12.3 Programming Pendant
12-4
12.3 Programming Pendant
Maintenance
Function
Operation Time
Display
Control power-on time, Servo power-on time, Playback time,
Operation time, Work time
Alarm Display Alarm message and 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
Programing
Functions
Programming Interactive programming
Language Robot language: INFORM II
Robot Motion Con-
trol
Joint coordinates, Linear/Circular interpolations, Tool coordi-
nates
Speed Setting Percentage for joint coordinates, 0.1mm/s units for interpola-
tions, Angular velocity for T.C.P. fixed motion
Program Control
Instructions
Jumps, Calls, Timer, Robot stop, Execution of some instruc-
tions during manipulator motion
Operation Instruc-
tions
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
I/O Instructions Discrete I/O, Pattern I/O processing
Material Reinforced thermoplastic enclosure with a detachable sus-
pending strap
Dimensions 199(W)
× 338(H) × 60(D) mm (excluding protrusions)
Displayed
Units
TFT Color liquid crystal display, 6.5 inch, VGA (640
× 480)
Touch panel
Operated
Units
Three-position Enable switch, Start switch, Hold switch,
Mode select switch (three mode)
Others
Provided with CF (Compact Flash) card slot
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