Manual de Programação RJ3 da Fanuc Robotics

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R J 3 
P R O G R A M M I N G 
M A N U A L 
Designed to accompany RJ3 training courses at FANUC Robotics (UK) Ltd. 
 
 
 
 
 
 3 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
. 
I N T R O D U C T I O N 
Fanuc Robotics’ RJ3 Training Course 
 
This manual is intended to accompany the RJ3 training course held within FANUC 
Robotics UK Ltd. 
 
It is not intended as a comprehensive manual of all that a robot can do. 
 
Please pay particular attention to the safety advice contained within this document. 
 
For further reference please consult the comprehensive FANUC Reference Manual. 
 
 
Using This Manual 
Each section is individual labelled to enable you to quickly access the information you 
require in addition to the table of contents on page 5. 
 
 
 
 
 
 4 
 
 
 
 5 
 
 
 
 
 
 
 
 
 
 
C O N T E N T S 
 
 
Safety .................................................................................................................................7 
 
The Basics........................................................................................................................17 
Jogging the Robot & Coordinate Systems........................................................................... 17 
Creating a Program ............................................................................................................. 25 
Testing a Robot Program..................................................................................................... 29 
Touchup............................................................................................................................... 33 
Motion Default...................................................................................................................... 35 
Giving 2 Positions the Same Identity .................................................................................. 37 
 
Program Elements............................................................................................................39 
 
EDCMD Menu ..................................................................................................................47 
 
INST Menu .......................................................................................................................57 
Registers.............................................................................................................................. 57 
Argument Registers ..................................................................................................................63 
Position Registers.....................................................................................................................65 
LPOS/JPOS..............................................................................................................................69 
C
O
N
T
E
 
N
T
S
 
 6 
C O N T E N T S 
 
Inputs and Outputs ...............................................................................................................73 
IF/Select Statement.............................................................................................................79 
IF Statement ............................................................................................................................. 79 
Select Statement ...................................................................................................................... 83 
Wait Instruction.....................................................................................................................87 
Labels and Jump Labels ......................................................................................................91 
Call Instruction......................................................................................................................95 
Miscellaneous Menu.............................................................................................................99 
RSR Instruction ........................................................................................................................ 99 
User Alarms............................................................................................................................ 101 
Timers..................................................................................................................................... 105 
Override Instructions .............................................................................................................. 107 
Remark ................................................................................................................................... 109 
Message Instruction ............................................................................................................... 111 
Parameter Instruction ............................................................................................................. 113 
Maximum Speed Instruction ................................................................................................... 117 
Multiple Control Menu ........................................................................................................119 
Run Command ....................................................................................................................... 119 
Semaphore Instruction ........................................................................................................... 121 
Program Control Instruction ...............................................................................................123 
Halt Instruction........................................................................................................................ 123 
Abort Instruction ..................................................................................................................... 125 
Offsets Menu......................................................................................................................127 
Offsets .................................................................................................................................... 127 
Frames Instruction.................................................................................................................. 131 
Skip Condition ....................................................................................................................135 
 
Frames Overview........................................................................................................... 137 
Overview ............................................................................................................................137 
Tool Frames ......................................................................................................................139 
User Frames.......................................................................................................................149 
Jog Frames ........................................................................................................................157 
 
Utilities ........................................................................................................................... 157 
Reference Position .............................................................................................................157 
Soft Float ............................................................................................................................161 
Macros ...............................................................................................................................167 
Shift Functions....................................................................................................................173 
Overview................................................................................................................................. 173 
Program Shift..........................................................................................................................175 
Mirror Shift .............................................................................................................................. 179 
User Frame Program Shift .................................................................................................185 
Continuous Turn.................................................................................................................189 
PR Look Ahead Function ...................................................................................................195 
 
 
File Management ........................................................................................................... 199 
Program Header Information..............................................................................................199 
Deleting a Program ...........................................................................................................203 
Copying a Program ...........................................................................................................205 
Backing Up ........................................................................................................................207 
 
 
 4 
 
 
 
 7 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
S A F E T Y 
Essential safety measures required whilst using robots 
 
Ensure you read and understand the FANUC Robotics SAFETY HANDBOOK. 
 
Teaching and manual operation 
 Don't operate the teach pendant and operator's panel with the gloves on your 
hand. 
 
 Use a low override speed to increase your control over the robot when jogging 
it. 
 
 Visualize the movement the robot will make before you press the jog keys on 
the teach pendant. 
 
 Know the path that can be used to escape from a moving robot; make sure the 
escape path is never blocked. 
 
 The area near the robot must be clean and free of oil, water, or debris. 
 
S
A
F
E
T
 
Y
 
 
 
 8 
Production operation 
 Understand the complete task the robot is programmed to perform before 
initiating production operation. 
 
 Know the location and status of all switches, sensors, and control signals that 
could cause the robot to move. 
 
 Know where the EMERGENCY STOP buttons are located on both the robot 
control and external control devices. Be prepared to press these buttons in an 
emergency. 
 
 Never assume that a program is complete if the robot is not moving. The robot 
could be waiting for an input signal that will permit it to continue activity. 
 
FANUC Robotics (UK) Ltd. is not and does not represent itself as an expert in safety systems, safety 
equipment, or the specific safety aspects of your company and/or its work force. It is the responsibility of 
the owner, employer, or user to take all necessary steps to guarantee the safety of all personnel in the 
workplace. 
 
The appropriate level of safety for your application and installation can best be 
determined by safety system professionals. FANUC Robotics (UK) Ltd. therefore, 
recommends that each customer consult with such professionals in order to provide a 
workplace that allows for the safe application, use, and operation of FANUC Robotic 
systems. 
 
Additionally, as the owner, employer, or user of a robotic system, it is your responsibility 
to arrange for the training of the operator of a robot system to recognize and respond to 
known hazards associated with your robotic system and to be aware of the 
recommended operating procedures for your particular application and robot installation. 
 
FANUC Robotics (UK) Ltd. therefore, requires that all personnel who intend to operate, 
program, repair, or otherwise use the robotics system be trained in an approved FANUC 
Robotics (UK) Ltd. training course and become familiar with the proper operation of the 
system. Persons responsible for programming the system - including the design, 
implementation, and debugging of application programs - must be familiar with the 
recommended programming procedures for your application and robot installation. 
 
The following guidelines are provided to emphasize the importance of safety in the 
workplace. 
 
 
Safety is essential whenever robots are used. 
 
 
Safety Considerations 
Keep in mind the following factors with regard to safety: 
 
 The safety of people and equipment 
 
 9 
 
 Use of safety enhancing devices 
 
 Techniques for safe teaching and manual operation of the robot(s) 
 
 Techniques for safe automatic operation of the robot(s) 
 
 Regular scheduled inspection of the robot and workcell 
 
 Proper maintenance of the robot 
 
 
The safety of people is always of primary importance in any situation. However, 
equipment must be kept safe, too. When prioritizing how to apply safety to your robotic 
system, consider the following: 
 
 People 
 External devices 
 Robot(s) 
 Tooling 
 Workpiece 
 
Always give appropriate attention to the work area that surrounds the robot. The safety 
of the work area can be enhanced by the installation of some or all of the following 
devices: 
 
 Safety fences, barriers, or chains 
 Light curtains 
 Interlocks 
 Pressure mats 
 Floor markings 
 Warning lights 
 Mechanical stops 
 DEADMAN switches 
 EMERGENCY STOP buttons 
 
 
A Safe Workcell 
A safe workcell is essential to protect people and equipment. Observe the following 
guidelines to ensure that the workcell is set up safely. 
 
 Sponsor your personnel for training in approved FANUC Robotics training 
course(s). Never permit untrained personnel to operate the robots. 
 
 Install a lockout device that uses an access code to prevent unauthorized 
persons from operating the robot. 
 
 Use anti-tie-down logic to prevent the operator from bypassing safety 
measures. 
 
 Install safety fences to protect against unauthorized entry by personnel into 
the work envelope. 
 
 10 
 
 Arrange the workcell so the operator faces the workcell and can see what is 
going on inside the cell. 
 
 Clearly identify the work envelope of each robot in the system with floor 
markings, signs, and special barriers. The work envelope is the area defined 
by the maximum motion range of the robot, including any tooling attached to 
the wrist flange that extends this range. 
 
 Position all controllers outside the safety fence. 
 
 Never rely on software as the primary safety element. 
 
 Mount an adequate number of EMERGENCY STOP buttons or switches within 
easy reach of the operator and at critical points inside and around the outside 
of the workcell. 
 
 If necessary, install flashing lights and/or audible warning devices that activate 
whenever the robot is operating, that is, whenever power is applied to the 
servo drive system. 
 
 Install special guarding that prevents the operator from reaching into restricted 
areas of the work envelope. 
 
 Use interlocks. 
 
 Use presence or proximity sensing devices such as light curtains, mats, and 
capacitance and vision systems to enhance safety. 
 
 Periodically check the safety joints or safety clutches that can be optionally 
installed between the robot wrist flange and tooling. If the tooling strikes an 
object, these devices dislodge, remove power from the system, and help to 
minimize damage to the tooling and robot. 
 
 Make sure all external devices are properly filtered, grounded, shielded, and 
suppressed to prevent hazardous motion due to the effects of electro-
magnetic interference (EMI), radio frequency interference (RFI), and electro-
static discharge (ESD). 
 
 Eliminate pinch points. Pinch points are areas where personnel could get 
trapped between a moving robot and other equipment. 
 
 Provide enough room inside the workcell to permit personnel to teach the 
robot and perform maintenance safely. 
 
 Program the robot to load and unload material safely. 
 
 If high voltage electrostatics are present, be sure to provide appropriate 
interlocks, warning, and beacons. 
 
 If materials are being appliedat dangerously high pressure, provide electrical 
interlocks for lockout of material flow and pressure. 
 
 11 
Observe the following rules 
 Advise all personnel who must teach the robot or otherwise manually operate 
the robot to observe the following rules: 
 
 Know whether or not you are using an intrinsically safe teach pendant if you 
are working in a hazardous environment. 
 
 Before teaching, visually inspect the robot and work envelope to make sure 
that no potentially hazardous conditions exist. The work envelope is the area 
defined by the maximum motion range of the robot. These include tooling 
attached to the wrist flange that extends this range. 
 
 The area near the robot must be clean and free of oil, water, or debris. 
Immediately report unsafe working conditions to the supervisor or safety 
department. 
 
 FANUC Robotics (UK) Ltd. recommends that no one enter the work envelope 
of a robot that is on. However, if you must enter the work envelope, be sure 
all safeguards are in place, and check the teach pendant DEADMAN switch 
for proper operation. Take the teach pendant with you, turn it on, and be 
prepared to release the DEADMAN switch. Only the person with the teach 
pendant should be in the work envelope. 
 
 Know the path that can be used to escape from a moving robot; make sure the 
escape path is never blocked. 
 
 Isolate the robot from all remote control signals that can cause motion while 
data is being taught. 
 
 
Testing a Program 
Test any program being run for the first time in the following manner: 
 
 Using a low motion speed, single step the program for at least one full cycle. 
 
 Using a low motion speed, test run the program continuously for at least one 
full cycle. 
 
 As speed is increased, the path may vary slightly. Run through the program 
at 5-10% intervals up to 100%. 
 
 Using the programmed speed, test run the program continuously for at least 
one full cycle. 
 
 
Running Production 
Make sure all personnel are outside the safety fence before running production. 
 
Advise all personnel who operate the robot during production to observe the following 
rules: 
 
 12 
 
 Know the entire workcell area. The workcell includes the robot and its work 
envelope, plus the area occupied by all external devices and other equipment 
with which the robot interacts. 
 
 Understand the complete task the robot is programmed to perform before 
initiating production operation. 
 
 Make sure all personnel are outside the safety fence before operating the 
robot. 
 
 Never enter or allow others to enter the work envelope during production 
operation of the robot. 
 
 Know the location and status of all switches, sensors, and control signals that 
could cause the robot to move. 
 
 Know where the EMERGENCY STOP buttons are located on both the robot 
control and external control devices. Be prepared to press these buttons in an 
emergency. 
 
 Never assume that a program is complete if the robot is not moving. The 
robot could be waiting for an input signal that will permit it to continue activity. 
 
 If the robot is running in a pattern, do not assume it will continue to run in the 
same pattern. 
 
 Never try to stop the robot, or break its motion, with your body. The only way 
to stop robot motion immediately is to press an EMERGENCY STOP button 
located on the controller panel, teach pendant, or emergency stop stations 
around the workcell. 
 
 
Inspecting the Robot 
When inspecting the robot, be sure to 
 
 Turn off power at the controller. 
 
 Lock out and tag out the power source at the controller according to the 
policies of your plant. 
 
 Turn off the compressed air source and relieve the air pressure. 
 
 If robot motion is not needed for inspecting the electrical circuits, press the 
EMERGENCY STOP button on the operator panel. 
 
 If power is needed to check the robot motion or electrical circuits, be prepared 
to press the EMERGENCY STOP button, in an emergency. 
 
 
 
 13 
Maintenance 
When performing maintenance on your robot system, observe the following rules: 
 
 Never enter the work envelope while the robot or a program is in operation. 
 
 Before entering the work envelope, visually inspect the workcell to make sure 
no potentially hazardous conditions exist. 
 
 Consider all or any overlapping work envelopes of adjoining robots when 
standing in a work envelope. 
 
 Test the teach pendant for proper operation before entering the work 
envelope. 
 
 If it is necessary for you to enter the robot work envelope while power is turned 
on, you must be sure that you are in control of the robot. Be sure to take the 
teach pendant with you, press the DEADMAN switch, and turn the teach 
pendant on. Be prepared to release the DEADMAN switch to turn off servo 
power to the robot immediately. 
 
 Whenever possible, perform maintenance with the power turned off. Before 
you open the controller front panel or enter the work envelope, turn off and 
lock out the 3-phase power source at the controller. 
 
 Release or block all stored energy. Before working on the pneumatic system, 
shut off the system air supply and purge the air lines. 
 
 Isolate the robot from all remote control signals. If maintenance must be done 
when the power is on, make sure the person inside the work envelope has 
sole control of the robot. The teach pendant must be held by this person. 
 
 Make sure personnel cannot get trapped between the moving robot and other 
equipment. Know the path that can be used to escape from a moving robot. 
Make sure the escape route is never blocked. 
 
 Use blocks, mechanical stops, and pins to prevent hazardous movement by 
the robot. Make sure that such devices do not create pinch points that could 
trap personnel. 
 
 Be aware that when you remove a servomotor or brake, the associated axis 
will fall if it is not supported or resting on a hard stop. 
 
 When replacing or installing components, make sure dirt and debris do not 
enter the system. 
 
 Use only specified parts for replacement. To avoid fires and damage to parts 
in the controller, never use non-specified fuses. 
 
 Before restarting a robot, make sure no one is inside the safety fence; be sure 
that the robot and all external devices are operating normally. 
 
 14 
Keeping Machine Tool & Other Devices Safe 
Certain programming and mechanical measures are useful in keeping the machine tools 
and other external devices safe. These measures are outlined below. 
 
Implement the following programming safety measures to prevent damage to machine 
tools and other external devices. 
 
 Back-check limit switches in the workcell to make sure they do not fail. 
 
 Implement ``failure routines" in programs that will provide appropriate robot 
actions if an external device or another robot in the workcell fails. 
 
 Use handshaking protocol to synchronize robot and external device 
operations. 
 
 Program the robot to check the condition of all external devices during an 
operating cycle. 
 
 Implement the following mechanical safety measures to prevent damage to 
machine tools and other external devices. 
 
 Make sure the workcell is clean and free of oil, water, and debris. 
 
 Use software limits, limit switches, and mechanical hardstops to prevent 
undesired movement of the robot into the work area of machine tools and 
external devices. 
 
 
Preventing Damage During Operation 
Observe the following operating and programming guidelines to prevent damage to the 
robot. 
 
 The following measures are designed to prevent damage to the robot during 
operation. 
 
 Use a low override speed to increase your control over the robot when jogging 
the robot. 
 
 Visualize the movement the robot will make before you press the jog keys on 
the teach pendant. 
 
 Make sure the work envelope is clean and free of oil, water, or debris. 
 
 Use circuit breakers to guard against electricaloverload. 
 
 
Preventing Damage During Programming 
The following safety measures are designed to prevent damage to the robot during 
programming: 
 
 
 15 
 Establish interference zones to prevent collisions when two or more robots 
share a work area. 
 
 Make sure that the program ends with the robot near or at the home position. 
 
 The robot must be at HOME to start a cycle, therefore the robot must return 
HOME at the end of the program. 
 
 Be aware of signals or other operations that could trigger operation of tooling 
resulting in personal injury or equipment damage. 
 
 
NOTE Any deviation from the methods and safety practices described in this manual must conform to the 
approved standards of your company. If you have questions, see your supervisor. 
 
 
 
 16 
 
 
 17 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
J O G G I N G 
T H E R O B O T 
The process of moving the robot using jog keys on the teach pendant 
 
Remember! 
Only the person with the teach pendant should be in the working envelope of the robot. 
 
Jogging the robot is the process of moving it around. 
 
It is ESSENTIAL that all safety advice is understood and followed during jogging of the robot. 
 
Always begin jogging the robot at a LOW speed. 
 
Become familiar with the different ways the robot moves depending on the different 
coordinate system chosen. 
 
Coordinate Systems 
The robot may be jogged in one of four different coordinate systems. Each system moves 
the robot in a different way. 
 
B
A
S
I 
C
 
S
 
 
 
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World Frame 
The default system of the robot for XYZ moves is the WORLD frame. 
 
WORLD is a cartesian (XYZ) frame. That is, it moves the robot in a frame where the X, Y 
and Z directions are at right angles to each other. 
 
In WORLD, multiple axes at a time move to keep the robot Tool Centre Point in an XYZ 
plane. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
World Frame 
 
+Z 
-Z 
+X 
+Y -X 
-Y 
 
 19 
Joint Coordinate System 
Joint Coordinate system allows you to move only one axis at a time. That is, one joint at 
a time unless multiple jog keys are pressed. 
 
The zero point of this system is on each individual axis. 
 
JOINT is the default system of the robot and cannot be changed. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Joint Coordinate System 
 
 
 20 
Tool Frame 
Moves multiple axes at a time relative to the robot faceplate. The robot will move relative 
to the tool tip if a tool centre point has been set up. 
 
The zero point of the robot is on the faceplate but this can be moved to the tip of the tool 
which is known as the Tool Centre Point (TCP) 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Tool Coordinate System 
 
+Z 
-Z 
+X 
+Y -X 
-Y 
+Y 
+Z 
+X 
-X 
-Y 
+Z 
 
 21 
User Coordinate System 
 
User is a cartesian system, or XYZ. 
 
Moves multiple axes at a time to ensure that the tool centre point or robot faceplate 
moves in the selected XYZ plane. 
 
The zero point of the robot can be placed anywhere by setting up a user frame. 
 
If a user frame has not been set up, the robot will move in the WORLD framE when user 
coordinate system is selected. 
 
Take care…when a user frame is set up it can affect how your programs work. 
 
CONSULT THE SECTION ON USER FRAMES. 
 
 
Jog Frame (JGFRM) Coordinate System 
 
Jgfrm is a cartesian system, or XYZ. 
 
Moves multiple axes at a time to ensure that the tool centre point or robot faceplate 
moves in the selected XYZ plane. 
 
A jog frame can be set up by the user to allow for easier jogging in an XYZ plane other 
than the default. 
 
The robot zero point of a jog frame always remains in the WORLD frame. 
 
If a JOG frame has not been set up, the robot will move in the WORLD frame when 
JGFRM coordinate system is selected. 
 
A jog frame has no effect on a program 
 
Consult the Section on Jog Frames. 
 
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Activating Coordinate Systems 
 
Use the COORD Key to change between Coordinate systems. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Jogging the Robot 
 
The following steps cause the robot to move, take care. 
 
1. To jog the robot, press and hold the deadman 
handle on the rear of the teach pendant. 
 
2. Turn the teach pendant ON/OFF switch to ON, and 
if necessary press the RESET key to reset any 
faults. 
 
Two keys are needed to jog (move) the robot. One 
of the two SHIFT keys and one of the 12 jog keys 
which are on the right hand side of the teach 
pendant. 
 
 
 
 
 
 
 23 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3. Press and hold any one of the SHIFT keys 
 
4. Press one of the twelve jog keys to the right of the 
teach pendant. 
 
5. The robot will now move in whichever coordinate system is active. 
 
 
 
 
 24 
 
 25 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
C R E A T I N G 
A P R O G R A M 
Runs step by step through the procedure for creating a new program 
 
Before you can begin to teach the robot the path to take around an object, you must first 
create a program. You must give it a unique program name to identify it, and this 
selection illustrates how this is achieved. 
 
Creating a Program 
 
1. Pick up the teach pendant 
 
2. Press the SELECT Key 
 
3. The SELECT screen will be displayed 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
CREATE [ATTR][TYPE] MONITORDELETE
Program1
Select
No.
1
2
3
4
5
Program name
MAIN
SUB
TEST
MAIN2
PAUSED
Joint 10%
1/5
Line 7
537467 bytes free
Comment
[ Main Program ]
[ ]
[ ]
[ ]
[ ]
B
A
S
I 
C
 
S
 
 
 
 26 
4. If CREATE is not above F2, press NEXT key 
 
5. Press F2, CREATE 
 
6. The following screen should be displayed 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
7. Press the key to Uppercase and all the 
letters of the alphabet should be above 
the function keys, like so: 
 
 
 
 
 
 
 
 
 
 
 
8. To select a letter, press the corresponding function key until the required letter 
appears in the program name box. 
 
Note 
If 2 consecutive letters in the program name appear above the same function key, press 
the right cursor key 
 
 
9. Continue to press the function keys 
corresponding to the required letters until 
the program name is complete. 
 
10. If you make a mistake, use the 
BACKSPACE key. 
 
11. Once the program name is complete, press 
ENTER. 
 
12. The cursor will jump to – END --, shown 
here 
F1 F2 F3 F4 F5
Program name: [ ]
PRG SUB
Prog
1. Words
2. Upper case
3. Lower case
4. Options
Select
PAUSED
Joint 10%
Line 2
--- Create Teach Pendant Program ---
--- END ---
MAIN TEST
Enter program name
F1 F2 F3 F4 F5
Program name: [ ]
ABCDEF MNOPQR
Prog
1. Words
2. Upper case
3. Lower case
4. Options
Select
PAUSED
Joint 10%
Line 2
--- Create Teach Pendant Program ---
--- END ---
GHIJKL STUVWX
Enter program name
YZ_@*.
F1 F2 F3 F4 F5
Program name: [ BOX ]
EDIT
Prog
1. Words
2. Upper case
3. Lower case
4. Options
Select
PAUSED
Joint 10%
Line 2
--- Create Teach Pendant Program ---
--- END ---
DETAIL
Enter program name
 
 27 
13. Press ENTER again to lead to the program 
screen. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Recording a Position 
The teach pendant is now ready for the first program point to be recorded. 
 
14. To do this, jog the robot to the first position and press SHIFT + 
F1, (POINT). 
 
15. The robot has now been taught that position and a line 
identifying it will appear looking something like this: 
 
J P[1] 100% FINE 
 
16. Continue jogging the robot to new positions and recording them by using SHIFT +F1, 
POINT. 
 
Every time SHIFT +F1, POINT are pressed, new program lines will be displayed 
representing the robot positions in space. 
 
17. The new program will look similar to this: 
 
 J P[1] 100% FINE 
 J P[2] 100% FINE 
 J P[3] 100% FINE 
 J P[4] 100% FINE 
 J P[5] 100% FINE 
J P[6]100% FINE 
 
18. Each new recorded position is given the next available position number, P[ ]. 
 
F1 F2 F3 F4 F5
POINT
Prog
[END]
PAUSED
Joint 10%
Line 2
TOUCHUP
 
 
 
+
 
 28 
 
 
 29 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
T E S T I N G A 
R O B O T P R O G R A M 
Running through a robot program for the first time. 
 
Ensure all safety advice has been read and understood. the following steps cause the robot to move, take 
care. 
 
1. To test a program for the first time, cursor to the top of the program and press STEP 
until the STEP LED lights up to the left of the teach pendant screen. 
 
 
 
 
 
 
 
 
B
A
S
I 
C
 
S
 
 
 
 30 
2. Ensure a SLOW speed is selected using the SPEED Keys. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Ensure it is safe for the robot to move from where it is currently sitting to the position in the program the 
cursor is at. If it is not safe, first jog the robot to a safe position. 
 
3. Press and hold the SHIFT key 
 
4. Press the FWD key 
 
5. So long as the STEP LED is on, the robot will 
move to the first position and stop. 
 
6. Keep hold of the SHIFT key and press the FWD 
key repeatedly until the program finishes 
execution. 
 
 
 
 
 
To stop the robot at any time, realease the SHIFT key, let go of the Deadmans or hit any emergency stop. 
 
Running Through the Program Continuously 
When you are happy that the program is running as it should, press STEP again. The 
STEP LED will turn off and the robot is in continuous mode. 
 
1. Ensure a SLOW speed is selected 
 
2. Press and hold the SHIFT key 
 
3. Press the FWD key 
+ 
 
 31 
 
The robot will run the program through completely 
 
Continue to run the program, increasing the percentage speed slowly, bearing in mind 
that the path of the robot may change the faster you go. 
 
To re-check a program point, press SHIFT & BWD to move back one step at a time. 
 
 32 
 
 33 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
T O U C H U P 
Altering a program position 
 
 
The TOUCHUP command may be needed to modify the position of existing points. It is 
located above F5. 
 
Using TOUCHUP 
To use Touchup, you must press SHIFT + TOUCHUP whilst in the program screen. This 
is similar to recording a point using SHIFT + POINT. 
 
The difference between the two methods of recording positions is: 
 
SHIFT + POINT 
 
Records a new position with the default set of program elements. 
 
 
SHIFT + TOUCHUP 
 
Changes the positional information only of the position the cursor is currently on. 
B
A
S
I 
C
 
S
 
 
 
 34 
Set New I.D 
If two points in a program have the same identity, for example if there are two P[3] ‘s, the 
teach pendant will ask if you want to set a new i.d when you try to touchup one of them. 
 
Set New I.D. 
 
 YES NO 
 F4 F5 
 
If YES is selected, the position is touched up and given the next available position 
number. The second position in the program will not be touched up and the two no longer 
have the same identity. 
 
If NO is selected, the position is touched up and the second position is touched up also, 
keeping the two positions identical. 
 
 
 
 
 35 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
M O T I O N D E F A U L T 
Changing the way a position is recorded as default 
 
The usual program line that appears when SHIFT + POINT is pressed looks similar to: 
 
 
J P[1] 100% FINE 
 
 
It is possible to change what kind of program line appears when SHIFT + POINT is 
pressed. That is, to change the default. 
 
 
There are 4 possible motion defaults. 
 
Changing the Default Motion 
 
a. To select from the default menu press F1 POINT without the SHIFT key. 
 
b. A screen similar to that below will appear: 
B
A
S
I 
C
 
S
 
 
 
 36 
 
 
 
 
 
 
 
 
 
 
 
c. Press F1, ED_DEF, and these motion defaults can be changed to that required by the 
user. 
 
d. Just cursor in, press CHOICE (above F4) and edit these defaults. When completed 
press DONE (F5). 
 
F1 F2 F3 F4 F5
ED_DEF
Prog
Default Motion
1 J P[ ] 100% FINE
2 J P[ ] 100% CNT100
3 L P[ ] 1000mm/sec FINE
4 L P[ ] 200mm/sec CNT50
 PROG
7: J P[5] 100% FINE
8: J P[6] 100% FINE
[End]
PAUSED
Joint 10%
Line 2
DONE
 
 37 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
G I V I N G 2 
P O S I T I O N S 
T H E S A M E I D 
Recording identical positions 
 
This procedure allows you to give a position the same identity as a previously recorded 
one. 
 
1. The program line will look like so: 
 
 J P[5] 100% FINE 
 
2. To give P[5] the same identity as P[2] for example, cursor onto the 5 like so: 
 
 J P[5] 100% FINE 
 
3. Enter a 2 with the numeric keypad, and press ENTER. 
 
4. The program line will now look like so: 
 
B
A
S
I 
C
 
S
 
 
 
 38 
 J P[2] 100% FINE 
 
5. This point has now taken the same identity as a previously recorded position number 
[2]. If there is no position number [2] in the program, the position number you have 
changed will be uninitialized. Ensure you enter a number that exists in the program. 
 
 
This procedure can be carried out to give any position the same identity as a previously recorded one. 
 
 
 39 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
P R O G R A M 
E L E M E N T S 
Altering the way the robot moves to positions 
 
A program line is made up of various elements that control how the robot moves between 
two positions. 
 
Each element can be changed to enable the robot to move the required path in the 
desired way. 
 
A typical program line will look like so: 
 
 
J P[ 1 ] 100% FINE 
 
 
 
 
 
 
Motion 
Position Speed 
Termination 
E
L
E
M
E
 
N
T
S
 
 40 
Each item in the program line is a program element. 
 
Every element can be changed and each are described in this section. 
 
To change any element cursor onto it and CHOICE appears above F4. Pressing 
CHOICE will bring up various menus depending on which element the cursor is 
placed. 
 
There are further advanced options available by cursoring to the very end of the line, past 
FINE and pressing F4 CHOICE. 
 
 
Motion 
 
The motion type defines the way in which the robot moves between two points. To 
change it, place the cursor on the first element, and select CHOICE (above F4). 
 
J P[1] 100% FINE 
 
The following options are available: 
 
 1. Joint 
 2. Linear 
 3. Circular 
 
Joint 
The robot makes its own way between two 
points and calculates the fastest way to get 
there. Joint motion is particularly useful for 
points in space when it doesn’t matter which 
path the robot takes. 
 
Joint motion is programmed at the destination 
position. 
 
It causes the robot to move all the required 
axes to the destination position 
simultaneously. 
 
Units of Joint motion can be a percentage of 
the total default speed, or seconds. 
 
The actual speed of a Joint move is 
dependant on the speed of the slowest axis. 
 
Destination 
Position 
J P[2] 100% FINE 
 
Start Position 
 
 41 
Linear 
 
The robot will move the tool centre point between two positions in a straight line. 
 
Linear motion is programmed at the destination position. 
 
Units of linear motion can be millimetres per second, inches per minute, centimetres per 
minute, degrees per second and seconds. 
 
The orientation of the tool centre point changes gradually as the robot moves from the 
start position to the destination position. 
 
 
 
 
 
 
 
 
 
 
 
J P[1] 100% FINE 
Start Position 
Destination Position 
L P[2] 2000mm/sec100% FINE 
 
 
 42 
CIRCULAR 
 
With circular motion selected, the robot will move the tool centre point in an arc from the 
start position through an intermediate position to the end position. 
 
Circular motion is programmed at the intermediate position. 
 
Units of circular motion are millimetres per second, inches per minute, centimetres per 
minute, degreesper second and seconds. 
 
DO NOT SELECT CIRCULAR MOTION UNLESS YOU UNDERSTAND IT PROPERLY 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Start Position 
P[1] 
Start Position 
P[2] 
Intermediate Position 
P[3] 100mm/sec FINE 
Destination Position 
P[4]
Intermediate Position
 
 43 
 
Position 
 
J P[1] 100% FINE 
 
Place the cursor on any position number to examine the positional coordinates of that 
position. 
 
PRESS F5 POSITION: 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
The screen displayed informs you where in space this position was recorded. You can 
edit all the values by cursoring onto them and using the numeric keypad to enter new 
values. 
 
X,Y,Z,W,P and R are the cartesian coordinates of the selected position. 
 
To display the JOINT coordinates (each axis in degrees), press F5 [REPRE] and select 
Joint. When coordinates are displayed in JOINT, all tool and user frame information is 
ignored. 
 
 
 
F1 F2 F3 F4 F5
DONECONFIG [REPRE]
Prog
Position Detail
P[1] UF:0 UT:1
X 901.860 mm
Y -260.835 mm
Z -173.005 mm
PROG
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
Enter value
PAUSED
Joint 10%
Line 2
CONFIG: N 000
W 13.482 deg
P 12.777 deg
R 14.652 deg
 
 44
Speed 
 
 
 J P[1] 100% FINE 
 
 
The speed value can be changed by cursoring onto it and entering a new value via the 
numeric keypad. 
 
The speed units can be changed by cursoring onto them and pressing F4 CHOICE. 
 
The choice available depends on the motion type selected, Joint, Linear or Circular. 
 
If the motion is JOINT the following units are available for selection: 
 
 
1. % 
2. secs 
 
 
If the motion is LINEAR or CIRCULAR the following units are available for selection: 
 
 
1. mm/sec 5. sec 
2. cm/min 6. 
3. inch/min 7. 
4. deg/sec 8. 
 
 
The robot knows how fast it can go and will not let you enter too fast a speed. 
 
 
 
 45 
Termination 
 
 J P[1] 100% FINE 
 
There are two types of motion termination, FINE and CNT (continuous). To change 
between the two types, cursor to either of them and press F4 CHOICE. 
 
FINE termination 
With FINE termination selected, the robot visits each point exactly and momentarily stops 
at each position before moving to the next position. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Destination 
Position 
L P[2] 100mm/sec FINE 
P[1] 
Start Position 
P[3] 
Next Position 
 
 46 
CNT Termination 
With CNT termination selected, the robot curves each point, does not stop (at high values 
of CNT) and may not visit the points exactly. 
 
The continuous value can be between 0 and 100. This determines how close the robot 
will come to the destination position. 
 
At CNT100, the robot moves furthest from the destination position, with minimum 
deceleration. 
Destination Position 
L P[2] 100mm/sec FINE 
 
P[1] 
Start Position 
 P[3] 
Next Position 
 
 
J P[2] 100% CNT0 
 CNT50 
 CNT70 
 CNT100 
 
 47 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
E D C M D M E N U 
Editing your programs, adding and deleting lines etc. 
 
The EDCMD menu is located above F5 and to view it you must be in a program. 
If EDCMD is not above F5, press the NEXT key. 
 
The menu consists of: 
 
1. Insert 
2. Delete 
3. Copy (and Paste) 
4. Find 
5. Replace 
6. Renumber 
7. Comment 
8. Undo 
 
 
This section will go through each item on the list and describe them in turn. 
 
E
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Insert 
If a further command or point needs to be added to an existing program, a blank line 
needs to be inserted first, otherwise existing data will be lost. 
 
Using the Insert Function 
 
1. You are in the program screen 
 
2. Place the cursor at the start of the program line below where you require the 
inserted line to be. 
 
Lines will always be inserted above the cursor. 
 
3. If EDCMD is not above F5, press the NEXT key. 
 
4. Press F5. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5. Select INSERT 
 
6. Once Insert is selected a question will be asked: 
 
How many lines to insert? : 
 
7. Enter the number of lines you wish to insert, press ENTER and the blank lines will 
appear. 
 
 
 
 
 
 
F1 F2 F3 F4 F5
[INST]
Prog
1. J P[1] 100% FINE
2. L P[2] 100mm/sec FINE
[END]
PAUSED
Joint 10%
Line 2
EDCMD
1. INSERT
2. DELETE
3. COPY
4. FIND
5. REPLACE
6. RENUMBER
7. COMMENT
8. UNDO
 
 49 
Delete 
Deleting program lines. 
 
Using the Delete Function 
 
1. You are in the program screen 
 
2. To delete a line or range of lines, place the cursor at the start of the program line 
at the top or bottom of the range. 
 
3. If EDCMD is not above F5, press the NEXT key. 
 
4. Press F5. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5. Select DELETE 
 
6. The teach pendant will ask: 
 
Delete line(s) ? 
 
YES NO 
 F4 F5 
 
7. Before selecting yes, highlight as many lines as you require to be deleted using 
the cursor keys. ⇓ ⇑ 
 
 
F1 F2 F3 F4 F5
[INST]
Prog
1. J P[1] 100% FINE
2. L P[2] 100mm/sec FINE
[END]
PAUSED
Joint 10%
Line 2
EDCMD
1. INSERT
2. DELETE
3. COPY
4. FIND
5. REPLACE
6. RENUMBER
7. COMMENT
8. UNDO
 
 50 
Copy 
Copying program lines. 
 
Using the Copy Function 
 
1. To copy, place the cursor at the start of the program line at the top or bottom of the 
range of lines to be copied. 
 
2. If EDCMD is not above F5, press the NEXT key. 
 
3. Press F5. 
 
 
 
 
 
 
 
 
 
 
 
 
4. Select COPY 
 
5. COPY is above F2, and PASTE above F5. 
 
6. Press F2 COPY 
 
Multiple lines can now be highlighted using the cursor keys. ⇓⇑ 
 
7. When all the required lines are selected, press F2 COPY again. The copy has now 
been performed. 
 
 
F1 F2 F3 F4 F5
[INST]
Prog
1. J P[1] 100% FINE
2. L P[2] 100mm/sec FINE
[END]
PAUSED
Joint 10%
Line 2
EDCMD
1. INSERT
2. DELETE
3. COPY
4. FIND
5. REPLACE
6. RENUMBER
7. COMMENT
8. UNDO
 
 51 
Paste 
Once program lines have been copied, they can be pasted as many times as required 
and in as many different programs as required. You do not need to insert blank lines 
before using the paste command. 
 
1. Cursor to the start of the program line in the program where you wish to paste the 
copied lines. It will paste ABOVE the cursor. 
 
2. If PASTE is not above F5, press the NEXT key until EDCMD appears above F5. 
Press F5, EDCMD and select copy. 
 
3. Press F5 PASTE. 
 
4. Once PASTE is selected, the following options will appear above the functions 
keys. 
 
 
Paste before this line: 
LOGIC POS-ID POSITION CANCEL 
 F2 F3 F4 F5 
 
 
 
 
 
 
 
 
 
 
 
 
If copying from one program to another, you must select F4 POSITION to paste. F3 POS-ID should only be used if 
you are pasting in the same program as you copied from. 
 
 
Reverse Order Pasting 
To paste in reverse order press the NEXT key, after selecting the PASTE command. The 
options above appear but this time with an R in front representing reverse. 
 
 
Note 
Copy and Paste will remain above the function keys until the prev key is pressed. 
 
Adds the lines exactly as they 
were and retains the current 
position numbers. 
Each pasted position will have
the same identity as the 
original numbers. 
 
Leaves the position 
numbers blank. 
Does not record any 
positional information. 
 
Adds the lines exactly as 
they were and renumbers 
the copied positions with 
the next available position 
numbers. 
 
 
 52 
Find 
In large programs the FIND command can be used to search the program for instructions 
such as Registers, I/O and Labels among others. 
 
The FIND command is located on the EDCMD menu. 
 
Using the Find Command 
 
1. You are in the program screen at the start of a program line 
 
2. If EDCMD is not above F5, press the NEXT key. 
 
3. Press F5. 
 
4. Select 4. FIND and follow the instructions on screen. 
 
 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
[INST]
Prog
1. J P[1] 100% FINE
2. L P[2] 100mm/sec FINE
[END]
PAUSED
Joint 10%
Line 2
EDCMD
1. INSERT
2. DELETE
3. COPY
4. FIND
5. REPLACE
6. RENUMBER
7. COMMENT
8. UNDO53 
Replace 
The REPLACE command is used to replace instructions or motion commands in a 
program. 
 
It can be used to replace: 
 
• FINE to CNT and vice versa 
• Speed Values 
• Speed Units 
• Registers 
• Jump Labels 
• and others… 
 
The REPLACE command is located on the EDCMD menu. 
 
Using the Replace Command 
 
1. You are in the program screen at the start of a program line 
 
2. If EDCMD is not above F5, press the NEXT key. 
 
3. Press F5. 
 
4. Select 5. REPLACE and follow the instructions on screen. 
 
 
 
 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
[INST]
Prog
1. J P[1] 100% FINE
2. L P[2] 100mm/sec FINE
[END]
PAUSED
Joint 10%
Line 2
EDCMD
1. INSERT
2. DELETE
3. COPY
4. FIND
5. REPLACE
6. RENUMBER
7. COMMENT
8. UNDO
 
 54 
Renumber 
The RENUMBER command is used to renumber positions sequentially. The positional 
data will remain the same, only the position numbers will change. 
Suppose you have a program containing 3 positions, like so: 
 
 J P[1] 100% FINE 
 J P[2] 100% FINE 
 J P[3] 100% FINE 
 
You may wish to add a position between positions 1 and 2, (after inserting a blank line 
first). When you do so, the new position will be given the next available position number, 
like so: 
 
 J P[1] 100% FINE 
 J P[4] 100% FINE 
 J P[2] 100% FINE 
 J P[3] 100% FINE 
 
The RENUMBER command allows you to renumber the positions sequentially like so: 
 
 J P[1] 100% FINE 
 J P[2] 100% FINE 
 J P[3] 100% FINE 
 J P[4] 100% FINE 
 
The RENUMBER command is located on the EDCMD menu. 
 
1. You are in the program screen at the start of any program line 
 
2. If EDCMD is not above F5, press the NEXT key. 
 
3. Press F5. 
 
4. Select 6. RENUMBER 
 
The RENUMBER command changes the position number ONLY. 
 
 
 
 55 
Comment 
The COMMENT command enables or disables the appearance of comments on the 
program screen. 
 
For example, if a Register has a comment to describe it (SECTION 5), the comment will 
appear in the program like so, if this command is enabled. 
 
R[1: Counter] = R[1: Counter] +1 
 
 
Using the Comment Function 
 
1. You are in the program screen at the start of any program line 
 
2. If EDCMD is not above F5, press the NEXT key. 
 
3. Press F5. 
 
4. Select 7. COMMENT 
 
5. This will enable or disable the appearance of comments on the program screen. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
[INST]
Prog
1. J P[1] 100% FINE
2. L P[2] 100mm/sec FINE
[END]
PAUSED
Joint 10%
Line 2
EDCMD
1. INSERT
2. DELETE
3. COPY
4. FIND
5. REPLACE
6. RENUMBER
7. COMMENT
8. UNDO
 
 56 
UNDO 
The UNDO functions allows you to correct a mistake by undoing the last action. 
 
 
CAUTION 
An UNDO operation automatically rewrites the program, so that the results may not be those expected by the 
operator. Before executing a program after an undo operation, carefully check the program. 
 
Notes 
This function can undo the following operations 
 
- Instruction modifications 
- Line insertion 
- Line deletion 
- Copying of program statements 
- Program instruction replacement 
- Reassignment of position numbers 
 
The UNDO function is disabled when any of the following operations are performed: 
 
- Power Off 
- Selection of another program 
 
 
Using the UNDO Function 
 
1. You are in the program screen 
 
2. If EDCMD is not above F5, press the NEXT key. 
 
3. Press F5. 
 
4. Select 8. UNDO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
[INST]
Prog
1. J P[1] 100% FINE
2. L P[2] 100mm/sec FINE
[END]
PAUSED
Joint 10%
Line 2
EDCMD
1. INSERT
2. DELETE
3. COPY
4. FIND
5. REPLACE
6. RENUMBER
7. COMMENT
8. UNDO
 
 57 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > R E G I S T E R S > 
R E G I S T E R S 
Counting or storing a numerical value 
 
Registers may be thought of as containers. They will store numbers given to them, via a 
program or manually, until told to store something else. 
 
There are 32 registers as the default number on a RJ3 robot, but this may be increased 
to 256 as desired. In a program they look like so: 
 
 
R [1] = 54 
 
This statement means store a value of 54 in Register 1 
 
Using a Register as a Counter 
Registers can be used as counters to count production, or parts produced. 
 
To use a register as a counter the following statement is required. 
 
I 
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 58 
R [1] = R[1] + 1 
 
Determines how many parts per cycle are being counted. 
In this example 1 will be added into Register [1] every time the robot reads this statement 
in a program. 
 
Registers are found on the [INST] menu. 
 
Resetting a Register 
Registers store the last value given to them until told otherwise. Therefore, it may be 
necessary to reset a register before using it. This will ensure that it begins its count at 0. 
 
To reset any register, the program line should look like that below: 
 
R [9] = 0 
 
This means set the value of register 9 to zero. 
 
 
EXAMPLE INPUT 
As an example, suppose we want to enter… 
 
R[2] = R[2] + 1 
 
…in to a program to set register 2 up as a counter. 
 
Procedure 
You are in the program screen and have inserted a blank line or the cursor is on on 
[End]. 
 
1. If INST is not above F1, press the NEXT key. 
 
2. Press F1 INST 
 
3. Select item Registers 
 
 
 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. Registers
2. I/O
3. IF/SELECT
4. WAIT
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. Jmp/Lbl
6. CALL
7. Miscellaneous
8. --- next page ---
 
 59 
 
 
4. From the next screen select item 2 … = …+… 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5. The cursor will now jump to the first position in the line and give a list of choices like 
that shown 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
6. Select item 1. R [ ] 
 
7. The cursor will jump between the two square brackets like so: 
 
R [ ] = …+… 
 
8. Enter the value of the register you wish to use. 
 
9. The cursor will now jump to the other side of the = sign and give these choices. 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. … = ...
2. … = … + ...
3. … = … - …
4. … = … * ...
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. … = … / ...
6. … = … DIV ...
7. … = … MOD ...
8.
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. R[ ]
2. PR[ ]
3. PR[i, j]
4.
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5.
6.
7.
8.
 
 60 
 
 
 
 
 
 
 
 
 
 
 
 
 
10. Select item 1. R [ ] 
 
11. The cursor will jump between the two square brackets. Enter the required register 
number. 
 
R [2] = R[…] +…. 
 
12. Enter the same value of register as that before the = sign. 
 
13. The program line should now look like so, with the cursor to the right of the + sign: 
 
R[2] = R[2]+ … 
 
14. The screen below will appear giving these choices: 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
15. Now we need to choose 2. Constant, to enter a constant value of 1. 
 
16. Enter 1 via the numeric keypad and the program line will now look like so: 
 
 R[2]=R[2]+1 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. R[ ]
2. Constant
3. DO[ ]
4. DI[ ]
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. RO[ ]
6. RI[ ]
7. GO[ ]
8. --- next page ---
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. R[ ]
2. Constant
3. DO[ ]
4. DI[ ]
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. RO[ ]
6. RI[ ]
7. GO[ ]
8. --- next page ---
 
 61 
Viewing Registers 
 
 
 
Press the DATA key to view registers and position registers 
 
 
 
NOTE 
 
To return to the 
program screen from 
the data screen (or 
any other) 
press the EDIT key. 
 
1. Press the DATA key 
 
2. If registers are not displayed, press F1, TYPE and select Registers. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3. To change the value a register is storing, cursor to it, use the numeric keypad to 
insert a new number, and pressENTER. 
 
Adding a Comment to a Register 
 
To add a comment to describe a register, cursor to the register and press ENTER. All the 
letters of the alphabet should appear above the function keys. Type in the required 
comment and press ENTER. 
F1 F2 F3 F4 F5
Prog
DATA Registers
 R[1: ] = 0
 R[2: ] = 0
 R[3: ] = 3
 R[4: ] = 102
 R[5: ] = 10
 R[6: ] = 0
 R[7: ] = 0
 R[8: ] = 0
 R[9: ] = 33
Press ENTER
PAUSED
Joint 10%
Line 2
[TYPE]
To change 
between Registers 
and Position 
Registers, press 
F1 TYPE. 
 
 
 
 62 
 
 63 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > R E G I S T E R S > 
A R G U M E N T 
R E G I S T E R S 
Transferring data between programs 
 
Using ‘arguments’ and ‘argument registers’, it is possible to transfer data between 
programs. 
 
Data can be transferred between 2 programs only. 
 
 
Notation 
The notation used for argument registers is AR[ ]. 
 
Argument registers are added to the CALL command when a program is called, like so: 
 
CALL SUB_1(2, R[3]) 
 
 
AR[1] = 2 AR[2] = R[3] 
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To illustrate the principle of argument registers, lets look at 2 programs as an example. 
The first program is called MAIN and the second SUB_1. 
 
MAIN will pass 2 arguments to SUB_1. 
 
 
EXAMPLE 
 
 
 
 
 
 
 
 
MAIN SUB_1 
 
J P[1] 100% FINE IF R[7] > AR[2] JMPLBL[5] 
R[3] = 0 R[8] = AR[1] 
LBL[1] L P[1] 2000mm/sec FINE 
L P[2] 2000mm/sec FINE L P[2] 2000mm/sec FINE 
L P[3] 2000mm/sec FINE L P[3] 2000mm/sec FINE 
L P[4] 2000mm/sec FINE L P[4] 2000mm/sec FINE 
L P[4] 2000mm/sec FINE L P[5] 2000mm/sec FINE 
R[3] = R[3] + 1 LBL[5] 
IF R[3] < 5 JMPLBL[1] [End] 
CALL SUB_1(2, R[3]) 
[End] 
 
 
 
AR[1] = 2 AR[2] = R[3] 
R[3] at this point is 
equal to 5 due to 
the counter above. 
AR[2] = R[3] 
R[3] at this point is 
equal to 5 due to 
the counter above. 
AR[1] = 2 
 
 65 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > R E G I S T E R S > P O S I T I O N R E G I S T E R S 
P O S I T I O N 
R E G I S T E R S 
Storing positional data away from a program 
 
 
DO NOT ATTEMPT TO USE POSTION REGISTERS UNTIL YOU HAVE READ ALL THE AVAILABLE 
INFORMATION AND UNDERSTOOD ALL THE GIVEN INSTRUCTION. 
 
A Position Register stores positional information, in the form of X, Y, Z, W, P and R. 
 
Position Registers are a powerful programming tool because they can alter the way a 
program runs. It is ESSENTIAL to understand Position Registers implicitly before you 
begin programming with them using Offsets. Position Registers are extremely versatile 
and have multiple uses. 
 
 
Warning 
Position Registers are affected by User Frames and Tool Frames. 
 
 
 
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Using Position Registers as Program Positions 
Position Registers are stored away from a program and as such can be used by multiple 
programs. 
 
An efficient programming technique is to store frequently used positions (such as the 
Home position) in a Position Register. 
 
This can then be called up from as many different programs as require it. 
 
Advantages 
You may at a later date wish to alter your Home Position. 
 
If it is stored in a Position Register you need only alter the relevant position register and 
all programs using it will adjust accordingly. 
 
However, if you have not stored your Home Position in a Position Register you will need 
to go into every program using the Home Position and alter them individually. 
 
 
Recording Position Registers 
1. Press the DATA key 
 
2. If Position Registers are not displayed, press F1, [TYPE] 
 
3. Select Position Reg 
 
4. This screen be displayed 
 
5. Cursor to the Position Register you wish 
to record into. 
 
6. Jog the Robot to the required position 
and press SHIFT + F3, RECORD. 
 
 
 
 
 
Use SHIFT + F2, MOVE_TO to move to the position of the current Position Register. 
 
Use F5, CLEAR to clear the current Position Register. 
 
 
 
Adding to a Program 
To use the newly recorded position register in a program, record a position in space in 
the usual way (SHIFT + F1, POINT) regardless of where the robot is. 
 
1. Cursor onto the position number of the recorded position like so: 
 
 
F1 F2 F3 F4 F5
Prog
DATA Position Reg
 PR[ 1: ] = *
 PR[ 2: ] = R
 PR[ 3: ] = *
 PR[ 4: ] = *
 PR[ 5: ] = *
 PR[ 6: ] = R
 PR[ 7: ] = R
 PR[ 8: ] = *
 PR[ 9: ] = *
Press ENTER
PAUSED
Joint 10%
Line 2
[TYPE] MOVE_TO RECORD POSITION CLEAR
 
 67 
J P[ 1 ] 100% FINE 
 
 
2. Press F4 CHOICE 
 
3. From the options available in the menu that appears, select PR[ ] 
 
4. Enter the Position Register number you record the position in. 
 
 
 
Adding a Comment to a Position Register 
You may wish to add a comment to a Position Register to describe it. 
 
1. In the DATA screen, cursor to the Position Register you wish to add a comment to and 
press ENTER. 
 
2. All the letters of the alphabet will appear above the function keys. Type in the required 
comment and press ENTER. 
 
3. If you make a mistake, use the BACKSPACE key. 
 
 
 
 
 68 
 
 
 69 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > R E G I S T E R S > P O S I T I O N R E G I S T E R S 
L P O S / J P O S 
Recording the robots current position. 
 
The LPOS and JPOS commands allow you to store the current position of the robot into 
a position register. 
 
Program Examples 
 
PR[5] = LPOS 
 
LPOS stores the LINEAR (XYZWPR) coordinates of the robot 
 
 
PR[6] = JPOS 
 
JPOS stores the JOINT (J1…J6) coordinates of the robot 
 
 
 
 
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EXAMPLE INPUT 
 
You are in the program screen and have inserted a blank line or the cursor is on on 
[End]. 
 
1. If INST is not above F1, press the NEXT key. 
 
2. Press F1 INST 
 
3. Select item Registers 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
4. From the next screen select item 1 … = … 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5. The cursor will now jump to the first position in the line and give a list of choices like 
that shown 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. Registers
2. I/O
3. IF/SELECT
4. WAIT
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. Jmp/Lbl
6. CALL
7. Miscellaneous
8. --- next page ---
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. … = ...
2. … = … + ...
3. … = … - … 
4. … = … * ...
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. … = … / ...
6. … = … DIV ...
7. … = … MOD ...
8. 
 
 71 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
6. Select item 2. PR [ ] 
 
7. The cursor will jump between the two square brackets like so: 
 
PR [ ] = … 
 
8. Enter the value of the position register you wish to use. 
 
9. The cursor will now jump to the other side of the = sign and give these choices. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
10. Select the choice you require. 
 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. R[ ] 
2. PR[ ]
3. PR[i, j] 
4. 
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. 
6. 
7. 
8. 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. PR[ ]
2. JPOS
3. LPOS 
4. 
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. 
6. 
7. 
8. 
 
 72 
 
 73 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > I / O > 
I N P U T S A N D 
O U T P U T S 
Controlling and Monitoring Inputs and Outputs 
 
Output - Will turn something on or off. (e.g. a gripper) 
Input - Monitors signals. (e.g. a sensor) 
 
There are various types of Inputs and Outputs (I/O), 4 are: 
 
Digital 
• Digital I/O (DO/DI) signals provide access to data on a single input or output signal 
line. 
• Signals can be ON or OFF. 
 
Robot 
• Robot digital input and output signals (RO/RI) are used to communicate between thecontroller and the robot. 
• Signal are ON or OFF. 
 
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Analogue 
• Analogue inputs and outputs (AI/AO) are continuous input and output signals and 
indicate values such as temperature and voltage. 
 
Group 
• Group inputs and outputs (GI/GO) are several digital input or output signals that have 
been assigned to a group. 
• They are read as binary numbers. 
 
 
Group Input Example 
Suppose we have a number of digital inputs that we need to check and then have the 
robot act accordingly. 
 
For example, we have 4 conveyor belts, each with a digital input to check if a box is 
waiting to be picked up by the robot. 
 
Combine the 4 digital inputs into group input [1], GI[1]. 
 
DI[1] has group input value of 2 
DI[2] has group input value of 4 
DI[3] has group input value of 8 
DI[4] has group input value of 16 
 
Therefore: 
 
DI[1] = ON …………………………….. GI[1]=2 
DI[3] = ON …………………………….. GI[1]=8 
DI[1] = ON & DI[3] = ON ……………….. GI[1] =10 
DI[2] = ON & DI[3] = ON & DI[4]……….. GI[1] =28 
 
This feature allows for efficient programming and 
easy manipulation of digital inputs and outputs in a 
program. 
 
Group inputs and outputs can also be assigned to 
registers. 
 
 
 
 
 
 
 
 
 
 
 
 
DI[1] 
DI[2] 
DI[3] 
DI[4] 
 
 75 
EXAMPLE INPUT OF IO 
 
As an example, suppose we wanted to enter RO[3] = ON into our program to turn robot 
output number 3 on. 
 
Procedure 
You are in the program screen and have inserted a blank line or the cursor is on on 
[End]. 
 
1. If INST is not above F1, press the NEXT key. 
 
2. Press INST (F1), and the Instruction Menu will be displayed like so: 
 
 
 
 
 
 
 
 
 
 
 
 
 
3. Select item 2. I/O, and this screen will be displayed 
 
 
 
 
 
 
 
 
 
 
 
 
 
4. Select item 3. RO [ ] = …. 
 
5. The cursor will jump between the two square brackets like so: 
 
 RO [ ] = …… 
 
6. Enter the value of I/O you wish to use, press ENTER and the cursor will jump across 
to the right of the = sign and the following choices will be displayed 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. Registers
2. I/O
3. IF/SELECT
4. WAIT
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. Jmp/Lbl
6. CALL
7. Miscellaneous
8. --- next page ---
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. DO[ ] = ...
2. R[ ] = DI[ ]
3. RO[ ] = ...
4. R[ ] = RI[ ]
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. GO[ ] = ...
6. R[ ] = GO[ ]
7.
8.
 
 76 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
7. Select item 1. ON 
 
8. The program line will now look like so: 
 
RO [3] = ON 
 
9. This procedure may also be followed to turn off an output. 
 
PULSE 
 
PULSE means the output will turn on for a specified time only. 
 
For example, if the program line said: 
 
RO[3] = PULSE 2 secs 
 
Robot output number 3 would turn on for 2 seconds only. 
 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1 ON
2. OFF
3. PULSE
4. R[ ]
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5.
6.
7.
8.
 
 77 
Viewing I/O’s 
 
4. Press MENUS 
 
5. Select I/O 
 
6. A screen similar to this should be displayed. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Adding Comments to I/O 
 
For Robot I/O go to “Adding Comments to Robot IO” below 
 
1. Press the MENUS key 
 
2. Select I/O 
 
3. If the I/O type you wish to add a comment to is not displayed, press F1, [TYPE] and 
select the required type of I/O 
 
4. Press F2 CONFIG 
 
5. Press F4 DETAIL 
 
6. Cursor to the output you wish to add a comment to. 
 
7. Press ENTER. Letters of the alphabet will appear above the function keys. 
 
F1 F2 F3 F4 F5
OFF[TYPE]
Program1
I/O DIGITAL OUT
DO[1] U ON [ ]
DO[2] U ON [ ]
DO[3] U ON [ ]
DO[4] U ON [ ]
DO[5] U ON [ ]
DO[6] U ON [ ]
DO[7] U ON [ ]
DO[8] U ON [ ]
DO[9] U ON [ ]
DO[10] U ON [ ]
ABORTED
Joint 10%
Line 1
ONIN/OUTCONFIG
To switch between the different types of 
output press f1 [type], cursor to the correct 
output and press enter. 
 
Outputs can be forced On 
and OFF by pressing F4 
and F5. 
 
 78 
8. Using the function keys, enter a comment and then press ENTER. If you make a 
mistake, use the backspace key 
 
To return to the program screen, press the EDIT key. 
 
Each time the input or output is called within a program, the comment should appear in 
the program screen. If it does not you need to enable comments, See the EDCMD Menu. 
 
 
Adding Comments to ROBOT I/O 
 
9. Press the MENUS key 
 
10. Select I/O 
 
11. If Robot I/O are not displayed, press F1, [TYPE] and select Robot I/O 
 
12. Press F2 DETAIL 
 
13. Cursor to the output you wish to add a comment to 
 
14. Press ENTER 
 
15. Using the alphabet above the function keys, enter a comment and then press 
ENTER 
 
If you make a mistake, use the backspace key 
 
To return to the program screen, press the EDIT key. 
 
Each time the input or output is called within a program, the comment should appear in 
the program screen. If it does not you need to enable comments, See the EDCMD Menu. 
 
 79 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > I F / S E L E C T > 
I F S T A T E M E N T 
Setting up conditional statements 
 
The If Statement allows you to carry out a program command, only when certain 
conditions are met. 
 
When the set conditions are met, the robot can call another program to run or jump to a 
label. 
 
EXAMPLE INPUT 
 
As an example, we will set up an If statement to call another program when 3 cycles 
have been executed. Remember, a Register counter statement would be needed to 
count the number of cycles. 
 
Procedure 
You are in the program screen and have inserted a blank line or the cursor is on on 
[End]. 
 
1. If INST is not above F1, press the NEXT key. 
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2. Press F1 INST 
 
3. Select item IF/SELECT 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
4. Select item 3.IF/SELECT and this screen will be displayed 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5. Select item 1. IF … = … 
 
6. The cursor will now jump to the first position in the line and give a list of choices… 
 
 
 
 
 
 
 
 
 
 
 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. Registers
2. I/O
3. IF/SELECT
4. WAIT
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. Jmp/Lbl
6. CALL
7. Miscellaneous
8. --- next page ---
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. IF … = ...
2. IF … <> ...
3. IF … < ...
4. IF … <= ...
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. IF … > ...
6. IF … >= ...
7.
8. --- next page ---
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. R[ ]
2. DO[ ]
3. DI[ ]
4. RO[ ]
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. RI[ ]
6. GO[ ]
7. GI[ ]
8. --- next page ---
 
 81 
7. Select item 1. R [ ] 
 
8. The cursor will jump between the two square brackets like so: 
 
IF R [ ] = … … 
 
9. Enter the value of the register you wish to use and press ENTER. 
 
10. The cursor will now jump to the other side of the = sign and give the following 
choices. 
 
 
 
 
 
 
 
 
 
 
 
 
 
11. Select item 2. Constant 
 
12. Enter the value of the constant you require and press ENTER. this will 
determine the number of cycles the robot makes. 
 
13. The cursor will jump to the next space and give you another menu to choose from. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
14. Select item 2. CALL and a list of all the teach pendant programs will appear in 
alphabetical order. 
 
15. If the program you wish to call is not listed, press 8. -- next page --, to flip the pages 
of programs. 
 
16. The program line will now look like so: 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. R[ ]
2. Constant
3.
4.
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5.
6.
7.
8.
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. JMPLBL
2. CALL
3.
4.1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5.
6.
7.
8.
 
 82 
 
IF R [1] = 3 CALL (name of program) 
 
 
 
Although this example calls a program depending on the IF statement, a JMPLBL could 
also be used with the IF statement to jump to another part of the same program. 
 
 
REMEMBER! 
You must have the same register as that in the IF statement set up as a counter above the IF statement. 
 
 
 83 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > I F / S E L E C T > 
S E L E C T 
Adding conditions into a program 
 
The SELECT statement is located on the INST menu and works in a similar but slightly 
different way to the IF statement. 
 
How SELECT works: 
 
Imagine a program that needs to check a register value and then depending on the value 
jump to different lines in the program. 
 
Suppose we use Group Input 1, GI[1]. 
 
Using Group Input 1, GI[1], many IF statements would be necessary like so: 
 
1. IF GI[1] = 2 CALL PROGRAM1 
2. IF GI[1] = 4 CALL PROGRAM1 
3. IF GI[1] = 8 CALL PROGRAM1 
4. IF GI[1] = 16 JMP CALL PROGRAM1 
 
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4 different IF statements are necessary and the robot would read them all until it found 
one that was true. 
 
Instead, with the Select statement the program would work like so: 
 
 
1. SELECT GI[1] = 2 CALL PROGRAM1 
 = 4 CALL PROGRAM1 
 = 8 CALL PROGRAM1 
 = 16 CALL PROGRAM1 
 
 
EXAMPLE INPUT 
 
Entering a SELECT statement. 
 
Procedure 
 
1. You are in the program screen and have inserted a blank line or the cursor is on 
[End]. 
 
2. If INST is not above F1, press the NEXT key 
 
3. Press F1 INST 
 
4. Select IF/SELECT 
 
5. Select 8. next page 
 
6. The SELECT statement is available on this menu. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
7. Choose item 1 when you are setting up a new SELECT statement. 
 
8. Choose item 2 or 3 when you wish to add new branches to an existing SELECT 
statement. 
 
The robot will branch 
to whichever 
statement is true. 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. SELECT R[ ]
2. select <>
3. ELSE R[ ]
4.
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5.
6.
7.
8.
 
 85 
To add a branch to an existing SELECT statement, the cursor must be placed on the line below the existing SELECT 
statement or below the last branch added to the SELECT statement. 
 
 
 86 
 
 87 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > W A I T > 
W A I T 
I N S T R U C T I O N 
Pausing the program or waiting for a condition to become true 
 
The WAIT Instruction tells the robot to wait for something to happen. 
 
The robot can wait for : 
 
• A given time in seconds 
 
• An input or output 
 
• A register to be equal to a certain value. 
 
• A semaphore 
 
Wait is located on the INST menu. 
 
 
 
 
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EXAMPLE INPUT 
 
As an example we will enter a statement to make the robot wait for 2 seconds before 
carrying on to the next program line. 
 
Procedure 
You are in the program screen and have inserted a blank line or the cursor is on on 
[End]. 
 
1. If INST is not above F1, press the NEXT key. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2. Select item 4. WAIT, and this screen will be displayed 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3. Select item 1. WAIT … (sec) 
 
4. The program line will look like this: 
 
WAIT … (secs) 
 
5. Enter the number of seconds you wish to wait, and press ENTER. 
 
6. The program line should look like this: 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. Registers
2. I/O
3. IF/SELECT
4. WAIT
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. Jmp/Lbl
6. CALL
7. Miscellaneous
8. --- next page ---
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. WAIT … (secs)
2. WAIT … = ...
3. WAIT … <> ...
4. WAIT … < ...
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. WAIT … <= ...
6. WAIT … > ...
7. WAIT … >= ...
8. WAIT SEMAPHORE
 
 89 
 
WAIT 2 (secs) 
 
The WAIT Instruction can also be used to wait for inputs to turn on, or to wait for a 
register to reach a certain value. 
 
 90 
 
 
 
 91 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > J m p / L b l > 
L A B E L S & 
J U M P L A B E L S 
Using labels and jump labels to create cycles 
 
Labels (LBL) are similar to markers in that they mark a point in a program for the robot to 
jump to when the jump to label (JMPLBL) command is used. They are therefore used for 
cycling purposes. 
 
For example: 
1. LBL [1] 
2. J P[1] 100% FINE 
3. J P[2] 100% FINE 
4. J P[3] 100% FINE 
5. J P[4] 100% FINE 
6. J P[5] 100% FINE 
7. J P[6] 100% FINE 
8. J P[7] 100% FINE 
9. J P[8] 100% FINE 
10.JMPLBL [1] 
 
 
 
This label defines 
the line for the robot 
to jump to when it 
reads a JMPLBL[1] 
command. 
Every time the 
robot reads this 
line, it will jump to 
label [1], and hence 
run the entire 
program again and 
again. 
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The above is an example of an unconditional loop. It will continue to cycle no matter 
what. To set up a conditional loop, an IF statement is required in combination with a 
Register counter. 
 
The order of the LBL and JMPLBL commands in a program does not matter. You can 
place a JMPLBL command anywhere in a program to jump to any other label, even if 
the label appears after the JMPLBL. 
 
 
EXAMPLE INPUT 
 
Entering a LBL command. 
 
Procedure 
You are in the program screen and have inserted a blank line or the cursor is on on 
[End]. 
 
1. If INST is not above F1, press the NEXT key. 
 
2. Press F1 INST 
 
3. Select item JMP/LBL 
 
 
 
 
 
 
 
 
 
 
 
 
 
4. Select 5.JMP/LBL and there will be two choices, shown below: 
 
1. JMPLBL 
2. LBL 
 
5. To enter a LBL, select 2.LBL and the value of the label may be entered via the 
numeric keypad. 
 
There are 10,000 labels that can be used, but the same one cannot be used in the same 
program. You can jump to the label as many times as required, but there must be only 
one label with the same number in any one program. For example, only one LBL[99] or 
LBL[2], etc. 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. Registers
2. I/O
3. IF/SELECT
4. WAIT
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. Jmp/Lbl
6. CALL
7. Miscellaneous
8. --- next page ---
 
 93 
 
JMPLBL 
To enter a JMPLBL. Press F1, INST again, and select 5. JMP/LBL. 
 
Select 1. JMPLBL and enter the value via the numeric keypad. 
 
 
The above example sets up an unconditional cycle. i.e. it will cycle forever. To set up a 
conditional cycle, you need to use the IF statement together with registers, labels and 
jump labels. 
 
 94 
 
 95 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
I N S T > C A L L > 
C A L L 
I N S T R U C T I O N 
Calling programs from within programs 
 
In addition to using the CALL Statement in conjunction with the IF Statement, it can also 
be used alone. It is located on the INST menu and in a program looks like so: 
 
CALL (name of program) 
 
 
EXAMPLE INPUT 
 
Entering a CALL command. 
 
Procedure 
You are in the program screen and have inserted a blank line or the cursor is on on 
[End]. 
 
1. If INST is not above F1, press the NEXT key. 
 
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2. Press F1 INST 
 
3. Select item CALL 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
4. Select item CALL and this screen will be displayed 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5. Select item 1. CALL program 
 
6. There will then be a list of teach pendant programs displayed, select the program you 
wish to call. 
 
 
 
Remember 
The robot always takes the shortest route from where it is to where it is going. Make sure the path 
between programs is a safe one to take. 
 
 
 
 
 
F1 F2 F3 F4 F5
EDCMDINST
Program1
INST
1. Registers
2. I/O
3. IF/SELECT
4. WAIT
1. J P[1] 100% FINE
2. J P[2] 100% FINE
[End]
PAUSED
Joint 10%
Line 7
5. Jmp/Lbl
6.