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Joint Manipulator - Software Operation Manual

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Advantech LNC Technology Co., Ltd.

Robot Series

Joint Robot - Basic Operation and Program Manual

Leading Numerical Controller

2018/12 Ver：V09.00

Table of Contents2
Content2
Instructions of Handheld Box and Screen Configuration6
Shape of Handheld Box6
Instructions for Screen Configuration7
Title Bar8
Right Quick-Operating Area9
Left Function Menu10
Common11
Startup11
Permissions12
Coordinates13
Coordinate System and Settings13
Current Coordinates Display14
Operation for Motions15
Alarm Warning Page17
Introduction to Basic Concepts18
Introduction to Space Coordinates (Position and Attitude)18
Various Coordinates and Their Relevance20
Fast Moving21
Path Motions21
Maintenance and Teaching Mode24
Button Names24
Mode Description24
Differences between Handwheel and Non-Handwheel Modes25
Coordinate System Selection During Motions26
Direction Rotation in Teaching Mode27
Tools28
Point Record30
Security Point31
Coordinate System32
Introduction to Operation Interface of Program Page34
Teaching Mode34
Block Operation34
Recording35
Basic Instructions36
Extended Instruction36
Editing Columns36
Automatic Mode37
Process of Editing and Running the Program38
Creating or Opening a File38
Record" Continuous Track and IO Motion38
Step", "Forward", "Back" Function Confirmation and Correction Track39
Handwheel Run Test39
Operation Observation of "Repeat40
Introduction to Program41
Basic Instructions41
Process Control41
Waiting Type43
Status Setting44
Motion Command45
Function Module Calling48
Extended Instructions50
Use Coordinate System to Simplify Programming and Maintenance60
Setting XYZABC Directly60
World Record XYZ60
World Record XYZABC60
Coordinate System Record61
Current Position and Attitude61
Dynamic Position and Attitude61
Joint Record62
Setting the Joint Coordinates Directly62
Re-Offset Direct Setting62
Re-Offset Dynamic Setting62
List63
Put the Program into the List63
Select to Execute64
Appoint to Execute64
Composition of Program Modularization66
Calling Program Files66
Calling O Files67
Calling G Files69
NC Editing71
Types of Files71
Viewing and Editing Methods72
NC Execution73
Runnable Files74
Viewing Mode74
Description of Use of System G Code76
Fast Moving (G0, G1T2), Direct Moveing (G1T4)76
Path Movement (G1, G1T5)77
Linear (S0)78
Arc Transition (S1)78
Arc Midpoint (S2)79
Arc Center (S3)79
Arc End Point (S4)79
Clockwise Arc and Counterclockwise Arc (G2, G3)79
Wait (G4)80
Switch Tool Parameters (G5)80
Switch Coordinate Inversion Mode (G6)81
Set the Path Process (G7)81
Wait for Arrival of Interrupt Counting (G8)82
Wait Correct Arrival (G9)82
Joint Record Movement (G10)82
World Record Movement (G11)82
Set Whether the Command of the Axis Output (G13)83
Get the World Coordinates (G17, G1T17) of the Final Position83
Get the Work Coordinate(G18, G1T18) of the Final Position83
Get the Joint Coordinates (G19, G1T19) of the Final Position84
Wait for Point I(G20)84
Wait for R Value (G21)84
Set O(G22)85
Set R(G23)86
Sensing Point I Stop (Rbit Comparison) (G31)86
Sensing Torque Stop (R Value Comparison) (G32)87
Coordinate System Re-Offset (G52)88
Set the Work Coordinate System (G54)89
The Offset of Position and Attitude Specified Directly by O0 (Preset)89
O1 Uses Position XYZ in the World Record89
O2 Uses Position and Attitude XYZABC in World Records89
O3 Uses Coordinate System Records89
O4 Uses the Current Position and Attitude89
O5 Uses Dynamic Position89
O6 Uses Joint Records89
O7 Directly Set Joint Coordinates90
O8 Directly Set Re-Offset90
O9 Re-Offset Dynamic Setting90
Rotating the Coordinate System (G55)90
Coordinated Coordinate System (G56)90
Bulk Separating Axis Coordinate System (G57)90
Start Dynamic Compensation (G61)91
Turn off Dynamic Compensation (G60)91
Interpolation Table Conversion (G69)91
Set the Flexibility Level (G89)91
Set the Synthetic Acceleration/Deceleration Time (G90)92
Set the Shaft Speed Smoothing Time (G91)92
Set the Shaft Speed Tolerance (G92)92
Serve Lag Eliminates and Updates Coordinates (G95)92
Update Coordinates (G96)92
Macro Syntax93
Variables93
Regional Variables93
Global Variables93
Core Resource IOCSAR Access93
Mathematical Fnctions94
Program Flow Control95

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General

Brand	LNC
Model	Robot Series
Category	Controller
Language	English

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