Robot controller specification9 - 1059.2 Function listProgramming pendant operationCoordinateSystem• Joint• Rectangular/Cylindrical• Tool• User CoordinatesModification of Teach-ing Points• Adding• Deleting• Correcting (Robot axes and external axes respectively canbe corrected)Inching Operation PossiblePath Confirmation • Forward/Reverse step• Continuous feedingSpeed Adjustment Fine adjustment possible during operating or pausingTimer Setting Possible every 0.01 sShort-cut Function Direct-open function, Multi-windowInterface • CF card slot• USB port (USB1.1) (At Programming Pendant)• RS-232C, RS-232C/RS-422 (Exclusion use)• USB port (USB1.1): 2 ports• LAN (100 BASE-TX/10BASE-T): 2 ports (At CPU circuitboard)Application • Arc welding• Spot welding• Handling• General• OthersEssential Measures JIS (Japanese Industrial Standard)Running Speed Limit User definableEnable Switch 3 position type. SERVO power can be turned on at the middleposition only. (Located on programming pendant)Collision proof Frames S-axis frame (doughnut-sector)Cubic frame (user coordinate)Self-Diagnosis Classifies error and two types of alarms (major and minor) anddisplays the dataUser Alarm Display Possible to display alarm messages for peripheral deviceMachine Lock Test-run of peripheral devices without robot motionDoor Interlock A door can be opened only when a circuit breaker is OFF.
