Loctite CARTESIAN 400 User Manual

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

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.