Robot controller specification9 - 106Operation TimeDisplay• Control power-on time• SERVO power-on time• PLAYBACK time• Operation time• Work timeAlarm Display • Alarm message• Troubleshooting• Previous alarm recordsI/O Diagnosis Simulated enabled/disabled output possibleT.C.P. Calibration Automatically calibrates parameters for end effectors using amaster positionerProgramming Type Interactive programmingLanguage Robot language: INFORM IIRobot Motion Control • Joint coordinates• Linear/Circular interpolations• Tool coordinatesSpeed Setting • Percentage for joint coordinates• 0.1mm/s units for interpolations• Angular velocity for T.C.P. fixed motionProgram Control In-structions• Jumps, Calls• Timer• Robot stop• Execution of some instructions during robot motionOperation Instructions Preparing the operation instructions for each application Arc(ON), Arc (OFF), etc.Variable • Global variable• Local variableVariable Type • Byte type• Integer type• Double precision type• Real type• Position type• String typeI/O Instructions • Discrete I/O• Pattern I/O processingProgramming pendant operation
