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STE 58769
– 5 –
Table of Contents
Page
1. General Descriptions ...................................................................................... 7
1.1 Basic Robot and Controller .................................................................. 7
1.2 Coordinate System of the Robot .......................................................... 13
1.3 External Input/Output Signals............................................................... 15
1.4 Mode System ....................................................................................... 21
1.5 File ....................................................................................................... 22
2. Robot Language ............................................................................................. 24
2.1 Robot Program..................................................................................... 24
2.2 Robot Language................................................................................... 24
2.3 Subprogram ......................................................................................... 40
2.4 Multi-task.............................................................................................. 42
2.5 List of Robot Language SCOL Instruction Words................................. 45
3. Safety Measures............................................................................................. 49
3.1 Cautions on Safety............................................................................... 49
3.2 Safety Functions .................................................................................. 50
3.3 Safety Measures .................................................................................. 52
4. Training Materials ........................................................................................... 55
4.1 Operating Procedures .......................................................................... 55
4.2 Starting up the Robot ........................................................................... 56
4.3 Program Entry and Position Teaching.................................................. 58
4.4 Test Operation ..................................................................................... 65
4.5 Internal Automatic Operation................................................................ 68
4.6 Ending an Operation ............................................................................ 70
4.7 File Operation....................................................................................... 71
4.8 Error Display and Reset ....................................................................... 76
4.9 Utility .................................................................................................... 78
4.10 Operation of Auxiliary Signals .............................................................. 81
4.11 File Selection........................................................................................ 82