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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.
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FOR YOUR SAFETY Safety Precautions The precautions stated in this manual are provided for the customer to make the best use of this product safely, and to provide preventive measures against injury to the customer or damage to property. Be sure to follow the instructions Various symbols are used in this manual. Please read the following explanations to understand what each symbol stands for. Symbols indicating the Degree of Damage or Danger The following symbols
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FOR YOUR SAFETY CARTESIAN Series Warnings Operators who are involved in the programming, inspection and/or maintenance of this robot must take the “special training course” for industrial robots specified in Article 59 of the Occupational Health and Safety Law and relevant ministry ordinances. Do not leave the unit plugged in (power cord and connectors) when it is not in use for long periods of time. Dust can cause fire. Be sure to shut off the power supp
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FOR YOUR SAFETY Warnings Check the mounting screws regularly so that they are always firmly tightened. Loose screws may cause injury or defect. Power the unit only with the rated voltage. Excessive voltage can cause fire or malfunction of the unit. Do not sprinkle water or oil on the unit, control box, or its cable. Contact with water can cause electric shock, fire, or malfunction of the unit. IP Protection Rating is IP40. Features II
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FOR YOUR SAFETY INSTALLATION Warnings Always use a safety barrier. A person entering the robot’s restricted area may be injured. At the entry/exit gate of the safety barrier, install an interlock that triggers an emergency stop when the gate is opened. Ensure there is no other way of entering the restricted area. Furthermore, put up a “No Entry” or “No Operating” warning sign in a clearly visible position. Example Install a
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FOR YOUR SAFETY Warnings Confirm that the unit is properly grounded. Power supply earth should be connected complying with Type D installation. (under 100 Ω of resistance.) Insufficient grounding can cause electric shock, fire, or malfunction of the unit. Plug the power cord into the wall outlet firmly. Incomplete insertion into the wall outlet makes the plug hot and can cause fire. Check that the plug is not covered with dust. Be sure to shut off the power sup
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FOR YOUR SAFETY Warnings Be sure to confirm that all the air tubes are connected correctly and firmly. Use the robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation. Failure to do so may result in malfunction. IP Protection Rating is “IP40.” Use the robot in an environment where no electric noise is present. Failure to do so may result in malfunction or defect. Be sure to secure the movable
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FOR YOUR SAFETY Warnings Be sure to remove the eye bolt after installing the robot so that it does not hit the arm. Failure to do so may result in injury or breakdown of the unit. Features II CAR vii TESIAN Benchtop Robot
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FOR YOUR SAFETY WORKING ENVIRONMENT Warnings When you lubricate or inspect the unit, unplug the power cord from the control box. Failure to do so may result in electric shock or injury. Be sure to shut off the power supply before removing the power cord from the control box. When going inside the safety barrier, place a “Do Not Operate” sign on the start switch. During operation, always have the emergency stop switch within the operator’s reach. For
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FOR YOUR SAFETY DURING OPERATION Warnings When operations are taking place within the safety barrier, ensure no one enters the robot’s restricted area. If you must go inside the safety barrier, be certain to push the emergency stop switch and put a “Do Not Operate” sign on the start switch. When starting the robot, check that, no one is within the safety barrier and no object will interfere with the robot operating. Under no circumstances should you go i
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FOR YOUR SAFETY CARTESIAN Series Warnings Be sure to check grounding. Improper grounding can cause electric shock or fire. Be sure to use within the voltage range indicated on the unit. Failure to do so may cause electric shock or fire. Plug the power cord into the wall outlet firmly. Failure to do so can cause the input to heat up and may result in fire. Make sure that the power plug is clean. Be sure to unplug
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FOR YOUR SAFETY Warnings Use the machine indoors where no flammable or corrosive gas is present. Emission and accumulation of such gasses could lead to fire. IP Protection Rating is “IP30.” (“IP40” for CE specification) Be sure to unplug the power cord from the wall outlet if the robot will remain unused for long periods of time. Gathered dust could lead to fire. Be sure to use power in the proper voltage range. Failure to do so may result in fire or malfu
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FOR YOUR SAFETY Cautions Be sure to check grounding. Improper grounding may cause malfunction or defect. Use the Benchtop Robot in an environment between 0 to 40 degrees centigrade with a humidity of 20 to 95 percent without condensation. Failure to do so may result in malfunction. IP Protection Rating is “IP30.” (“IP40” for CE specification) Use the machine in an environment where no electric noise is present. Failure to do so may result in malfunc
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PREFACE The Loctite® Benchtop Robot CARTESIAN Series is a new low cost, high performance robot. We have succeeded in reducing price while maintaining functionality. Energy and space saving is made possible through the combined use of stepping motors and special micro step driving circuits. The Loctite® Robot CARTESIAN Series features diverse applications, high speed, rigidity and precision, and can accommodate a wide variety of require
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Please be sure to follow the instructions described in these volumes. Proper use of the robot will ensure continued functionality and high performance. The contents described in this volume are based on the standard application. Menu items may vary depending on models. Be sure to shut off the power supply before plugging in the power cord. BE SURE TO MAKE A PROPER GROUNDING WHEN YOU INSTALL THE ROBOT . Be sure to save data whenever it is added or modified. Ot
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CONTENTS Features II FOR YOUR SAFETY ______________________________________________________________ i PREFACE ____________________________________________________________________ xiii CONTENTS ____________________________________________________________________xv EXPRESSION STRUCTURE_______________________________________________________ 1 COMMAND LIST ________________________________________________________________ 3 VARIABLE LIST ______________
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[ ON/OFF Output Control ] ________________________________________________________ 28 Outputting to I/O: set, reset, pulse, invPulse______________________________________ 28 Outputting after X second: delaySet, delayReset __________________________________ 31 Sounding an alarm buzzer: onoffBZ ____________________________________________ 32 Blinking the LED (Green): onoffGLED __________________________________________ 33 Blinking the LED (Red): onoffRLED ________________________
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[ Controlling Tool Movement ]______________________________________________________ 68 Moving the Z axis: upZ, downZ, movetoZ________________________________________ 68 Moving straight in CP drive: lineMoveSpeed, lineMoveStopIf_________________________ 70 Executing mechanical initialization by a point job: initMec ___________________________ 72 Position error detection: checkPos _____________________________________________ 73 [ LCD, 7SLED ]__________________________________
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EXPRESSION STRUCTURE Expression An expression is fixed numbers, variables, functions (both of String type and Numeric type) and operators combined. Fixed Number There are 2 types of fixed numbers, Numeric type (e.g.: 125, 2.0,2e15) and String type (e.g.: "ABC".) String type fixed numbers, characters can be specified in hexadecimal code by using “%.” If you want to display “%” on the screen, enter “%%.” e.g.: eoutCOM port2,"%0D%0A" outputs CR LF code.
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Function Function returns a converted value if values or strings are given. Both built-in functions, which are built-in as robot features, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. Whether they are Numeric functions or String functions depends on the type of returned values. Operator Operator Description Value + Adds the left and right values. num - Deducts the right v
