Basic specifications 19
Note on 1 Cycle operation
(1) For command line that waits for signals to be input or robot status changes, use a comment to
set the stop time.
For a program waiting for input of signal from outside or change of the robot status variable, comment
out that portion and instead set a stop time (assumed) and specify the start line and end line including
that line.
(2) Use a program with no infinite loop.
A program that executes an infinite loop does not give the correct calculation result.
Check that the program is not an infinite loop in a FOR or GOTO statement.
(3) Include all instructions required for 1 cycle in the line selection range.
When selecting the start line and end line of a program, specify line numbers in such a way that all
instructions such as jump destinations of Gosub or hand word settings required for the robot to perform
1 cycle operation are included in the range.
When sending/receiving external signals, set the stop time as a substitute for the signal
sending/receiving time and specify the line numbers including that line.
(4) About robot program "ESTPROG.prg"
When executing 1 cycle operation, "ESTPROG" is displayed as the robot program on the operating
panel.
This is a program that is automatically generated when 1 cycle operation is executed. After 1 cycle
operation, you can delete this program if it is unnecessary.
When RT ToolBox3 mini is used, simulation on RT ToolBox3 cannot be used.
The recommended number of years up to the replacement/maintenance time
output by this function is the value calculated when the specified operation is
repeated. Also, the result may vary depending on the performance of the personal
computer used and the load status. The actual time changes depending on the
actual operating status or load status of the robot.
Use as reference values for planning of maintenance and inspection.
Correctly set hand work conditions (weight, center of gravity, shape) actually used.
If the settings differ from the actual robot settings, the consumption degree cannot
be calculated correctly.
Use parameters HNDDAT* and WRKDAT* to set hand work conditions and use
Loadset commands to specify hand work conditions.
For details of hand work condition setting, refer to the separate "Instruction
Manual/Detailed Explanations of Functions and Operations".
Do not use M_TIMER(8) while programming. This function uses M_TIMER(8) for
the estimation of parts replacement time and maintenance time. If M_TIMER(8) is
used while programming, the number of years of replacement and maintenance
cannot be estimated accurately.
After changing to M_TIMER(1) to M_TIMER(7), perform the maintenance
simulation.
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