Loctite CARTESIAN 400 User Manual

Features ii, Equipment operation manual, Variables/ commands/ functions

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EQUIPMENT OPERATION MANUAL

Cartesian 200, 300, 400 and 500 Series

Features II

Variables/ Commands/ Functions

Thank you for purchasing the Loctite® Robot.

*Read this manual thoroughly in order to properly use this robot.

Be sure to read “For Your Safety” before you use the robot. It will

protect you from possible dangers during operation.

*After having read this manual, keep it in a handy place so that you or

the operator can refer to it whenever necessary.

This manual is related to the following products:

CARTESIAN 300 CARTESIAN 200 CARTESIAN 500

Table of contents

Document Outline

FOR YOUR SAFETY
PREFACE
CONTENTS
EXPRESSION STRUCTURE
- Operator
COMMAND LIST
VARIABLE LIST
FUNCTION LIST
[ Variables ]
- ■ Free variables: #mv, #mkv, #nv, #nkv, #sv, #skv
- ■Input variables:#sysIn1 to 15, #genIn1 to 18, #handIn1 to 4
- ■ Output variables:
- #sysOut1 to 15, #genOut1 to 18, #handOut1 to 4
- ■ Down timer : #downTimer1 to 10
- ■ Point job starting height : #jobStartHight
- ■ Pallet : #palletflag (1 to 100), #palletCount (1 to 100)
- ■ Workpiece adjustment: #workAdj_X, #workAdj_Y,
- #workAdj_Z, #workAdj_R, #workAdj_Rotation
- ■ Point coordinates: #point_X,#point_Y,#point_Z,
- #point_R,#point_TagCode
- ■ Given point coordinates:
- #P_X, #P_Y, #P_Z, #P_R, #P_TagCode
- ■ Given point coordinates in given programs:
- #prog_P_X, #prog_P_Y, #prog_P_Z,
- #prog_P_R, #prog_P_TagCode
[ Functions ]
- ■ Robot functions
- ■ Arithmetic functions
- ■ String functions
[ ON/OFF Output Control ]
- ■ Outputting to I/O: set, reset, pulse, invPulse
- ■ Outputting after X second: delaySet, delayReset
- ■ Sounding an alarm buzzer: onoffBZ
- ■ Blinking the LED (Green): onoffGLED
- ■ Blinking the LED (Red): onoffRLED
- ■ Outputting values from I/O: dataOut,dataOutBCD
[ If Branch, Wait Condition ]
- ■ if Branch: if, then, else, endIf
- ■ Wait Condition: waitCond,waitCondTime,timeUp,endWait
[ Condition ]
- ■ Condition Settings: ld, ldi, and, ani, or, ori, anb, orb
[ Delay, Data In, Wait Start ]
- ■ Time Delay: delay
- ■ Waiting for a start instruction: waitStart, waitStartBZ
- ■ Inputting from I/O: dataIn, dataInBCD
[ Pallet Control ]
- ■ Pallet Command: loopPallet, resPallet, incPallet
[ Execution Flow Control ]
- ■ Subroutine call of type setting job: callBase
- ■ Subroutine call of point job data: callJob
- ■ End of point job: returnJob
- ■ Subroutine call of Program: callProg
- ■ Calling points: callPoints
- ■ Ending a program: endProg
- ■ Assigning the returned value of a function: returnFunc
- ■ Jumping to a specified point:
- goPoint, goRPoint, goCRPoint
- ■ Jumping to a specified command line: jump, Label
[ For, Do-loop ]
- ■ For, Do-loop: for, next, exitFor, do, loop, exitDo
[ Controlling Tool Movement ]
- ■ Moving the Z axis: upZ, downZ, movetoZ
- ■ Moving straight in CP drive:
- lineMoveSpeed, lineMoveStopIf
- ■ Executing mechanical initialization by a point job: initMec
- ■ Position error detection: checkPos
[ LCD, 7SLED ]
- ■ Displaying the specified strings on the teaching pendant:
- clrLCD, clrLineLCD, outLCD, eoutLCD
- ■ Displaying arbitrary numbers on the 7SLED:
- sys7SLED, out7SLED
[ COM Input/Output ]
- ■ COM Input/Output: outCOM, eoutCOM, setCOM,
- cmpCOM, ecmpCOM, clrCOM, shiftCOM
- ■ PC Communication: stopPC, startPC
[ Variables, Comments, System Control ]
- ■ Declaration and assignment of variable: declear, let
- ■ Comment insertion: rem,crem
- ■ Changing a program number using point job: setProgNo
- ■ Changing a sequencer program using point job:
- setSeqNo
  - Henkel reserves the right to make changes in design and/or improvements to its equipment without obligation to include these changes in any equipment previously manufactured.