Revision history
Date Specifications No. Details of revisions
2012-03-13 BFP-A8869 • First print
2012-04-06 BFP-A8869-A • Error in writing correction (4.3.2 Executing a multitask)
• The example program for collision detection level setting was added (J_ColMxl).
2012-07-26 BFP-A8869-B • Notes were added to the hand and the workpiece condition parameter.
2012-10-03 BFP-A8869-C • In the interference avoidance function, the cylinder was added to the shape of a
simulated component, and the RV-F series was added to the target type.
• RV-F series was added to the setting value at shipment of the collision detection
parameter COL. (Table 5-21)
2012-11-12 BFP-A8869-D • The statement about trademark registration was added.
• The initial value of parameter OLTMX was corrected.
2013-01-09 BFP-A8869-E • The reference program of J_ColMxl was corrected (error in writing)
• The explanation of parameter MEGDIR, MELTEXS were added.
• The vertical multi-joint type robot's structure flag was added.
2013-03-25 BFP-A8869-F • The explanation of RV-13F series were added. (Operation of the brake release.)
2013-09-20 BFP-A8869-G • The minimum values of CmpG was corrected. (For Cmp Jnt)
• The descriptions about RH-3FHR series were added.
• The explanation of parameter CMPJCLL was added.
2014-01-06 BFP-A8869-H • The explanations of RV-4FJL (5-axis type) were added.
• The explanation of J1OFFSET parameter was added.
• The explanations of robot status variable were corrected. (C_Mecha, C_Prg)
• The procedure of robot type resetting was added.
• The SpdOpt command and the SPDOPT parameter, and the cylinder limit function
(MECAR parameter) were added.
• The descriptions of Def Act and Return commands were corrected. (A linked page)
• Note was added to the explanation of Output signal reset pattern.
• The explanation of program selection rights setting were modified.
• Origin points were added to "Fig. 4-3: Base conversion".
• Commands which requires a control right by GetM command were listed.
• Errors of an output condition of EMGERR were added.
• The explanation of HANDENA parameter is modified.
• The explanations were added to the parameters of OVRDTB and OVRDENA.
• The example of program in “Table 6-1: Overall I/O signal map” was corrected.
(Formerly: If M_In(900) Then M_Out(900)=1)
• The explanation is added to the If...Then...Else...EndIf command.
• The Reference Program of M_Uar was corrected.
• The Note was added to the parameters of ROMDRV and CTN. (High-speed RAM
mode and Continue function cannot be used together.)
• The NETIP parameter factory setting value for FQ series was added.
• The error described in the explanation of the function of an AUTOENA parameter
was corrected to L5010.
• The description about the program capacity which is likely to cause misunderstand-
ing was deleted.
• Explanation(4) to (6) were added to Mvs command.
• The factory shipment signal number (output) in "Table 6-6:Table of dedicated input/
output" of parameters was corrected.
2014-03-31 BFP-A8869-J • The explanation of Spline interpolation function was added.
• The explanation of Ex-T control function was added.
• The OPTOVC parameter was added.
• X and Y axis elements of RV-4FJL in “Table 5-8: Valid axis elements of the tool con-
version data depending on the robot mode” were corrected to △ .
• The parameters were added. (WTHFUNC, MVTERM, ESCMODE, PRGMODE,
SVDATA)
• The robot status variable is added. (M_LdFMax)
• The explanation of a free plane limit was complemented.
• The explanation of WthIf command was complemented.
2014-04-23 BFP-A8869-K • The description of [Reference Program] of status variables M_In32 and M_Out32
were corrected.
2014-08-06 BFP-A8869-M • The cover and corporate logo mark of this manual was changed
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