PROGRAMMER’S MANUAL I PROGRAM DESIGN AND …

1 ROBOTV ertical articulatedV*-D/-E SERIESH orizontal articulatedH*-D/-E SERIESC artesian coordinateXYC-4D SERIESV ision device Vision-21 SERIESPROGRAMMER S MANUAL IPROGRAM DESIGN AND COMMANDS(Ver. )Copyright DENSO WAVE INCORPORATED, 2002 All rights reserved. No part of this publication may be reproduced in any form or by any means withoutpermission in writing from the are subject to change without prior products and company names mentioned are trademarks or registered trademarks of theirrespective holdersiPrefaceThank you for purchasing this high-speed, high-accuracy assembly operating your robot, read this MANUAL carefully to safely get the maximum benefit from yourrobot in your assembling series and/or models covered by this MANUAL - Vertical articulated robotV*-D/-E series- Horizontal articulated robotH*-D/-E series- Cartesian coordinate robotXYC-4D series- Vision devaicec Vision-21 seriesRobot controller version (Note)

2 - Applicable to up to Ver. of the RC5 type :The robot controller version is indicated in the main software ver. column of the controller settingtable affixed on the controller. It can also be confirmed from the teaching pendant by reading theROM version column displayed by basic screen - F6 setting - F6 maintenance - F2 version .ImportantTo ensure operator safety, be sure to read the precautions and instructions in "SAFETYPRECAUTIONS," pages 1 through the documentation set is organizedThe documentation set consists of the following books. If you are unfamiliar with this robot andoption(s), please read all books and understand them fully before operating your robot and option(s).

3 GENERAL INFORMATION ABOUT ROBOTP rovides the packing list of the robot and outlines of the robot system, robot unit, and & MAINTENANCE GUIDEP rovides instructions for installing the robot components and customizing your robot, andmaintenance & inspection 'S GUIDEI ntroduces you to the DENSO robot. Taking an equipment setup example, this book guidesyou through running your robot with the teach pendant, making a PROGRAM in WINCAPSII, andrunning your robot MANUALD escribes how to set-up or teach your robot with the teach pendant, operating panel, or GUIDEP rovides instructions on how to use the teaching system WINCAPSII which runs on the PCconnected to the robot controller for developing and managing 'S MANUAL (I), (II)

4 - this book -Describes the PAC programming language, PROGRAM development, and commandspecifications in CONTROLLERINTERFACE MANUALD escribes the RC5 controller, interfacing with external devices, system- and user-input/outputsignals, and I/O CODE TABLESList error codes that will appear on the teach pendant, operating panel, or PC screen if anerror occurs in the robot series or WINCAPSII. These tables provide detailed description andrecovery MANUALD escribes the specifications, installation, and use of optional this book is organizedThis book is just one part of the documentation set. This book consists of SAFETY PRECAUTIONSand chapters one through PRECAUTIONSD efines safety terms, safety related symbols and provides precautions that should be observed.

5 Besure to read this section before operating your Listed in Alphabetical OrderCommands Listed According to FunctionsPART 1 PROGRAM DESIGNC hapter 1 Sample ProgramThis chapter utilizes a simple application example to provide usage of each 2 PROGRAM FlowThis chapter provides an explanation on the rules, which are required for creating a PROGRAM , for theoperation of programs in the PAC 3 Robot MotionThis chapter provides an explanation of various motions of the robot. The robot motion variesaccording to the reference position and the decision method for reach destination 4 Speed, Acceleration and Deceleration DesignationThis chapter provides an explanation of the meanings and settings for speed, acceleration, 5 Vision ControlThis chapter provides explanations of terms related to vision that are required in creating a 2 COMMAND REFERENCEC hapter 6 Guide to Command ReferenceThis chapter provides command descriptions and a command list for the PAC the command list to quickly search for information concerning each 7 PAC Language Configuration ElementsThis chapter provides an explanation of the element rules (identifier, variable, constant.)

6 Operator,expression, and command) which construct the PAC 8 PAC Language SyntaxThis chapter provides an explanation on the rules of syntax when you describe a PROGRAM in the 9 to 21 These chapters provide an explanation of each command in the PAC robot language. Commands areclassified by quickly find an explanation of a particular command, use the command list in CHAPTER 22 AppendicesCharacter Code TableFigures of the Shoulder, Elbow, and WristEnvironment Setting ValuesUsing Condition ParametersReserved Word ListConventional Language Command Correspondence Table (VS)Version Correspondence TableSetting Parameter TableIndexSAFETY PRECAUTIONS1 SAFETY PRECAUTIONSBe sure to observe all of the following safety observance of these warning and caution indications are a MUST for preventing accidents, whichcould result in bodily injury and substantial property damage.

7 Make sure you fully understand alldefinitions of these terms and related symbols given below, before you proceed to the text you to those conditions, which could resultin serious bodily injury or death if the instructionsare not followed you to those conditions, which could resultin minor bodily injury or substantial propertydamage if the instructions are not and DefinitionsMaximum space: Refers to the volume of space encompassing the maximum designed movements ofall robot parts including the end-effector, workpiece and attachments. (Quoted from the RIA*Committee Draft.)Restricted space: Refers to the portion of the maximum space to which a robot is restricted by limitingdevices ( , mechanical stops).

8 The maximum distance that the robot, end-effector, and workpiececan travel after the limiting device is actuated defines the boundaries of the restricted space of therobot. (Quoted from the RIA Committee Draft.)Motion space: Refers to the portion of the restricted space to which a robot is restricted by softwaremotion limits. The maximum distance that the robot, end-effector, and workpiece can travel after thesoftware motion limits are set defines the boundaries of the motion space of the robot. (The "motionspace" is Denso-proprietary terminology.)Operating space: Refers to the portion of the restricted space (or motion space in Denso) that isactually used by the robot while performing its task PROGRAM .

9 (Quoted from the RIA Committee Draft.)Task PROGRAM : Refers to a set of instructions for motion and auxiliary functions that define the specificintended task of the robot system. (Quoted from the RIA Committee Draft.)(*RIA: Robotic Industries Association)21. IntroductionThis section provides safety precautions to be observed duringinstallation, teaching, inspection, adjustment, and maintenanceof the Installation Insuring the properinstallation For standard typeThe standard type has not been designed to withstandexplosions, dust-proof, nor is it splash-proof. Therefore, itshould not be installed in any environment where:(1) there are flammable gases or liquids,(2) there are any shavings from metal processing or otherconductive material flying about,(3) there are any acidic, alkaline or other corrosive gases,(4) there is cutting or grinding oil mist,(5) it may likely be submerged in fluid,(6) there is sulfuric cutting or grinding oil mist, or(7) there are any large-sized inverters, high output/highfrequency transmitters, large contactors, welders, or othersources of electrical For dust-proof, splash-proof typeThe dust-proof, splash-proof type is an IP54-equivalent dust-proof and splash-proof structure, but it has not been designedto withstand explosions.

10 (The wrist of the VM-D-W and VS-E-Wis an IP65-equivalent dust-proof and splash-proof structure.)Note that the robot controller is not a dust- or splash-proofstructure. Therefore, when using the robot controller in anenvironment exposed to mist, put it in an optional dust-proof, splash-proof type should not be installed in anyenvironment where:(1) there are any flammable gases or liquids,(2) there are any acidic, alkaline or other corrosive gases,(3) there are any large-sized inverters, high output/highfrequency transmitters, large contactors, welders, or othersources of electrical noise,(4) it may likely be submerged in fluid,(5) there are any grinding or machining chips or shavings,(6) any machining oil other than DENSO authorized oil is inuse, orNote: DENSO authorized oil: Yushiron Oil No.