Robot controller specification
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Alarm Display • Alarm message
• Troubleshooting
• Previous alarm records
I/O Diagnosis Simulated enabled/disabled output possible
T.C.P. Calibration Automatically calibrates parameters for end effectors using a
master positioner
Programming Type Interactive programming
Language Robot language: INFORM II
Robot Motion Control • Joint coordinates
• Linear/Circular interpolations
• Tool coordinates
Speed Setting • Percentage for joint coordinates
• 0.1mm/s units for interpolations
• Angular velocity for T.C.P. fixed motion
Program Control In-
structions
• Jumps, Calls
• Timer
• Robot stop
• Execution of some instructions during robot motion
Operation Instructions Preparing the operation instructions for each application Arc
(ON), Arc (OFF), etc.
Variable • Global variable
• Local variable
Variable Type • Byte type
• Integer type
• Double precision type
• Real type
• Position type
• String type
I/O Instructions • Discrete I/O
• Pattern I/O processing
Safety feature
Essential Measures JIS (Japanese Industrial Standard)
Running Speed Limit User definable
Enable Switch 3 position type. SERVO power can be turned on at the middle
position only. (Located on programming pendant)
Collision proof Frames S-axis frame (doughnut-sector)
Cubic frame
Self-Diagnosis Classifies error and two types of alarms (major and minor) and
displays the data
User Alarm Display Possible to display alarm messages for peripheral device
Machine Lock Test-run of peripheral devices without robot motion
Programming pendant operation
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