EQUIPMENT OPERATION MANUAL Loctite S440 Series SCARA Robots

OPERATION PROCESS Power ONMotor Power ONInitialization SwitchRun Mode External Run modeSelect SwitchTeaching modePRG.NO MENU PROG.NO SAVE MENUProgram Data Settings Program Name ExistingWork Home Program Program Number Entry Save All Data System SettingsMENU Cycle Mode Setting (1 Cycle/Continuous) (A)System Settings PTP Condition PTP Speed EDIT New program(A) Tool Data Tool Weight (1 kg/3 kg/5kg) R-Axis Rotate Speed Insert a point (B)Move Area Limit J1 Upper Limit Length L1 (3-axis)/TCP-X (4-axis) Relative Mode/Absolute Mode Delete a pointRotate Speed Limit (CP) J1 Lower Limit Length L2 (3-axis)/TCP-Y (4-axis) Z Move Height/Horizontal Move Pos'n Block Editing Block Start Number Block End Number Delete Block PointsJ2 Upper Limit Z Up Distance/Start Horizontal Move Block PointsPoint Job Settings Point Job Number Entry J2 Lower Limit Z Down Distance/Start Down Pos'n Add a Function PTP Condition Copy Block PointsZ Upper Limit Delete a Function Tool Mirror Copy (Right-Left)R Upper Limit Pallet Routine Mirror Copy (Front-Back)R Lower Limit Stop Condition X OffsetOutput While Moving Y OffsetAdditional Function Data PTP Condition PTP Speed Execute Condition Z OffsetTool Data Tool Weight (1 kg, 3 kg, 5kg) R-Axis Rotate Speed Block RotationPallet Data Plane Pallet Length L1 (3-axis)/TCP-X (4-axis) Relative Mode/Absolute Mode Reset Line SpeedCubic Pallet Length L2 (3-axis)/TCP-Y (4-axis) Z Move Height/Horizontal Move Pos'nRow Z Up Distance/Start Horizontal1 Point Repeat Z Down Distance/Start Down Pos'nStop Condition Data Point Job Number Insert a CommandOutput while moving Data Delete a CommandExecute Condition DataPROG.NOSystem Settings Display Brightness Adjustment Existing point(A) Unit of Length Millimeters [MM] [MM/S]/Inches [IN] [IN/S] DISP Displayes the settings for the next pointON at Hitting Key or Starting (B)ON at Hitting KeyON at StartingAlways OFF New Position EntryF.1 JOG modeDefault Program Control Data Work Home ALT X-Y Expression Change to Righty (RX,RY)Cycle Mode Setting (1 Cycle/Continuous) Change to J1-J2 ExpressionPTP Condition PTP Speed J1-J2 Expression Change to X-Y ExpressionTool Data Tool Weight (1 kg/3 kg/5kg) R-Axis Rotate SpeedLength L1 (3-axis)/TCP-X (4-axis) Relative Mode/Absolute Mode F.2 MDI modeLength L2 (3-axis)/TCP-Y (4-axis) Z Move Height/Horizontal Move Pos'n ALT X-Y Expression Change to Righty (RX,RY)Z Up Distance/Start Horizontal Change to J1-J2 ExpressionZ Down Distance/Start Down Pos'n J1-J2 Expression Change to X-Y ExpressionMove Area Limit J1 Upper Limit Dead-man switch + GO Moves to the posirion on the screenRotate Speed Limit (CP) J1 Lower LimitJ2 Upper Limit F.3 Direct modeJ2 Lower Limit ALT X-Y Expression Change to Righty (RX,RY)Z Upper Limit Hold XY AxisR Upper Limit Hold Z AxisR Lower Limit Free R AxisParameter (Teaching) GO Function PTP Speed J1-J2 Expression Change to X-Y ExpressionJOG Speed Low Speed 0.1-30 R-Axis Rotate Speed Free J1J2 AxisMiddle Speed 0.1-30 Relative Mode/Absolute Mode Free Z AxisHigh Speed 0.1-30 Z Move Height/Horizontal Move Pos'n Hold R AxisManual Job Number Setting F.1 key Job Number Z Up Distance/Start HorizontalF.2 key Job Number Z Down Distance/Start Down Pos'n ENTER Point Type Entry ScreenF.3 key Job Number PointType Entry PTP SpeedParameter (Playback) Initialize Work Home on Start R-Axis Rotate SpeedProgram Change Teaching Pendant (Valid/Invalid) Work Home After First Cycle ENTER Point Job Number Entry Screen Relative Mode/Absolute ModeOperation Box (Valid/Invalid) Work Home After Initialize Point Job Number Entry (Numeric Key) Z Move Height/Horizontal Move Pos'nSequencer Number Entry External I/O (Valid/Invalid) Z Up Distance/Start HorizontalI/O LOAD Function LOAD/ACK Handshake ENTER Point Job Number Entry Screen Z Down Distance/Start Down Pos'nLoading at Start Point Job Number Change (Numeric key)I/O (Standby) Emergency/InterlockI/O (Stop) Emergency/Interlock ENTER CP Line Speed Entry ScreenI/O-1 Power Supply External Line Speed Change (Numeric key)InternalI/O-2 Power Supply External ENTER (B)InternalPC Transmit Condition Baud Rate Point Number EntryCharacter Length Displays the Settings for the specified pointStop Bit Position ChangeParity Position change in JOG/MDI/DIRECT modeSequencer Settings Sequencer Number Entry Display/Modify Settings Command Category Selection Sequencer Command selection Point Job ChangeOperation Type Entry (Numeric key)Teaching Data Copy,Delete Program Program List Line Speed ChangePoint Job Data Copy Program Line Sspeed Change (Numeric key)Delete Program Additional Function Number ChangeMove Program When a function is addedDelete All ProgramsDead-man switch + GO Moves to the entered positionPTP Condition Data Copy PTP Condition DataTool Data Copy Tool Data Delete PTP Condition Data + DISP--> Moves to the next pointDelete Tool Data Delete All PTP Condition DataDelete All Tool Data + DISP--> Moves to the previous pointPallet Data Copy Pallet DataDelete Pallet DataStop Condition Data Copy Stop Condition Data Delete All Pallet DataDelete Stop condition DataDelete All Stop Condition DataOutput while moving Data Copy Output while moving DataDelete Output while moving DataDelete All Output while moving DataExecute Condition Data Copy Execute Condition DataDelete Execute Condition DataDelete All Execute Condiition DataSequencer Data Copy Sequencer DataDelete All Teaching Data Delete Sequencer DataReset System Data Delete All Sequencer DataTest Checking DataTest RunData Save Utility Save All to CardRead All from CardErase CardRead System Data from CardSaved Programs List Card Program DataSaved Point Job Data List Card Point Jor Data Read Card Program DataRead Card Point Job Data Read All Card Program DataRead All Card Point Job DataSaved Additional Func. Data List Card Add. Func. DataSaved Sequencer Data List Card Sequencer Data Read All Card Add.Func.DataRead Card Sequencer DataRead All Card Sequencer DataMaintenance Version InformationDiagnosis ModeMechanical Adjustment Mode9-1