completes the demonstration on how to create a three point
user frame.
SHIFT
SHIFT COORD
F5
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1.24 Slide 27-You Try It-User Frame
Audio:
This is your opportunity to recall the steps needed to define a
User Frame using the 3 point method.
You can name the user frame within the Comment line; however
this has already been defined. We will rename it to be called
BOX.
We will Jog the robot to the Orient origin point position
We will jog the robot from the Orient Origin point 250 mm.
We will jog the tool at least 250mm in the direction that
defines the Positive Y direction.
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1.25 Slide 28-Remote Tool Center Point
Frames
Remote Tool Center Point
+Y
+X
+ZTool
Frame
+Y-X
+ZUser Frame
(Remote Tool Center Point)
Audio:
In this section, we will cover the Remote Tool Center Point
A remote tool is an external tool within the robots working
envelope that performs work on a part that is delivered by the
robot. In situations where the robot carries the workpiece and the
tool is stationary, you can make use of the User Frame to provide
special movement of the workpiece about the tool. In these
situations the User Frame is called a Remote Tool Center Point.
You can define a user frame whose origin is at the external tool
to allow moving the part relative to the external tool.
When the user frame is employed this way, it is called a Remote
Tool Center Point.
You must first define a user frame before you can use the Remote
Tool Center Point feature when jogging the robot. If you want to
include remote tool center point moves in a program, you must
include Remote Tool Center Point instructions in the program.
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1.26 Slide 29-Function Key
Frames
Function Key
FCTN
Audio:
The controller must have the Remote Tool Center Point software
option installed.
To jog the robot in Remote Tool Center Point, you must press the
Function key on the Teach Pendant, select Toggle Remote TCP and
press enter. Once you have selected the Remote TCP function and you
are using XYZ coordinates, the selected Remote Tool Center Point,
along with the coordinate system will be displayed in the teach
pendant window. In this example Remote TCP one and Tool Coordinate
is displayed in the Teach Pendant window.
When this function is enabled and the remote tool center point
user frame has been defined, you can jog the robot with the part
around the remote tool.
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1.27 Slide 30-RTCP Instruction
Audio:
if you want to use the Remote Tool Center Point option in your
Teach Pendant program, you must decide where it is needed and then
place it on the end of the program-line statement using the CHOICE
menu to display Motion Options to select RTCP. Notice in this
animation, which provides multiple views of the same motion, how
the robot with part will jog around the remote tool. When you are
done viewing this slide, press the next slide icon.
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1.28 Slide 31-No RTCP Instruction
Audio:
Here is an example of the resulting path of a robot using a
Teach Pendant program without the Remote Tool Center Point option.
This example also shows multiple views of the same motion. Notice
how the robot with part is not accurate when rotating around the
tool.
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1.29 Slide 32-Jog Frame
Frames
Jog Frame
Jog FrameWorld Frame
You can set up as many as 5 different jog frames for each
robot
Audio:
We will wrap up with Jog Frame
The Jog Frame provides a convenient way to jog the robot
relative to a particular workpiece.
In this example, A Jog frame was defined to move along a part
when the part is oriented differently from the world frame.
This displays two examples: the world frame and the jog
frame.
The benefits of defining a jog frame, are that it makes jogging
easier when teaching points, and it will remove the need to "tack
while jogging, if a part is skewed in relation to the world frame.
Remember that Jog frames can be taught anywhere inside the robots
workspace.
You may like to think of a Jog Frame as another right hand rule
defined somewhere within the work envelope.
NOTE that a Jog Frame has no effect on program data!
Before you can use a jog frame, you must set up its location and
orientation.
You can set up as many as five different jog frames for each
robot.
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You can select one jog frame to be active at a time per motion
group.
Once the Jog Frame has been defined and is selected, the robot
can be jogged in that frame.
There are two methods you can use to define a jog frame:
The Direct Entry method and the Three Point method
1. The direct entry method provides for direct recording and
numerical entry of the frame position.
2. This method allows you to designate the origin with the
actual values for x, y, z, w, p, and r when they are already
known.
Usually however, the frame data is unknown. In that case you can
use the three point method to teach a jog frame.
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1.30 Slide 33-Jog Frame Procedure
Audio:
In this video you will learn how to define a jog frame.
1 First, turn on the Teach Pendant, then select Setup from the
key.
2 Now press the function key labeled TYPE and cursor down to
FRAMES and press the key.
3 Select Jog frame from the function key labeled OTHER and
press
4 Press DETAIL function key to define and name the jog
frame.
5 Press to name this frame BOX, then press again
6 Select the function key labeled METHOD and select 3 point. 7
Place the robot at the top left hand corner of the box and record
the origin point. When the
robot is positioned at this point, press Shift plus to Record
this position. For the X direction, jog the robot in the direction
that you want the jog frame plus X direction
to be. Any coordinates can be utilized to get to the directions.
Coordinates do not have any bearing on the final outcome in
defining the jog frame.
8 Now jog the robot so that the pointer is half way down the box
to represent the +Y direction.
MENU
+X
F5
ENTER
F2
F2
ENTER
ENTER F3
ENTER F1
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9 Press to record the direction 10 Now test the frame that was
just created. Change the coordinates to jog frame.
11 When you bring up the jog menu with the plus the key, you
will see that jog frame number 1 is active
This completes the Jog Frame setup procedure
1.31 Slide 34-Frames Summary
Frames
Frames Summary
World frame - default frame of the robot Tool frame - user
defined frame User frame - user defined frame
RTCP Remote Tool Center Point HandlingTool, DispenseTool, and
SpotTool+ only)
Jog frame - user defined frame
Audio:
You have completed the frames module. In this module
understanding the different types of frames has been the key topic.
We learned that world frame is always the default frame of the
robot. An important reason to define a tool frame is simply jog the
TCP to the work piece which makes programming easier. User frame is
a frame that you can setup in any location and any orientation.
User frames are used so that positions in a program can be recorded
relative to the origin of the frame.
A remote tool is an external tool within the robots working
envelope that performs work on a part that is delivered by the
robot. And the course wrapped up with Jog frame which simply
provides a convenient way to jog the robot relative to a particular
work piece.
+Y
SHIFT COORD
F5 SHIFT
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1.32 Slide 35-Quiz
Frames
Quiz
Now is your opportunity to test your knowledge
You must pass with an 80% or higher You may retake the questions
as many times
as necessary, but you must close out of the course before
retaking it again.
Click here to begin the Quiz
Audio:
If you have any questions or would like to provide feedback,
please contact [email protected]
And now in the next slides you will have the opportunity to test
your knowledge of the information that has been provided.
-
System R-J3, R-J3iB & R-30iA
41Input/Output 2
2 INPUT/OUTPUT
Input/Output
Module ObjectivesAfter successfully completing this module you
should know the different types of I/O and how to configure
them:
Audio:
Welcome to Input, Output
After successfully completing this module, you should know the
different types of Inputs and Outputs and how to configure
them.
There are several types of I/Os, but in this module, the
different types of Inputs and Outputs are: Robot; Digital; Analog
and Group.
Inputs and Outputs are electrical signals that enable the robot
controller to communicate with End of Arm Tooling, process
equipment, other external sensors and other devices.
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2.1 Slide 2-Analog
Input/Output
Analog
Substance
Pressure Transducer - Analog
Typical Voltage Values
-10 volts to +10 volts
Audio:
First, what are Analog signals Analog Signals are created from
sensors, or transducers in the work cell, or sent from a Robot
controller via its control module to a transducer within the cell
to effect a change. This signal is normally an electrical voltage
within an accepted range of values that is transmitted to or from
an I/O circuit-board or module connected to a robot controller.
Notice, in this example, that as the substance fills the tank,
the pressure transducer puts out an analog voltage that is used to
determine when to open the valve and release the substance.
Analog input devices convert external analog signals into
numbers for use by the controller. Analog Output devices send
analog signals out to external devices. Typical voltages of analog
inputs and Outputs are from negative 10 to positive 10 volts
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2.2 Slide 3-Digital Input/Output
Input/Output
Digital Input/Output
Light switch is OFFON
Audio:
A Digital Input and Output signal is a control signal sent to or
from the controller. Digital signals can have only one of two
possible states: ON or OFF.
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2.3 Slide 4-Digital
Input/Output
Digital
Substance
Float with Switch Digital ONOFF
Audio:
Here is an example of a Digital signal. As a substance fills the
tank, a switch, connected to the float at the top of the tank will
disconnect to break a connection. This becomes a digital OFF
signal, and is used to stop the flow of substance. Then as the
substance drains out of the tank, the floats switch will make the
connection to turn the substance-flow on.
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2.4 Slide 5-Robot I/O
Audio:
Robot Inputs and Outputs are digital signals usually used to
manipulate the End of Arm Tooling. These signals are sent through
the
End Effector or the EE connector located on the robot. Although
all robot have it, not all robots use it.
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2.5 Slide 6-Robot I/O
Audio:
This example shows how the programming instruction would be
written to manipulate the End of Arm Tooling utilizing Robot
Outputs.
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2.6 Slide 7-Model A Input/Output
Audio:
Heres how to configure Digital AND ANALOG Inputs and
Outputs:
When all appropriate I/O hardware has been installed and
connected, you must configure the I/O. Configuring I/O establishes
the correspondence between the signal number and the physical port.
Each signal, or signal-sequence must be configured to a rack, a
slot in the rack, and the channel number or starting point. You can
change this configuration depending on the kind of I/O you are
using. Model A I/O is unique, in the fact that some FANUC software
will be automatically configured, similar to the PC-worlds Plug and
Play.
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2.7 Slide 8-Rack Assignment
Input/Output
Rack Assignment
The rack is the first part of the address for an I/O signal
The following ground rules apply to assigning I/O rack numbers
Racks are numbered sequentially Process I/O is always rack 0 Model
A or Model B I/0 Starts at rack 1 PLC I/O is always rack 16
DeviceNet is always rack 81-84 ControlNet is always Rack 85/86
Audio:
The rack is the first part of the address for an I/O signal.
The following ground rules apply to assigning I/O rack numbers:
Racks are numbered sequentially Process I/O is always rack 0 Model
A or Model B I/0 Starts at rack 1 PLC I/O is always rack 16
DeviceNet is always rack 81-84 and ControlNet is always rack 85
& 86.
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2.8 Slide 9-Model A Rack
Input/Output
Model A - RackRack
Audio:
The rack is the physical location on which the input or output
process I/O board or modular I/O is mounted. Your system can
contain multiple racks.
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2.9 Slide 10-Slot Assignment
Input/Output
Slot Assignment
The slot is the second part of the address for an I/O signal
The slot number distinguishes individual I/O modules on a
rack
The following rules apply to slot assignment Slot numbers are
assigned sequentially Valid numbers are 1 through 9, no letters The
first process I/O board is always assigned slot 1 Slot numbers
cannot be used twice in the same rack
Audio:
The slot is the second part of the address for an I/O signal.
The slot number distinguishes individual I/O modules on a rack.
The following rules apply to slot assignment: Slot numbers are
assigned sequentially Valid numbers are 1 through 9, no letters The
first process I/O board is always assigned slot 1 And slot numbers
cannot be used twice in the same rack.
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2.10 Slide 11-Model A Slot Assignment
Audio:
The first opening within the Rack is for the Interface card. The
remaining slots are for the Input and Output cards.
Here is an example of a model A I/O inside a controller.
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2.11 Slide 12-Starting Point/Channel Assignment
Input/Output
Starting Point/Channel Assignment
Starting points-digital signals The physical position on the I/O
module or
process I/O board that identifies the first port in a range
Channel-Analog Signals Physical position of the port on a
process I/O Terminal number for modular I/O
Audio:
Starting points for digital signals are the physical position on
the I/O module or process I/O board that identifies the first point
in a range.
Analog Signals use channels that are the physical position of
the port on a process I/O board or a terminal number for I/O
card.
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2.12 Slide 13-Model A-Starting Point Assignment
Input/Output
Model A - Starting Point Assignment
I/O Signal Connections
Audio:
This is an example of a digital I/O card. It has 16 inputs or
outputs. The signal terminals are labeled A0 through A7 and B0
through B7. Digital input/output one is terminal A0. Digital input
2 is terminal A1, continuing through the first 8 input/outputs.
Digital input 9 is terminal B0, and the remaining input/outputs
continue on terminals B1 through B7. The schematic diagram
indicates the proper wiring for power, ground and connection for
each input/output signal.
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2.13 Slide 14-Configuring I/O
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Audio: We are now ready to Configure Digital I/O:
1 Press the key and select I/O.
2 Then press the [TYPE] key and select Digital you will see the
following screen.
3 The IN/OUT key will let you toggle between Inputs and
Outputs.
4 Now press the CONFIG Key to get to the configuration screen. 5
First set your range or the number of ports you want to configure.
In this example we will
change the range from 1 thru 64 to 1 thru 16.
6 Then cursor over and assign the Rack, Slot and Starting
Point.
It is important that once you have completed your I/O
configuration that you power down the controller and power it back
up to get the changes to take effect.
MENU
F2
F3
F1
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2.14 Slide 15-Configurig I/O Status
Audio:
The Status line describes the current status of the I/O.
ACTIVE - the assignment is valid and active.
INVALID the assignment is invalid based on the I/O hardware
present when the controller was turned ON. Invalid will appear when
you choose incorrect values for that module
PENDING - the assignment is valid, but not active.
UNASSIGNED - An assignment has not been made.
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2.15 Slide 16-Complementary Signals
Input/Output
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
F1 F2 F3 F4 F5
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
F1 F2 F3 F4 F5F1 F2 F3 F4 F5
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
F1 F2 F3 F4 F5F1 F2 F3 F4 F5
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
Complementary Signals
Audio:
If Output signals are configured as a complementary pair, a
command to turn that signal ON will also turn its paired output
OFF.
In this example Digital Outputs 1 and 2 are setup to be
complementary. By manipulating Digital Output 1, we can also
manipulate Digital output 2.
In this example the cursor is on Digit Output 1, we have turned
it OFF then Digital Output 2 will automatically turn ON. Only
outputs can be set as complementary pairs. So Digital Output 1 and
2 can be a paired together, then 3 and 4 together, 5 and 6 are
together and so on.
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2.16 Slide 17-I/O Detail
Input/Output
F1 F2 F3 F4 F5Next
I/O Detail
Audio:
The I/O Detail key lets you name, set the polarity of and
configure complementary pairs for each Input or Output.
Complementary pairs are always defined on the odd output.
To access the detail screen, from the I/O screen press the next
key then press the DETAIL key. To name the I/O, with the cursor on
the Comment line, press the key. To set the output to be
complementary, cursor down to Complementary and press the TRUE key.
You must power down the controller and power it back up to get the
changes to take effect.
F4 ENTER
F4
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2.17 Slide 18-19-Monitoring/Controlling I/O
Input/Output
Monitoring/Controlling I/O
WARNING:
BEFORE FORCING A SIGNAL BE SURE THATIT IS SAFE TO DO SO.
SIGNALS SHOULD BE FORCED FOR TESTINGAND TROUBLESHOOTING PURPOSES
ONLY.
AFTER COMPLETION OF TESTING OR TROUBLESHOOTING BE SURE TO RETURN
ALL
I/O SIGNALS TO THEIR NORMAL CONDITION.
Audio:
BEFORE FORCING A SIGNAL BE SURE THAT IT IS SAFE TO DO SO.
SIGNALS SHOULD BE FORCED FOR TESTING AND TROUBLESHOOTING
PURPOSES ONLY.
AFTER COMPLETION OF TESTING OR TROUBLESHOOTING BE SURE TO RETURN
ALL
I/O SIGNALS TO THEIR NORMAL CONDITION.
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Input/Output
DO [1]
DO [2]
DO [3]
DO [4]
DO [5]
DO [6]
DO [7]
DO [8]
DO [9]
DO [10]
DO [11]F1 F2 F3 F4 F5
Monitoring/Controlling I/O
Audio:
The Teach Pendant can be used to monitor and control Input and
Output signals. Monitoring I/O is using the teach pendant to see
the I/O being manipulated in a program. Controlling I/O is turning
the signals ON or OFF manually. As seen in this example Digital
Outputs can be manually forced ON or OFF without being
simulated.
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2.18 Slide 20-Simulating I/O
Input/Output
OFF
ON
F1 F2 F3 F4 F5
Simulating I/O
Audio:
Simulating a Input allows us to change the bit for the signal
without a signal actually going into or out of the controller.
Digital Input signals must be Simulated first and then the signal
can be manually forced ON or OFF.
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2.19 Slide 21-Configuring Group I/O
Input/Output
Configuring Group I/O
F1 F2 F3 F4 F5
Power OFF then ON to enable changes.
Audio:
Group I/O is made up of a sequence of digital I/O signals that
is interpreted as a binary integer.
When configuring group I/O, you first need to look at the
configuration of the I/O you want to group. In this example we will
configure Digital Outputs (DO) 1-16 to Group Output #1. To view the
configuration, go into the I/O screen and press CONFIG. Digital
Outputs 1-16 are assigned to Rack 1, Slot 1 and our starting point
will be 1. Now press the TYPE key to view the Group Outputs. Press
the CONFIG key to configure the Group Output.
Insert Rack information from the Digital Outputs configuration,
in example, we used Rack 1, Slot 1 and Starting Point 1 and the
range of digital output we used is 16.
Once you have configured your Group Outputs you must power down
the controller and power it back up to gets the changes to take
effect.
F2
F2 F1
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2.20 Slide 22-Group Input/Output
Input/Output
Group Input/Output
2 3 5
Binary Bits
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
1 2 4 8 16
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
41 2 3 5
DO[1] DO[2] DO[3] DO[4] DO[5]
1: GO [1] = 21: GO [1] = 101: GO [1] = 17
Audio:
Once the Group I/O are configured you can manipulate multiple
I/O with binary bits.
When Group Output #1 is set to 2 the Binary bit 2 is switched
ON.
When Group Output #1 is set to 10 both Binary bits 2 and 8 are
switched ON.
And when Group Output #1 is set to 17, Binary bits 1 and 16 are
switched ON.
An example of using Group I/O might to turn ON multiple colors
of paint or turn on several items simultaneously by using one
number.
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2.21 Slide 23-Input/Output Review
Input/Output
Input/Output Review
Robot Inputs and Outputs are signals between the robot and the
controller.
An analog signal is an input or output voltage that has a range
of values within the I/O board or module that is being used.
Digital signals can have only one of two possible states: ON or
OFF.
Group I/O is made up of a sequence of digital I/O signals that
is interpreted as a binary integer.
Click here to begin the Quiz
Audio:
In Review Robot Inputs and Outputs are signals between the robot
and the controller. An analog signal is an input or output voltage
that has a range of values within the I/O board
or module that is being used. Digital signals can have only one
of two possible states: ON or OFF. Group I/O is made up of a
sequence of digital I/O signals that is interpreted as a binary
integer. This concludes the Input/Output Module. The next four
slides will provide you the
opportunity to test your knowledge and comprehension.
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System R-J3, R-J3iB & R-30iA
65Program Instruction 3
3 PROGRAM INSTRUCTION
Program Instructions
Program Instructions
Audio:
Welcome to the Program Instructions Module
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3.1 Slide 2-Module Content
Program Instructions
Module Content
Data Register Position Register Instruction Branching
Instructions
Label Unconditional
JMP LBL CALL
Conditional Wait Instructions Miscellaneous Instructions
Remark Override Message Timer
Audio
This module will cover Data Registers, Position Register
Instruction, Unconditional and Conditional Branching,
Wait Instructions and Miscellaneous Instructions which are
Remark, Override, Message and Timer
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3.2 Slide 3-Data Register
Program Instructions
Data Register
Registers are used to store numbers
Numbers can be used for arithmetic operations, track part count,
cycle count,
May contain group I/O data Default number of registers is 32
Can be changed during initial setup or during control start
Direct vs Indirect
Direct R[3]= 2
Indirect R [R [3] ] = 5
Internal Register
External RegisterR[R[3]=2] or R[2]
Audio:
Registers are very powerful programming tools. When used
correctly, registers can be utilized as counter, to set program
flags, or to adjust program speed. A register stores one number.
The default number of registers is 32, however up to 999 registers
are available.
Many instructions employ direct or indirect addressing
techniques. When direct addressing is used, the actual value is
entered into the instruction. For example, if the register
instruction R[3]= 2 is used, the current contents of register 3 is
replaced with the value 2.
When indirect addressing is used, the instruction contains a
register within a register. This indicates that the actual value of
the internal register becomes the register number of the external
register. In the example shown Register 3 is the internal register
and statement shown (R[R[3]]) is the external register. Since in
the previous instruction value of the internal register 3 is 2, the
external register number addresses register 2 instead of register
3. Therefore, the result of the second instruction is that the
contents of the external register 2 is to be replaced with the
value 5.
You can increase the number of registers during a controlled
start.
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3.3 Slide 4-Position Register Instructions
Program Instructions
POSITION REGISTER InstructionsPR[GRPn:x]=[value]
Audio:
Position registers can be used to store global positions, such
as a home or a maintenance position which contain x,y,z,w,p,r,
configuration.
Position Registers allow positions to be predefined for shared
use by many programs.
Position register instructions can manipulate the robot
positions. They include assignment, addition, and subtraction
instructions.
The following is the instruction syntax
The Group number is needed if there is more than one group
defined. The x is the position register number direct or indirect.
For clarification of direct or indirect, refer to the slide
Register Instructions
The value choices are LPOS which is the current Cartesian
coordinates in xyzwpr and configuration; JPOS which is Current
joint angles; UTOOL number is the Tool Frame; UFRAME number is the
User frame; PR number is the Position Register and P number is the
Position.
The operator choices are addition, subtraction or carriage
return to terminate without adding an operator
The maximum number of the same arithmetic operator you can have
in one instruction is 5.
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3.4 Slide 5-Position Register Element
Program Instructions
POSITION REGISTER Element PR [i, j]
Direct:Position Register element #
Indirect:Position register #= contents of R[x]
Indirect:Position register element #= contents of R[x]
Direct:Position Register element #For Cartesian Positions: For
Joint positions1=x 1=joint 12=y 2=joint 23=z 3=joint 34=w 4=joint
45=p 5=joint 56=r 6=joint 67=config n=joint n
/PROG PREG_ELE 1: !POSITION REG VALUE 2:J P[1:ABOVE JOINT] 100%
FINE3:J P[2] 100% FINE 4: PR[1]=LPOS 5: PR[1,2]=600 6:L PR[1]
100.0inch/min FINE 7:J P[1:ABOVE JOINT] 100% FINE/END
x, y, z, w, p, r, configx,600,z, w, p, r, config
Audio:
Position register element instructions manipulate a specific
position register element. A position register element is one
element of a specified position register. Where the designation for
i represents the position register number and the j represents the
position register element.
The program example shown, line 4 is changing Position register
1 to equal the current Cartesian coordinates position in line 3
(x,y,z,w,p,r,config) as explained in the previous slide.
Program line number 5 is using position register element 2 which
is y shown in the table, to equal 600.
Program Line 6 will move the robot in a linear move to position
register 1 with 100 inches per minute travel speed and Fine
termination.
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3.5 Slide 6-Program Instructions
Program Instructions
Program Instructions
Instruction
1 Registers
2 I/O
3 IF/SELECT
4 WAIT
5 JMP/LBL
6 CALL
7 Miscellaneous
8 next page--
Instruction
1 Skip
2 Payload
3 Offset/Frames
4 Multiple control
5 Program control
6 MACRO
7 Tool Offset
8 next page--
Instruction
1 LOCK PREG
2 MONITOR/MON. END
3
4
5
6
7
8 next page--
Audio:
While creating or editing a program from the select menu, all
instructions can be displayed while the cursor is on the program
line number or at the END of the program. The function 1 key
labeled INSTRUCTION will provide a list as shown here.
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3.6 Slide 7-Branching Instructions
Program Instructions
Branching Instructions
1. Label Definition Instruction 2. Unconditional Branching
Instructions 3. Conditional Branching Instructions
Audio:
Starting with Branching instructions
Branching Instructions cause the program to branch, or jump,
from one place in a program to another. There are three kinds of
branching instructions:
1. Label definition instruction
2. Unconditional branching instructions
3. Conditional branching instructions
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3.7 Slide 8-Label Definition Instruction LBL[x]
Program Instructions
Label Definition Instruction LBL[x] LBL[x: comment]
Direct:Label number
Indirect:R[x] where label #= contents of R[x]
As many as 16 numbers, letters,
blank spaces, the punctuation ;, :, , , (, ), and the characters
* , _and @
1: LBL [1]2: J P[2] 100% CNT803: L P[3] 2000mm/s CNT804: L P[4]
2000mm/s CNT805: L P[5] 2000mm/s CNT806: L P[2] 2000mm/s CNT807:
JMP LBL [1] END
JMP LBL[x] Unconditional Branching Instruction
Audio:
A label marks the location in a program that is the destination
of a program branch. A label is defined using a label definition
instruction.
A comment can be added to describe the label. After a label has
been defined, it can be used with conditional and unconditional
branching instructions.
Use the Jump Label instruction to branch to the specified
label.
Watch the program flow. When it reaches the Jump Label 1, the
program then looks for the label 1 to continue the program
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3.8 Slide 9-Unconditional Branch Call
Program Instructions
Unconditional Branch - CallCALL program
Name of Program
1: J P[2] 100% CNT802: J P[3] 2000mm/s CNT803: L P[4] 2000mm/s
CNT804: L P[5] 2000mm/s CNT805: L P[6] 2000mm/s CNT806: L P[2]
2000mm/s CNT807: CALL PROG2 8: L P[7] 2000mm/s CNT80END
PROG1PROG1 JOINT 100%
1: J P[1] 100% CNT802: J P[2] 2000mm/s CNT803: L P[3] 2000mm/s
CNT804: L P[4] 2000mm/s CNT80END
PROG2PROG2 JOINT 100%
Audio:
Another Branch instruction you could use is the CALL
instruction.
The CALL program instruction causes the program to branch to
another program and execute it. When the called program finishes
executing, it returns automatically to the main program at the
first instruction after the call program instruction. It is not
necessary to add a call statement in the second program to return
back to the first program as it will automatically return when it
reaches the program END.
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3.9 Slide 10-Conditional Branching Instructions
Program Instructions
Conditional Branching Instructions
IF instructions - Branch to a specified label or program if
certain conditions are true. There are register IF instructions and
input/output IF instructions.
SELECT instructions - Branch to one of several jump or call
instructions, depending on the value of a register.
Audio:
Conditional branching instructions branch from one place to
another in a program, depending on whether certain conditions are
true. There are two kinds of conditional branching
instructions:
IF instructions which branch to a specified label or program if
certain conditions are true. There are register IF instructions and
input/output IF instructions.
And there is the SELECT instructions which branch to one of
several jump or call instructions, depending on the value of a
register.
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3.10 Slide 11-IF Register
Program Instructions
IF Register
IF R[x] [operator] [value] [action]Direct:
Register #
Indirect:R[x] where register #=
contents of R[x]
= equal
not equal
< less than
greater than or equal
constant value
R[x] where value = contents of R[x]
JMP LBL[x]
CALL program
Condition
IF R [1] = 1 AND R [2] = 2 AND DI [2] = ON, JMP LBL [2]
Audio:
Register IF instructions compare the value contained in a
register with another value and then take an action if the
comparison is true.
For an IF instruction, conditions can be connecting using AND or
OR.
Looking at the example shown, the IF is checking to see if
Register 1 is equal to 1 AND Register 2 is equal to 2 AND Digital
Input 2 is ON. When all three conditions are true, then the action
is to jump to label 2.
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3.11 Slide 12-Example #1 IF Register
Program Instructions
Example #1 IF Register
IF R[1] >= 3000 and R[2] = 5 and DI[2]=ON, JMP LBL [2]
R[1: Number of welds]R[2: Number of Tip Dresses]DI[2: Zone is
Clear]
Audio:
In this example, Register 1 is tracking the number of welds
Register 2 is tracking the number of tip dresses
Digital Input 2 is used to determine if the Zone is clear
So If the number of welds in register 1 is greater than or equal
to 3000 and the caps have already been shaved or dressed more than
five times which is determined by the value in register 2 AND the
zone is clear which Digital Input [2] is equal to ON of other
equipment then jump to another part of the program to execute the
Cap Change program which means its time to change weld caps.
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3.12 Slide 13-Example #2 IF Register
Program Instructions
Example #2 IF Register
R[1: Number of parts on the pallet]R[2: Number pallets
stacked]DO[2: Request for Fork Truck]
If R[1] >= 30 and R[2] = 5, JMP LBL [2]...LBL 2DO[2]=ON
Audio:
In example 2 IF the number of parts on the pallet is greater
than or equal to 30 which is determined by register 1 number value
indicates that the pallet is full AND the number of pallets stacked
in register 2 is equal to 5 then jump to another part of the
program to turn on the light beacon Digital Output [2] for the Fork
Truck indicating that these are ready to go.
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3.13 Slide 14-IF Input/Output
Program Instructions
IF Input/Output
IF [I/O] [operator] [value] [action]
DO[x]
DI[x]
RO[x]
RI[x]
SO[x]
SI[x]
UO[x]
UI[x]
= equal
not equalR[X]OnOffDO[x]DI[x]RO[x]RI[x]SO[x]SI[x]UO[x]UI[x]
JMP LBL[x]
CALL program
Condition
IF DI [10]=ON OR R [7]=R [8], JMP LBL [2]
Audio:
Input/output IF instructions compare an input or output value
with another value and take an action if the comparison is
true.
You cannot mix the AND or OR operators in the same
operation.
Here is an example of using an OR operator. The IF is checking
to see if Digital Input #10 is ON -OR- Register 7 has the same
value as Register 8. In the event one of the two conditions is
true, then the action will jump to label 2.
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3.14 Slide 15-Example #3 IF / OR
Program Instructions
Example #3 IF / OR
DO[10: Conveyor Running]R[7: Number of parts processed]R[8:
Maximum number of parts]
LBL [1]...If DO[10] = OFF OR R[7] = R[8], JMP LBL [2]...JMP LBL
[1]LBL [2]END
Audio:
In example 3, If the conveyor Digital Output [10] has been shut
off, or if the number of parts processed in register 7 equals the
number of parts needed in register 8, then the logic jumps to the
end of the program. Otherwise the program jumps back to the
beginning to continue to run until it processes all the parts
needed.
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3.15 Slide 16-IF Procedure
Audio:
This video will demonstration the steps to create an IF Register
program instructions.
1 Select the program to be edited. 2 Arrow down to the End to
add the new Program Instruction or insert a new program line if
needed.
3 Turn the Teach Pendant switch to the On position. 4 Press the
NEXT key to add the new Program Instruction
5 Press key labeled INSTRUCTION 6 Arrow down to highlight the
IF/SELECT instruction
7 Press to select the instruction 8 Select the appropriate
operator for the IF statement. This demonstration is using the
equal
operator, press to select it.
9 Press again to select Register statement 10 Select the
Register number for the IF instruction. This demonstration will use
a constant
value to compare against Register 1
11 Enter in the constant value to compare with.
ENTER
ENTER
ENTER
F1
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This completes a condition portion of the If statement. Arrow
down to select AND if you desire another condition
3.16 Slide 17-You Try It IF Register
Audio:
Here you will need recall all the steps needed to create an IF
Register program instruction.
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3.17 Slide 18-SELECT Instructions
Program Instructions
SELECT Instructions
MAIN2:1:LBL[1]2: SELECT R[5:PRGSLCT]=1 CALL PROG13: =2 CALL
PROG24: =3 CALL PROG35: ELSE JMP LBL[1]L P[7] 2000mm/s CNT80END
Audio:
A select instruction compares the value of a register with one
of several values and takes an action if the comparison is
true:
If the value of the register equals one of the values, the jump
or call instruction associated with that value is executed.
If the value of the register does not equal one of the values,
the jump or call instruction associated with the word ELSE is
executed.
In the program example shown, once the program has captured a
valid number, it will execute this program once and then it will
move on to the next instruction.
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3.18 Slide 19-SELECT Instruction Procedure
Audio:
This video will demonstration all the steps that are needed to
call specific programs based on a Registers value utilizing the
SELECT branching instructions.
1 Select and edit the program to add the instructions to. Tturn
on the teach pendant.
2 Press the Next key to display the instruction choice.
3 Press Function 1 to select the instruction 4 Arrow down to
line 3 labeled IF/SELECT
5 Press to select the instruction. All the IF and SELECT choices
will appear. You must press line 8 labeled next page to view the
SELECT instruction choices. We will use all three SELECT
instructions listed here to accomplish the task.
6 Select the first item labeled SELECT Register equal to. 7
Enter register 5 8 Press Enter 9 Now select Constant 10 Within
Register 5, determine if the content contains the value 1. 11 If
the value is 1, then issue a CALL instruction to PROGRAM 1
ENTER
SELECT
F1
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12 To add additional branching instructions, we need to insert
two more select conditions.
13 Arrow down to IF/SELECT and press 14 Once again, select NEXT
PAGE to view the SELECT instruction choices. 15 This time select
item 2 labeled equal 16 Now we will determine if Register 5,
contains the value 2. 17 Select the CALL instruction 18 If the
register 5 contains the value 2, select the program name PROG2 19
Now we will repeat the process to insert another CALL instruction
to Program name
PROG 3
20 Now insert the ELSE JUMP LABEL