Basic Training PDF

Contents
Robot coordinates
movement keys
Key-operated switch
test operating modes
Function survey
Survey of commands
in alphabetical order
Survey of commands
acc. to functions
Menu Survey
Function keys
Exercises
Portable Teach Pendant (PHG)
key-operated switch
AUTO /SETTING/ AUTO-TEST
override controller Drives ON
for changing
the movement speed emergency-off
key
special key O
for execution Drives OFF
of macros special keys
for execution and
special key I
for execution insertion of
application-specific
of macros
macros
color display
(20 lines)
keyboard
PHG
Robot coordinates
movement keys
Robot Coordinates
tool coordinates
$TOOL
Z+ basic coordinates
Y+ $BASE
X+
coordi-
robot
nates
Movement Keys for Movement
Mode Axes 1-6
move axis 1 into negative direction move axis 1 into positive direction
movement
axes 1-6
keys
Movement Keys for Cartesian
Movement Mode
move TCP into negative X direction move TCP into positive X direction
move TCP into negative Y direction move TCP into positive Y direction
move TCP into negative Z direction move TCP into positive Z direction
tool orientation around the X coordinate tool orientation around the X coordinate
tool orientation around the Y coordinate tool orientation around the Y coordinate
tool orientation around the Z coordinate tool orientation around the Z coordinate
Movement
Cartesian
keys
Key-operated switch
test operating modes

PHG Key-operated Switch
Symbols
Automatic Setting Auto - Test

Drives on drives on Drives on
only via only via only via
drives on key permission key permission key
in test 1 and test 3 only dead man in test 1 and test 3

dead man operation operation; dead man operation
automatic cycle
in test 2, test 4, and not possible in test 2, test 4, and
Auto no dead man Auto no dead man
operation reduced speed operation
no no
reduced speed safety equipment reduced speed
doesn’t need to be
safety equipment active safety equipment
Key-operated
must be active doesn’t need to be
switch
active
Differences of the
Test Operating Modes
single step mode step sequential mode
TEST1 TEST3 TEST2 TEST4 AUTO
input signals
must be
simulated YES NO YES NO NO
binary outputs
are switched
NO YES YES NO YES
approximation
function is NO YES YES NO YES
active
welding,
oscillation is NO NO YES NO YES
active
operating
modes
test
Function survey
Operating
Function Selection Action 1 Action 2 Action 3 Action 4 Action 5 Action 6
mode
backward treatment of the
Run (1) Test 1
program
Set key-
operated
switch on follow the
switch to Mouse Run (1)
attach mouse Funct(1) drives robot
calibrate 6D-mouse at the EDIT AUTO/
and connect to movements
PHG DIR TEST Cal PHG Test
the PHG calibrate Start+ with the
set Over- mouse 2
mouse
ride to ap-
prox. 25%
Set key-
operated switch on direct
attach mouse Funct(1) drives mouse
EDIT AUTO/
calibrate 6D-mouse at the tool and connect to against the
DIR TEST Cal mouse Test
the PHG calibrate Start+ robot
set Over- 1 or 2 2
movement
ride to ap-
prox. 25%
calibrate additional axes
Prog
Attention! enter name enter name
new teach 3 po-
All calibration positions for of the cali- select MPR of the cali-
DIR (1) or sitions for FUNCT (1)
additional axes and frames bration or SPR bration
Prog each axis
must be situated in one pro- program program
open
gram
calibrate frames
Prog
new teach 3 po-
Prog each frame
open
gram
1 Vers. 7.3 / 25.05.00

Operating
mode
Set key-
operated switch on follow the
EDIT AUTO/
calibrate mouse at the PHG and connect to movements
DIR TEST Cal PHG Test
set Over- mouse 2
mouse
ride to ap-
prox. 25%
Set key-
operated
switch on direct
EDIT AUTO/
calibrate mouse at the tool and connect to against the
DIR TEST Cal mouse Test
set Over- 1 or 2 2
movement
ride to ap-
prox. 25%
enter name enter name

enter TOOL
Prog of the select MPR of the
calibration of a tool DIR (1) teach 4 po- FUNCT (1)
new measuring or SPR measuring
sitions
program program
calibration of additional axes

Prog
new teach 3 po-
Prog each axis
open
gram
2 Vers. 7.3 / 25.05.00

Operating
mode
calibration of frames
Prog
new teach 3 po-
Prog each frame
open
gram
Set key-
operated
switch on follow the
calibration of the 6D-mouse at EDIT AUTO/
and connect to movements
the PHG DIR TEST Cal PHG Test
set Over- mouse 2
mouse
ride to ap-
prox. 25%
Set key-
operated switch on direct
calibration of the 6D-mouse at EDIT AUTO/
and connect to against the
the tool DIR TEST Cal mouse Test
set Over- 1 or 2 2
movement
ride to ap-
prox. 25%
Shift key
Shift key
(Shift is
DIR (Shift is dis-
cancel all markings Mark key displayed in Mark key
EDIT played in the
the status
status window)
window)
3 Vers. 7.3 / 25.05.00

Operating
mode
Shift key
Shift key
(Shift is
EDIT (Shift is dis-
cancel markings Mark key displayed in Mark key
DIR played in the
the status
status window)
window)
Cart
Base move TCP
in linear
Cart mode with
EDIT
cartesian movement Coord(1) Tool movement
DIR
keys or
or change ori-
Cart entation
Frame
place edit-
ing cursor
set cursor to the Step behind the enter new Enter
Change parameter EDIT (1) Del key
desired step edit character to character
be cor-
rected
DIR (2) Code enter enter old enter new repeat new
Change password enter name password
EDIT (3) word 3 password password
change to a superimposed di- DIR (1) Prog enter

Enter
rectory EDIT (1) open ..
4 Vers. 7.3 / 25.05.00

Operating
mode
set cursor to
change to a superimposed di-
DIR (1) .. Enter
rectory
override
check of the reference posi- Ref switch on
Run (2) higher than hold start
tion pos drives
0
override
Ref switch on
check reference positions Run (2) higher than hold start
pos drives
0
contrast setting of the teach Con
FUNCT (2)
pendant display trast
mark
copy back programs / directo- Backup mark file Prog Select drive Prog
FUNCT (1) DIR (1) progr./ di-
ries from backup read .BCK copy R: copy
rectory
mark
Backup mark file Prog Select drive Prog
copy backup back FUNCT (1) DIR (1) progr./ di-
read .BCK copy R: copy
rectory
Mark key
pull mark- set cursor
(Mark is dis- copy paste
copy block EDIT ing with EDIT (2) to insert
played in the
scroll keys position
status window)
confirm
set cursor to the
Prog source pro- enter new select pro-
Copy program DIR (1) desired pro-
copy gram (E n- name gram type
gram
ter)
5 Vers. 7.3 / 25.05.00

Operating
mode
confirm
set cursor to the
copy program under new Prog source pro- enter new select pro-
DIR (1) desired pro-
name copy gram (E n- name gram type
gram
ter)
copy program(s) into another set cursor to
Prog Prog
directory (name remains the DIR (1) desired pro- enter path
mark copy
same) gram(s)
place cur-
sor on the
set cursor to the Step paste step where paste
copy step in a program EDIT (1) EDIT (2)
desired step del the com-
mand shall
be inserted
copying a program into a n- set cursor to

Prog Prog
other directory (name remains DIR (1) desired pro- enter path
mark copy
the same) gram(s)
set override
define new movement direc- EDIT controller into Recal
tion for PHG mouse DIR the new refer- FUNCT (1) Mouse
ence direction
Shift key confirm
(Shift is
delete all programs in a di- Prog deletion
DIR (1) select directory displayed in Mark key
rectory del process
the status (Enter)
window)
6 Vers. 7.3 / 25.05.00

Operating
mode
Mark key
pull mark- cut
(Mark is dis-
delete block EDIT ing with EDIT (2)
played in the
scroll keys
status window)
set cursor to the confirm
delete directory (directory Prog
DIR (1) desired direc- deletion
must be empty!) del
tory (Enter)
Disk
delete disk DIR (2)
Eras
set cursor to confirm

Prog
delete individual program DIR (1) desired pro- deletion
del
gram(s) (Enter)
Prog
delete program DIR (1) desired pro- deletion
del
gram(s) (Enter)
Prog Prog
delete several programs DIR (1) desired pro- deletion
mark del
gram(s) (F1)
set cursor to the Step
delete step EDIT (1)
desired step del
set cursor to the confirm
deletion of a directory Prog
DIR (1) desired direc- deletion
(directory must be empty!) del
tory (Enter)
7 Vers. 7.3 / 25.05.00

Operating
mode
Prog
deletion of a program DIR (1) desired pro- deletion
del
gram(s) (Enter)
deletion of a program step EDIT (1)
desired step del
Prog Prog
deletion of several programs DIR (1) desired pro- deletion
mark del
gram(s) (F1)
Mark key
pull mark- set cursor
(Mark is dis- cut paste
displace block EDIT ing with EDIT (2) to insert
played in the
scroll keys position
status window)
display actual position of the Cart
Info (1)
TCP actv
display axis positions (in de- Axis
Info (1)
grees or millimeters) actv
display axis positions (in i n- Incr
Info (1)
crements) actv
display cartesian values of Cart
Info (1)
the TCP actv
Inp
display input signals Info (2)
dig
Inp
display of input signals Info (2)
dig
Outp
display of output signals Info (2)
dig
Axis
display of the axis positions Info (1)
actv
8 Vers. 7.3 / 25.05.00

Operating
mode
display of the cartesian actual Cart
Info (1)
values (position of the TCP) actv
PLC
display of the PLC markers Info (2)
mark
enter name
Vari
display of tool data Info (1) of the tool Enter
able
variable
enter name
Vari select dis-
display of variable contents Info (1) of the vari-
able play format
able
Outp
display output signals Info (2)
dig
PLC
display PLC marker Info (2)
mark
display status of the digital i n- Inp
Info (2)
puts dig
display status of the digital Outp
Info (2)
outputs dig
display status of the PLC- PLC
Info (2)
markers (hexadecimal) mark
enter name
Vari
display tool data Info (1) of the tool Enter
able
variable
enter name
Vari select dis-
display variable content Info (1) of the vari-
able play format
able
9 Vers. 7.3 / 25.05.00

Operating
mode
place edit-
ing cursor
set cursor to the Step behind the enter new
edit command (parameter) EDIT (1) Del key
be cor-
rected
place edit-
ing cursor
edit step EDIT (1) Del key
be cor-
rected
place edit-
ing cursor
editing a command EDIT (1) Del key
be cor-
rected
executor mode Run (1) Test 5
Chng
fade-in or -out status window Info (1)
Stat
Chng
fading-in the status window Info (1)
Stat
Chng
fading-out the status window Info (1)
Stat
Prog select
generation of a new directory DIR (1) enter name Enter
new "DIR"
10 Vers. 7.3 / 25.05.00

Operating
mode
Prog select pro-

generation of a new program DIR (1) enter name Enter
new gram type
Blck
invalidate block EDIT (1) mark steps EDIT (2)
inval
Blck
invalidation of several steps EDIT (1) mark steps EDIT (2)
inval
linear movement with the Mouse
Coord (2)
mouse (without reorientation) trans
generated
Log enter pro- program is
logbook generation Info (2) Enter Quit/Esc
book gram name situated in
$CONFIG
Code enter enter

log-in of level 1 EDIT enter name password
word 1
DIR (2) Code enter enter

log-in of level 2 or 3 enter name
EDIT (3) word 1 password
DIR (2) Code enter

log-out
EDIT (3) word 2
11 Vers. 7.3 / 25.05.00

Operating
mode
Backup enter file

make backup FUNCT (1)
new name
Shift key
DIR (Shift is dis-
mark all Mark key
EDIT played in the
status window)
Shift key
DIR (Shift is dis-
mark all lines Mark key
EDIT played in the
status window)
Mark key
pull mark-
(Mark is dis-
mark block EDIT ing with
played in the
scroll keys
status window)
set cursor to the

Prog
mark program DIR (1) desired pro-
mark
gram

mark step EDIT (1)
desired step mark
set cursor to the

Prog
marking a program DIR (1) desired pro-
mark
gram
12 Vers. 7.3 / 25.05.00

Operating
mode

marking a program step EDIT (1)
desired step mark
Mark key pull mark-
set cursor to the (Mark is ing over the
EDIT
marking several lines first line to be displayed in desired
DIR
marked the status lines with
window) Scroll keys
Mark key pull mark-
set cursor to the (Mark is ing over the
EDIT
marking several lines first line to be displayed in desired
DIR
marked the status lines with
window) Scroll keys
mouse; change only orienta- Mouse
Coord (2)
tion of the tool rotat
mouse; move only in linear Mouse

Coord (2)
mode trans
Peri
move additional axes Coord (1)
Axis
move additional axes (robot Peri Peri
Coord (2) Coord (1)
shall also move) Mode Axis
13 Vers. 7.3 / 25.05.00

Operating
mode
select
move additional axes in case group
Axis
of more than 6 additional Coord (2) 7-12;
chose
axes 13-18;
19-24
move robot around external Cart
Coord (2)
tool (cartesian) Etool
move axes
with
EDIT Robot movement
move robot axes Coord(1)
DIR Axis keys (dead
man opera-
tion)
Robot
move robot axes individually Coord (1)
Axis
Cart
move TCP in calibrated frame Coord (1)
Frame
move TCP in hand coordi- Cart
Coord (1)
nates Tool
move TCP in the basic coor- Cart
Coord (1)
dinate system Base
move TCP with the mouse
Mouse
only in linear mode (without Coord (2)
trans
reorientation)
Prog select
new generation of directory DIR (1) enter name Enter
new "DIR"
14 Vers. 7.3 / 25.05.00

Operating
mode
Prog select pro-

new generation of program DIR (1) enter name Enter
new gram type
set override
PHG-mouse; define new EDIT controller into Recal
FUNCT (1)
movement direction DIR the new refer- Mouse
ence direction
DIR (1) Prog
program selection enter name Enter
EDIT (1) open
set cursor to the
program selection DIR (1) desired pro- Enter
gram
Backup mark file Prog

read-in backup from disk FUNCT (1) DIR (1)
read .BCK copy
confirm
set cursor to the
rename program DIR (2) desired pro-
ren gram (E n- name gram type
gram
ter)
confirm
set cursor to the
renaming a program DIR (2) desired pro-
ren gram (E n- name gram type
gram
ter)
reorientation with the mouse Mouse
Coord (2)
(TCP stops) rotat
15 Vers. 7.3 / 25.05.00

Operating
mode
enter char-
enter new confirm
replace character string in a Find acter string enter
EDIT (3) character modifica-
program repl to be o or e
string tion
searched
enter char-
acter string enter new confirm
replacement of a character Find enter
EDIT (3) to be character modifica-
string in a program repl o or e
searched string tion
under the
move axis desired
resynchronize incorrectly
(axes) to Cal synchroni- axis num-
synchronized axis(axes) Run (2) Enter
reference Sync zation ber(s) re-
(robot is synchronous)
position place digit
0 by digit 1
Backup
safeguard backup on disk FUNCT (1)
write
search character string in a Find enter char- enter op-

EDIT (3)
program repl acter string tions
set cursor to
search character string in Prog Find enter char- enter pos-
DIR (1) desired pro- DIR (2)
marked programs mark repl acter string sible option
gram(s)
search for a character string Find enter char- enter op-
EDIT (3)
in a program repl acter string tions
16 Vers. 7.3 / 25.05.00

Operating
mode
set cursor to
search for a character string Prog Find enter char- enter pos-
DIR (1) desired pro- DIR (2)
in marked programs mark repl acter string sible option
gram(s)
search name of program or
enter pos-
directory Find enter char-
DIR (2) sible op-
(no programs must be repl acter string
tions
marked)
select automatic mode Run (1) Auto
DIR (1) Prog
select directory enter name Enter
EDIT (1) open
set cursor to the
select directory DIR (1) desired direc- Enter
tory
DIR (1) Drive select
select disk drive
EDIT (2) A:
DIR (1) Drive select
select drive
EDIT (2) F1...F3
DIR (2) Code enter
select level 1
EDIT (3) word 2
DIR (1) Prog enter
select main directory
EDIT (1) open /
select single step mode (pro-
grammed macros are also processing
Run (2) Test 6
processed in single step like in test 1
mode)
17 Vers. 7.3 / 25.05.00

Operating
mode
select single step mode (pro-
Test 1
grammed macros are not
Run (1) or
processed in single step
Test 3
mode)
EDIT enter num-
select step Step Enter
DIR ber
Test 2
select step sequential mode Run (1) or
Test 4
DIR (1) Prog enter..
select superimposed directory Enter
EDIT (1) open
set cursor to
select superimposed directory DIR (1) .. Enter
select operating
select test operating mode Run (1)
mode
select user level Code enter enter
EDIT enter name
from level 1 word 1 password
select user level DIR (2) Code enter enter
enter name
from level 2 or 3 EDIT (3) word 1 password
Date
set clock FUNCT (2)
Time
Date
set system clock FUNCT (2)
Time
set cursor to
Prog Prog
shift program DIR (1) desired pro- DIR (2) enter path
mark ren
gram(s)
18 Vers. 7.3 / 25.05.00

Operating
mode
shift program(s) into another set cursor to

Prog Prog
directory (name remains the DIR (1) desired pro- DIR (2) enter path
mark ren
same) gram(s)
place cur-
sor on the
set cursor to the Step step where paste Step
shift step in a program EDIT (1) EDIT (2) EDIT (1)
desired step del the com- mark
mand shall
be inserted
shifting a program into a n- set cursor to
Prog Prog
other directory (name remains DIR (1) desired pro- DIR (2) enter path
mark ren
the same) gram(s)
single step mode via executor
(positions cannot be ap- Run (1) Test 5
proached)
Start
start PLC-program Run (2)
PLC
stop PLC-program Shift Quit/Esc
wait for wait for fi n-
Backup enter file Backup
store all data on disk FUNCT (1) Enter "Backup ished mes-
new name write
generated" sage
Shift key
(Shift is wait for fi n-
store all programs from a di- Prog
DIR (1) select directory displayed in Mark key enter A: ished mes-
rectory on disk copy
the status sage
window)
19 Vers. 7.3 / 25.05.00

Operating
mode
set cursor to
store individual programs on Prog Prog
DIR (1) desired pro- enter A:
disk mark copy
gram(s)
Robot
move axes asynchro-
Axis
synchronization of the robot to refe r- Cal synchroni- nous axes
Coord (1) and/or Run (2) Enter
(Robot is asynchronous) ence posi- Sync zation are marked
Peri
tion by 1
Axis
under the
move axis desired
synchronization of the robot
to refe r- Cal synchroni- axis num-
(robot axis is incorrectly syn- Run (2) Enter
ence posi- Sync zation ber replace
chronized)
tion digit 0 by
digit 1
Robot
move axes asynchro-
Axis
synchronize robot (robot is to refe r- Cal synchroni- nous axes
Coord (1) and/or Run (2) Enter
asynchronous) ence posi- Sync zation are marked
Peri
tion by 1
Axis
Test
test PLC-program Run (2)
PLC
enter name enter name
enter TOOL
Prog of the select MPR of the
tool measurement DIR (1) teach 4 po- FUNCT (1)
new measuring or SPR measuring
sitions
program program
20 Vers. 7.3 / 25.05.00

Operating
mode
Blck
validate block EDIT (1) mark steps EDIT (2)
valid
validate/invalidate step EDIT (1)
desired step v/i
Blck
validation of several steps EDIT (1) mark steps EDIT (2)
valid
21 Vers. 7.3 / 25.05.00

Survey of commands
in alphabetic order
Programmable Functions Programmable
Functions
Command Word and Syntax Short description Key
A_ A_ A_
ABS_VALUE Variable: <I(R)name Ignore sign of variable contents Math 3
ACTUAL_POS Variable: <Pname>, #N (#P), Describe position variable with the
Move 3
Frame: 0...255 actual position
ADD <I(R)name1)>, Dest_Var:<I(R)name2> Addition of two variables Math 1
ADD <Lname1)>, Dest_Var:<Lname2> Addition of two loadvariables Math 1
ADD OP_1: x (n.n), Dest_Var:<I(R)name> Addition to the content of a variable Math 1
Store direct voltage at an analog input
ANA_INP Channel: 1...22, Dest_Var: <Rname> Peri 1
in a variable
ANA_OUTP Voltage: -10.0...+10.0, Channel: 1...22 Put out direct voltage to analog output Peri 1
And interlinkage of the bits in an integer
AND Op_1: x, Dest_Var: <Iname> Log 1
variable
ARC_SENSOR #ON(#OFF), Variable: <Rname> Switch arc sensor on or off Spec 2
AXIS #ACTIVE Switch axes active Move 2
AXIS #MOMENT_ACTU, Freeing of axes with support of the
Move 2
Axis: <Bitcode>, Byte: 0...39, Bit_Nr: 0...7 current moment
AXIS #MOMENT_CONST, Freeing of axes with support of a set
Move 2
Axis: <Bitcode>, Byte: 0...39, Bit_Nr: 0...7 moment
AXIS #PASSIVE, Axis: <Bitcode>,
Freeing of axes without support Move 2
Byte: 0...39, Bit_Nr: 0...7
B_ B_ B_
Check brake holding load of motor
BRAKE_TEST Axis: <Bitcode> Spec 4
brakes
BRANCH Label: <name> Absolute branch command Contr 1
C_
C <string> Comment line Spec 1
CALC_REL Vector: <Vname>, Calculate vector between actual
Move 3
#TOOL (#POSITION) position and a second position
CALL Name: <name> Call of a subprogram Prog 1
CENTER Point1: <Pname1>,
Determine central point from 3 positions
Point2: <Pname2>, Point3: <Pname3>, Math 3
in position variables
Center:: <Pname4>, Radius: <Rname>
CONST Name: <I(R)name>, Value: x (n.n) Definition of a global constant Var 1
COPY Sorce: n.n,
Position variable; describe a single cell Var 1
Dest_Var: <Pname.cellname>
COPY Source: _LNULL, Dest_Var: <Lname> Load variable; describe all cells with 0 Var 1
Vector variable; describe all cells
COPY Source: _VNULL, Dest_Var: <Vname> Var 1
with 0
COPY Source: -10.0...+10.0, Analog output via system variable
Var 1
Dest_Var: _RANA_OUT[1...22] (output of direct voltage)
COPY Source: n.n,
Loadvariable; descdribe a single cell Var 1
Dest_Var: <Lname.cellname>
COPY Source: n.n,
Tool variable; descdribe a single cell Var 1
Dest_Var: <Tname.cellname>
COPY Source: n.n,
Vector variable; descdribe a single cell Var 1
Dest_Var: <Vname.cellname>
COPY Source: x (n.n), Dest_Var: <I(R)name> Allocate values to variables Var 1
COPY_PROG Source: <name1>,
Copy a program via the executor Prog 1
Destination: <name2>, #Typ
Programmable
Functions
1 of 6
Functions
D_ D_ D_
Deletion of a program in automatic or
DELETE_PROG Name: <name> Prog 1
test operation
Division of a variable content (for
DIV Op_1: x (n.n), Dest_Var: <I(R)name) integer variables the result is integral, Math 1
the remainder of the division gets lost)
E_ E_ E_
Exclusive-or interlinkage of the bits in
EXKL_OR Op_1: x , Dest_Var: <Iname) Log 2
an integer variable
EXTEND Path: n.n Extend/shorten a programmed path Move 3
F_
FLYBY #ON (#OFF) Switch on/off approximation Move 1
I_ H_ H_
I <definition> Program I-step Spec 1
INDEX #CLOSE (#OPEN) Open or close indexing of additional
Spec 4
Axis: 1...24 axes
INPUT Text: <string>, Variable: <I(R)name) Input of data during the program run Contr 2
INTERPOL #CIRC Program a cicular arc Move 1
INTERPOL #LINEAR Switch on linear movement Move 1
INTERPOL #PTP Switch on PTP-movement Move 1
INTERPOL #PTP
INTERPOL #LINEAR Movement mode of the robot during
Move 1
INTERPOL #SPLINE automatic or test operation
INTERPOL #CIRC
INTERPOL #SPLINE Switch on spline movement Move 1
INTERSECTION Straight1_P1: <Pname1>,
Straight1_P2: <Pname2>, Determine intersection or point of the
Straight2_P1: <Pname3>, greatest convergence of two straight Math 3
Straight2_P1: <Pname4>, lines
Intersection: <Pname5>, Distance: <Rname>
INVERT Variable: <Iname> Inverting the bits in an integer variable Log 1
L_ L_ L_
LABEL <name> Branch destination Contr 1
LOC_CONST Name: <I(R)name>, Value: x (n.n) Definition of a local constant Var 1
LOC_VAR Name: <I(R,P,T,V,S,L)name> Definition of a local variable Var 1
M_ M_ M_
Move rotation axis (additional axis) on
MIN_PATH Axis: 1...24 Move 4
the shortest way to the start position
Division of a variable content (only for
MODULO Op_1: x , Dest_Var: <Iname) integer variables; result is the remainder Math 1
of the division)
MS_TRAFO_OFF no Parameters Deactivate multi-layer welding Spec 3
MS_TRAFO_ON Source: <R(V)(P)name1>,
Activate multi-layer welding Spec 3
Destination: <R(V)(P)name2>, Ctrl_word: <Iname>
MUL Op_1: x(n.n), Dest_Var: <I(R)name> or
Multiplication of a variable content Math 1
MUL Op_1: <I(R)name1>, Dest_Var: <I(R)name2>
Programmable
Functions
2 of 6
Functions
N_ N_ N_
NEG Variable: <I(R)name> Revers sign of a variable content Math 1
NUM_STR Source: x(n.n), Destinatin: <Sname>,
Convert number into a srtring Spec 5
Length: y, Dec_places: z
O_ O_ O_
OPTIMIZE #PTP, [%]: 0...100 Optimize PTP acceleration Move 4
Or interlinkage of the bits in an integer
OR Op_1: x , Dest_Var: <Iname) Log 1
variable
OSC_ANGEL Alpha: -89.0...+89.0, Rotation of the path coordinate system
Spec 2
Beta: -179.0...+179.0 (PCS)
OSCILLATE #OFF Switch off oscillation movement Spec 2
OSCILLATE #ON, Prog_name: <name> Switch on oscillation movement Spec 2
Output of texts and variable contents
OUTPUT Text: <string>, Variable: <I(R)name) Contr 2
during the program run
P_ P_ P_
PALLET Prog_Name: <name>,
Activate, deactivate palletizing function Spec 2
#ON (#OFF) (#INIT)
PATH_ACCEL [%]: 1...100 Accelaration for path movements Move 1
Maximum distance from programmed

PATH_DIST [mm]: n.n Move 2
positions and activated PATH_RADIUS
Radius at path corner points with
PATH_RADIUS [mm]: n.n Move 2
approximation being switched on
PATH_SWITCH #OUTPUT_ANA,
Switch analog output during a path
Voltage: -10.0...+10.00, Channel: 1...22, #PATH, Move 2
movement (depending on path)
Path: n.n, #START (#END)
Adjust analog output after start or prior
Voltage: -10.0...+10.00, Channel: 1...22,
to the end of a path constantly to a final Move 2
#PATH_IPO, Path: n.n, #START (#END),
value
Ipo_Duration:: n.n
PATH_SWITCH #OUTPUT_BIN, Level: 0(1),
Switch binary output after start or prior
Byte: 0...39, Bit_Nr: 0...7, #PATH, Path: n.n, Move 2
to end of a path (depending on path)
#START (#END)
Byte: 0...39, Bit_Nr: 0...7, #TIME, Time: n.n, Move 2
to end of a path (depending on time)
#START (#END)
PATH_TIME [s]: n.n Time-controlled close down of path Move 2
Time for reorientation for very short
PATH_TIME [s]: n.n Move 2
paths
Speed for path movements (Speed of
PATH_VELOC [mm/sec]: 0.0...2000.0 Move 1
the TCP on a programmed path)
Store actual position of the TCP in the
POSITION #N (#P) Pos 1
program
Switch on or off process controller
PROC_CTRL #ON (#OFF) Spec 1
(welding)
PROGRAM Name: <name> Call main program Prog 1
PTP_ACCEL [%]: 1...100 Acceleration for PTP movements Move 1
PTP_VELOC [%]: 1...100 Speed for PTP movements Move 1
PULSE #OUTPUT, Level 0...1, Byte: 0...39,
Bit_Nr: 0...7, Advance: 0.0...7200.0, Switch output as pulse Spec 4
Period: 0.0...7200.00
Programmable
Functions
3 of 6
Functions
Q_ Q_ Q_
R_ R_ R_
RELATIVE Vektor: _VNULL Deactivate relative movement Move 3
RELATIVE Vektor: _VNULL Deactiveate vector Move 3
RELATIVE Vektor: <Vname> Activate vector Move 3
RELATIVE Vektor: <Vname> Switch on relative movement Move 3
Multi layer welding: Select root layer
ROOTLAYER Name: <name> Spec 3
program
S_ S_ S_
SEARCH_BIN #INPUT, Level: 0...1, Search function during a path
Spec 1
Byte: 0...39, Bit_Nr: 0...7, Label: <name> movement (Input signal)
SELECT_PROG Name: <name>, Step: x Program selection via the executer Prog 1
SENSOR #ON (#OFF) (#CONST) Switch on/off sensor (general) Spec 2
Shifting bit sample of an integer
SHIFT_L Amount: 0...31, Variable: <Iname> Log 1
variable to the left hand side
SHIFT_R Amount: 0...31, Variable: <Iname> Log 1
variable to the right hand side
SQRT Source: x (n.n), Destination: <Rname> Form square root of a variable content Math 3
STOP Programmed stop Spec 1
STR_NUM Sorce: <string>,
Convert string into a number Move 5
Destination: <I(R)name
Subtract operand 1 from variable
SUB Op-1: x (n.n), Dest_Var: <I(R)name) Math 1
content
T_ T_ T_
TECHIPO #IPO (#N_IPO), #ON (#OFF), Switch on or off technology
Spec 2
Prog_Name: <name> interpolation
TEST #INPUT, Op_1: 0...255, #Condition, Conditional branch depending on the
Contr 1
Byte: 0...39, Label: <name> content of an input byte
TEST #MARKER, Op_1: 0...255, #Condition, Conditional branch depending on the
Contr 1
Byte: 0...2047, Label: <name> content of a marker byte
TEST #OUTPUT, Op_1: 0...255, #Condition, Conditional branch depending on the
Contr 1
Byte: 0...39, Label: <name> content of an output byte
TEST #VARIABLE, Op_1: <I(R)name1>, Conditional branch depending on the
Contr 1
#Condition, Op_2: <I(R)name2>, Label: <name> content of a variable
TEST_BIT #INPUT #=0 (#=1), Byte: 0...39, Conditional branch depending on the
Contr 1
Bit_Nr: 0...7, Label: <name> status of a binary input
TEST_BIT #MARKER, #=0 (#=1), Conditional branch depending on the
Contr 1
Byte: 0...2047, Bit_Nr: 0...7, Label: <name> status of an internal marker
TEST_BIT #OUTPUT #=0 (#=1), Byte: 0...39, Conditional branch depending on the
Contr 1
Bit_Nr: 0...7, Label: <name> status of a binary output
TEST_BIT #VARIABLE, #=0 (#=1), Conditional branch depending on the
Contr 1
Variable: <Iname>, Bit_Nr: 0...31, Label: <name> status of a bit in a variable
TEST_PROG Name: <name>, #EXISTS, Conditional branch if the indicated
Prog 1
Label: <name> program exists
TEST_PROG Name: <name>, #MISSING, Conditional branch if the indicated
Prog 1
Label: <name> program does not exist
TOOL Variable: <Tname> Activate tool data Move 2
TOPLAYER Root: <name>, Pattern:<name>,
Multi-layer welding;
Number: x Spec 3
Select top layer program
Programmable
Functions
4 of 6
Functions
TRAFO_6D Ref_Source: <name1>,
Shifting, mirror inversion, deformation of
Ref_target: <name2>, Source: <name3>, Spec 1
movement programs
Destination: <name4>, Ctrl_word: <Iname>
TRAFO_POS #Transform-type, Source:<Pname1>, Correction of the values in a position
Move 3
Destination:: <Pname2>, Ctrl_word: <Iname> variable after manual changes
TRIG_FUNK #Function, Op_1: x (n.n),
Trigonometric functions Math 3
Dest_Var: <Rname>
V_ V_ V_
Integervariable (definition) (global oder
VAR (LOC_VAR) Name: <Iname> Var 1
local)
Loadvariable (definition) (global oder
VAR (LOC_VAR) Name: <Lname> Var 1
lokal)
Positionsvariable (definition) (global
VAR (LOC_VAR) Name: <Pname> Var 1
oder lokal)
Realvariable (definition) (global oder
VAR (LOC_VAR) Name: <Rname> Var 1
lokal)
Stringvariable (definition) (global oder
VAR (LOC_VAR) Name: <Sname> Var 1
lokal)
Toolvariable (definition) (global oder
VAR (LOC_VAR) Name: <Tname> Var 1
lokal)
Vectorvariable (definition) (global oder
VAR (LOC_VAR) Name: <Vname> Var 1
lokal)
VAR Name: <I(R,P,T,V,S,L)name> Global variable (definition) Var 1
Approach a position stored in a position
VAR_POS Variable: <Pname> Move 3
variable, or use it for calculations
VEC_ADD Op_1: <Vname1>,
Addition of two vectors Math 2
Dest_Vec: <Vname2>
VEC_LENGTH Length: n.n, Source: <Vname1>,
Program length of a vector Math 2
Destination: <Vname2>
VEC_VALUE Vector: <Vname>, Copy length of a vector into a real
Math 2
Dest_Var: <Rname> variable
VEK_SUB Op_1: <Vname1>,
Subtraction of two vectors Math 2
Dest_Vec: <Vname2>
W_ W_ W_
WAIT [s]: 0.0...7200.0 waiting time Contr 1
WAIT_BIT #INPUT Level: 0...1,
Byte: 0...39, Bit_Nr: 0...7, Wait for an input signal Contr 1
Max_Time[s]: 0.0...7200.0, Label: <name>
WAIT_BIT #MARKER, Level: 0...1,
Wait for the status (0 or 1) of an
Byte: 0...2047, Bit_Nr: 0...7, Contr 1
internal marker
WAIT_BIT #OUTPUT Level: 0...1,
Wait for the status (0 or 1) of a
Byte: 0...39, Bit_Nr: 0...7, Contr 1
digital output
WAIT_BIT #VARIABLE, Level: 0...1,
Wait for the status (0 or 1) of a bit in
Variable: <Iname>, Bit_Nr: 0...31, Contr 1
an integer variable
WELDING #ON (#OFF) Switch on/off welding Spec 4
WRITE_BIT #MARKER, Level: 0...1,
Set an internal marker to 1 or 0 Log 1
Byte: 0...2047, Bit_Nr: 0...7
WRITE_BIT #OUTPUT, Level: 0...1,
Switch a binary output on or off Log 1
Byte: 0...39, Bit_Nr: 0...7
Programmable
Functions
5 of 6
Functions
WRITE_BIT #VARIABLE, Level: 0...1,
Set a bit in an integer variable to 1 or 0 Log 1
Variable: <Iname>, Bit_Nr: 0...31
Z_ Z_ Z_
Programmable
Functions
6 of 6
Survey of commands
acc. to functions
Functions
Short description Command Word and Syntax Key
A_ A_
Absolute branch command BRANCH Label: <name> Contr 1
Branch; absolute BRANCH Label: <name> Contr 1
Accelaration for path movements PATH_ACCEL [%]: 1...100 Move 1
Acceleration for PTP movements PTP_ACCEL [%]: 1...100 Move 1
MS_TRAFO_ON Source: <R(V)(P)name1>,
Activate multi-layer welding Spec 3
Destination: <R(V)(P)name2>, Ctrl_word: <Iname>
Activate tool data TOOL Variable: <Tname> Move 2
Activate vector RELATIVE Vektor: <Vname> Move 3

PALLET Prog_Name: <name>,
Activate, deactivate palletizing function Spec 2
#ON (#OFF) (#INIT)
Addition of two loadvariables ADD <Lname1)>, Dest_Var:<Lname2> Math 1
Addition of two variables ADD <I(R)name1)>, Dest_Var:<I(R)name2> Math 1
VEC_ADD Op_1: <Vname1>,
Addition of two vectors Math 2
Dest_Vec: <Vname2>
Addition to the content of a variable ADD OP_1: x (n.n), Dest_Var:<I(R)name> Math 1
Adjust analog output after start or prior
Voltage: -10.0...+10.00, Channel: 1...22,
to the end of a path constantly to a final Move 2
#PATH_IPO, Path: n.n, #START (#END),
value
Ipo_Duration:: n.n
Allocate values to variables COPY Source: x (n.n), Dest_Var: <I(R)name> Var 1
Initialize Variables COPY Source: x (n.n), Dest_Var: <I(R)name> Var 1
Copy a value into a variable COPY Source: x (n.n), Dest_Var: <I(R)name> Var 1
Analog output via system variable COPY Source: -10.0...+10.0,
Var 1
(output of direct voltage) Dest_Var: _RANA_OUT[1...22]
And interlinkage of the bits in an
AND Op_1: x, Dest_Var: <Iname> Log 1
integer variable
Approach a position stored in a position
VAR_POS Variable: <Pname> Move 3
variable, or use it for calculations
B_ B_
Branch destination LABEL <name> Contr 1
C_
Calculate vector between actual CALC_REL Vector: <Vname>,
Move 3
position and a second position #TOOL (#POSITION)
Call main program PROGRAM Name: <name> Prog 1
Call of a subprogram CALL Name: <name> Prog 1
Check brake holding load of motor
BRAKE_TEST Axis: <Bitcode> Spec 4
brakes
Comment line C <string> Spec 1
Conditional branch depending on the TEST #MARKER, Op_1: 0...255, #Condition,
Contr 1
content of a marker byte Byte: 0...2047, Label: <name>
Conditional branch depending on the TEST #VARIABLE, Op_1: <I(R)name1>,
Contr 1
content of a variable #Condition, Op_2: <I(R)name2>, Label: <name>
Conditional branch depending on the TEST #INPUT, Op_1: 0...255, #Condition,
Contr 1
content of an input byte Byte: 0...39, Label: <name>
Conditional branch depending on the TEST #OUTPUT, Op_1: 0...255, #Condition,
Contr 1
content of an output byte Byte: 0...39, Label: <name>
Conditional branch depending on the TEST_BIT #INPUT #=0 (#=1), Byte: 0...39,
Contr 1
status of a binary input Bit_Nr: 0...7, Label: <name>
Conditional branch depending on the TEST_BIT #OUTPUT #=0 (#=1), Byte: 0...39,
Contr 1
status of a binary output Bit_Nr: 0...7, Label: <name>
Programmable
Functions
1 of 5
Functions
Conditional branch depending on the TEST_BIT #VARIABLE, #=0 (#=1),
Contr 1
status of a bit in a variable Variable: <Iname>, Bit_Nr: 0...31, Label: <name>
Conditional branch depending on the TEST_BIT #MARKER, #=0 (#=1),
Contr 1
status of an internal marker Byte: 0...2047, Bit_Nr: 0...7, Label: <name>
Conditional branch if the indicated TEST_PROG Name: <name>, #MISSING,
Prog 1
program does not exist Label: <name>
Conditional branch if the indicated TEST_PROG Name: <name>, #EXISTS,
Prog 1
program exists Label: <name>
NUM_STR Source: x(n.n), Destinatin: <Sname>,
Convert number into a srtring Spec 5
Length: y, Dec_places: z
STR_NUM Sorce: <string>,
Convert string into a number Move 5
Destination: <I(R)name
COPY_PROG Source: <name1>,
Copy a program via the executor Prog 1
Destination: <name2>, #Typ
Copy length of a vector into a real VEC_VALUE Vector: <Vname>,
Math 2
variable Dest_Var: <Rname>
Correction of the values in a position TRAFO_POS #Transform-type, Source:<Pname1>,
Move 3
variable after manual changes Destination:: <Pname2>, Ctrl_word: <Iname>
D_ D_
Deactivate multi-layer welding MS_TRAFO_OFF no Parameters Spec 3
Deactivate relative movement RELATIVE Vektor: _VNULL Move 3
Deactiveate vector RELATIVE Vektor: _VNULL Move 3
Definition of a global constant CONST Name: <I(R)name>, Value: x (n.n) Var 1
Definition of a local constant LOC_CONST Name: <I(R)name>, Value: x (n.n) Var 1
Definition of a local variable LOC_VAR Name: <I(R,P,T,V,S,L)name> Var 1
Deletion of a program in automatic or
DELETE_PROG Name: <name> Prog 1
test operation
Describe position variable with the ACTUAL_POS Variable: <Pname>, #N (#P),
Move 3
actual position Frame: 0...255
CENTER Point1: <Pname1>,
Determine central point from 3
Point2: <Pname2>, Point3: <Pname3>, Math 3
positions in position variables
Center:: <Pname4>, Radius: <Rname>
INTERSECTION Straight1_P1: <Pname1>,
Determine intersection or point of the Straight1_P2: <Pname2>,
greatest convergence of two straight Straight2_P1: <Pname3>, Math 3
lines Straight2_P1: <Pname4>,
Intersection: <Pname5>, Distance: <Rname>
Division of a variable content (for
integer variables the result is integral, DIV Op_1: x (n.n), Dest_Var: <I(R)name) Math 1
the remainder of the division gets lost)
Division of a variable content (only for
integer variables; result is the MODULO Op_1: x , Dest_Var: <Iname) Math 1
remainder of the division)
E_ E_
Exclusive-or interlinkage of the bits in
EXKL_OR Op_1: x , Dest_Var: <Iname) Log 2
an integer variable
Extend/shorten a programmed path EXTEND Path: n.n Move 3
Programmable
Functions
2 of 5
Functions
F_
Form square root of a variable content SQRT Source: x (n.n), Destination: <Rname> Math 3
Freeing of axes with support of a set AXIS #MOMENT_CONST,
Move 2
moment Axis: <Bitcode>, Byte: 0...39, Bit_Nr: 0...7
Freeing of axes with support of the AXIS #MOMENT_ACTU,
Move 2
current moment Axis: <Bitcode>, Byte: 0...39, Bit_Nr: 0...7
AXIS #PASSIVE, Axis: <Bitcode>,
Freeing of axes without support Move 2
Byte: 0...39, Bit_Nr: 0...7
Global variable (definition) VAR Name: <I(R,P,T,V,S,L)name> Var 1
I_ H_
Ignore sign of variable contents ABS_VALUE Variable: <I(R)name Math 3
Input of data during the program run INPUT Text: <string>, Variable: <I(R)name) Contr 2
Integervariable (definition) (global oder
VAR (LOC_VAR) Name: <Iname> Var 1
local)
Inverting the bits in an integer variable INVERT Variable: <Iname> Log 1
L_ L_
Load variable; describe all cells with 0 COPY Source: _LNULL, Dest_Var: <Lname> Var 1
Loadvariable (definition) (global oder
VAR (LOC_VAR) Name: <Lname> Var 1
lokal)
COPY Source: n.n,
Loadvariable; descdribe a single cell Var 1
Dest_Var: <Lname.cellname>
M_ M_
Maximum distance from programmed

PATH_DIST [mm]: n.n Move 2
positions and activated PATH_RADIUS
Move rotation axis (additional axis) on
MIN_PATH Axis: 1...24 Move 4
the shortest way to the start position
INTERPOL #PTP
Movement mode of the robot during INTERPOL #LINEAR
Move 1
automatic or test operation INTERPOL #SPLINE
INTERPOL #CIRC
Multi layer welding: Select root layer
ROOTLAYER Name: <name> Spec 3
program
TOPLAYER Root: <name>, Pattern:<name>,
Multi-layer welding;
Number: x Spec 3
Select top layer program
MUL Op_1: x(n.n), Dest_Var: <I(R)name> or
Multiplication of a variable content Math 1
MUL Op_1: <I(R)name1>, Dest_Var: <I(R)name2>
O_ O_
Open or close indexing of additional INDEX #CLOSE (#OPEN)
Spec 4
axes Axis: 1...24
Optimize PTP acceleration OPTIMIZE #PTP, [%]: 0...100 Move 4
Or interlinkage of the bits in an integer
OR Op_1: x , Dest_Var: <Iname) Log 1
variable
Output of texts and variable contents
OUTPUT Text: <string>, Variable: <I(R)name) Contr 2
during the program run
Programmable
Functions
3 of 5
Functions
P_ P_
COPY Sorce: n.n,
Position variable; describe a single cell Var 1
Dest_Var: <Pname.cellname>
Positionsvariable (definition) (global
VAR (LOC_VAR) Name: <Pname> Var 1
oder lokal)
Program a cicular arc INTERPOL #CIRC Move 1
Program I-step I <definition> Spec 1
VEC_LENGTH Length: n.n, Source: <Vname1>,
Program length of a vector Math 2
Destination: <Vname2>
Program selection via the executer SELECT_PROG Name: <name>, Step: x Prog 1
Programmed stop STOP Spec 1
Put out direct voltage to analog output ANA_OUTP Voltage: -10.0...+10.0, Channel: 1...22 Peri 1
Q_ Q_ Q_
R_ R_
Radius at path corner points with
PATH_RADIUS [mm]: n.n Move 2
approximation being switched on
Realvariable (definition) (global oder
VAR (LOC_VAR) Name: <Rname> Var 1
lokal)
Revers sign of a variable content NEG Variable: <I(R)name> Math 1
Rotation of the path coordinate system OSC_ANGEL Alpha: -89.0...+89.0,
Spec 2
(PCS) Beta: -179.0...+179.0
S _ S_
Search function during a path SEARCH_BIN #INPUT, Level: 0...1,
Spec 1
movement (Input signal) Byte: 0...39, Bit_Nr: 0...7, Label: <name>
WRITE_BIT #VARIABLE, Level: 0...1,
Set a bit in an integer variable to 1 or 0 Log 1
Variable: <Iname>, Bit_Nr: 0...31
WRITE_BIT #MARKER, Level: 0...1,
Set an internal marker to 1 or 0 Log 1
Byte: 0...2047, Bit_Nr: 0...7
SHIFT_L Amount: 0...31, Variable: <Iname> Log 1
variable to the left hand side
SHIFT_R Amount: 0...31, Variable: <Iname> Log 1
variable to the right hand side
TRAFO_6D Ref_Source: <name1>,
Shifting, mirror inversion, deformation
Ref_target: <name2>, Source: <name3>, Spec 1
of movement programs
Destination: <name4>, Ctrl_word: <Iname>
Speed for path movements (Speed of
PATH_VELOC [mm/sec]: 0.0...2000.0 Move 1
the TCP on a programmed path)
Speed for PTP movements PTP_VELOC [%]: 1...100 Move 1
Store actual position of the TCP in the
POSITION #N (#P) Pos 1
program
Store direct voltage at an analog input
ANA_INP Channel: 1...22, Dest_Var: <Rname> Peri 1
in a variable
Stringvariable (definition) (global oder
VAR (LOC_VAR) Name: <Sname> Var 1
lokal)
Subtract operand 1 from variable
SUB Op-1: x (n.n), Dest_Var: <I(R)name) Math 1
content
VEK_SUB Op_1: <Vname1>,
Subtraction of two vectors Math 2
Dest_Vec: <Vname2>
Switch arc sensor on or off ARC_SENSOR #ON(#OFF), Variable: <Rname> Spec 2
WRITE_BIT #OUTPUT, Level: 0...1,
Switch a binary output on or off Log 1
Byte: 0...39, Bit_Nr: 0...7
Programmable
Functions
4 of 5
Functions
Switch analog output during a path
Voltage: -10.0...+10.00, Channel: 1...22, #PATH, Move 2
movement (depending on path)
Path: n.n, #START (#END)
Switch axes active AXIS #ACTIVE Move 2
Byte: 0...39, Bit_Nr: 0...7, #PATH, Path: n.n, Move 2
to end of a path (depending on path)
#START (#END)
Byte: 0...39, Bit_Nr: 0...7, #TIME, Time: n.n, Move 2
to end of a path (depending on time)
#START (#END)
Switch off oscillation movement OSCILLATE #OFF Spec 2
Switch on linear movement INTERPOL #LINEAR Move 1
Switch on or off process controller
PROC_CTRL #ON (#OFF) Spec 1
(welding)
Switch on or off technology TECHIPO #IPO (#N_IPO), #ON (#OFF),
Spec 2
interpolation Prog_Name: <name>
Switch on oscillation movement OSCILLATE #ON, Prog_name: <name> Spec 2
Switch on PTP-movement INTERPOL #PTP Move 1
Switch on relative movement RELATIVE Vektor: <Vname> Move 3
Switch on spline movement INTERPOL #SPLINE Move 1
Switch on/off approximation FLYBY #ON (#OFF) Move 1
Switch on/off sensor (general) SENSOR #ON (#OFF) (#CONST) Spec 2
Switch on/off welding WELDING #ON (#OFF) Spec 4
PULSE #OUTPUT, Level 0...1, Byte: 0...39,
Switch output as pulse Bit_Nr: 0...7, Advance: 0.0...7200.0, Spec 4
Period: 0.0...7200.00
T_ T_
Time for reorientation for very short
PATH_TIME [s]: n.n Move 2
paths
Time-controlled close down of path PATH_TIME [s]: n.n Move 2
COPY Source: n.n,
Tool variable; descdribe a single cell Var 1
Dest_Var: <Tname.cellname>
Toolvariable (definition) (global oder
VAR (LOC_VAR) Name: <Tname> Var 1
lokal)
TRIG_FUNK #Function, Op_1: x (n.n),
Trigonometric functions Math 3
Dest_Var: <Rname>
V_ V_
COPY Source: n.n,
Vector variable; descdribe a single cell Var 1
Dest_Var: <Vname.cellname>
Vector variable; describe all cells
COPY Source: _VNULL, Dest_Var: <Vname> Var 1
with 0
Vectorvariable (definition) (global oder
VAR (LOC_VAR) Name: <Vname> Var 1
lokal)
W_ W_
WAIT_BIT #INPUT Level: 0...1,
Wait for an input signal Byte: 0...39, Bit_Nr: 0...7, Contr 1
WAIT_BIT #OUTPUT Level: 0...1,
Wait for the status (0 or 1) of a
Byte: 0...39, Bit_Nr: 0...7, Contr 1
digital output
WAIT_BIT #VARIABLE, Level: 0...1,
Wait for the status (0 or 1) of a bit in
Variable: <Iname>, Bit_Nr: 0...31, Contr 1
an integer variable
WAIT_BIT #MARKER, Level: 0...1,
Wait for the status (0 or 1) of an
Byte: 0...2047, Bit_Nr: 0...7, Contr 1
internal marker
waiting time WAIT [s]: 0.0...7200.0 Contr 1
Programmable
Functions
5 of 5
Function survey
Display of the PHG
in EDIT Mode
status window
adjustment of the override controller
step number, current path,

and current program
step processed last
processing cursor
(current step)
selection menu of the function keys
Display
EDIT
Display of the PHG
in DIR Mode
status window
adjustment of the override controller
current path
processing cursor
(current step)
By operation of the Enter
key the program in the
current step is selected
selection menu of the function keys
Display
DIR
Status Window
coordinate system in which the robot
is manually moved
manual movement mode of the robot
operating mode for program start

(Auto or Test n)
operating mode
operator level
The star points to the active operating mode

HAND or Auto or Test n
(in this case HAND mode). If a program was
started, the star points to Auto or Test n.
After stopping of the program and subsequent
operation of the “QUIT/RESET” key the star
window
is again on the HAND operating mode.
Status
Function Keys in
DIR Mode (1)
selection of the 2nd selection menu

generate new program
selection of a drive
Mark program in the current step. S: or R: or A:
The current step subsequently is
represented in green color. By program selection by input of the
pressing F2 again the marking is program name (perhaps with
cancelled again. indication of path)
Copying of a program in the current

Delete program in the current step. step after input of a new name;
After confirmation by pressing the or copying of marked programs
“Enter” key the program is deleted into another directory
from the current directory.
1st menu
DIR
Function Keys in
DIR Mode (2)
selection of the
1st selection menu
Renaming of the program in the
current step or shifting of
Search for a character string
in the current path (part of marked programs into
another directory
a program name) or within
marked programs.
deletion of the disk in drive A:
Input of user name and
password for selection of
the user level
Selection of drive A:
(disk drive)
2nd menu
DIR
Function Keys in
DIR-Mode (3)
Read SRC-file
Calculate (only one program)
programs from Disk
Write marked programs as

SRC-file onto Disk
3rd menu
DIR
Function Keys in
EDIT Mode (1)
editing the current step selection of the 2nd selection menu

(modification of parameters)
If the current step is a position,
it can be overwritten by
Marking of the current step.
The current step subsequently is the actual position.
represented in green color.
By pressingF2 again the marking Program selection by input of
is cancelled again. the program name (perhaps
with indication of path)
The current step is invalidated.
Deletion of the current step An invalid step is validated.
from the program
1st menu
EDIT
Function Keys in
EDIT Mode (2)
selection of the selection of the 3rd selection menu

1st selection menu
shifting a marked block selection of a drive
into the “intermediate store” S: or R: or A:
copying a marked block

into the “intermediate store” invalidate all marked steps
insertion of the content

of the “intermediate store”
validate all marked steps
at the cursor position
2nd menu
EDIT
Function Keys in
Edit Mode (3)
selection of the
2nd selection menu Validate / invalidate
parameter
descriptors
Search for a character string
within the current program.
Insert a module
This may be replaced by at the corsor
another character string.
position
Input of user name and Store marked block

password for selection of as module
3rd menu
the user level
EDIT
Keys for Programming
commands for programming
of program branches
and input inquiries
commands for influencing commands for treatment
robot movements of analog signals
commands for treatment commands for programming

of variables of the internal PLC
command for storage commands for programming

of robot positions of program calls
commands for programming commands for special applications

of mathematical functions e. g. welding, palletizing etc.
commands for programming
of logical functions
and bit operations
gram-
ming
pro-
keys
Function Keys after Operation of
the Run Key (1)
program execution in Test 1 selection of the

(single step mode) 2nd selection menu
approach positions only in
program execution in
dead man operation
automatic mode
program execution in Test 2
(step sequential mode) program execution in
Test mode which
program execution in Test 3 is configured by
(single step mode) the user
approach positions only in
dead man operation program execution in Test 2
(step sequential mode)
1st menu
RUN
the Run Key(2)
selection of the
1st selection menu
synchronization or
setting of the robot
approach reference position status, VKE, and accumulator

to check the markings contents of the current PLC
program are displayed
approach Sync position
to check start of the internal PLC
after programming
or program change
2nd menu
RUN
the Coord Key(1)
move robot axes (1-6) selection of the 2nd selection menu

cartesian movement in the move additional axes
basic coordinate system
($BASE) Selection of the frame in which
the TCP shall be moved in cartesian
cartesian movement in the mode. (Only if more than one
tool coordinate system frame is calibrated).
($TOOL)
cartesian movement
in the selected frame
1st menu
COORD
the Coord Key(2)
selection of the 1st selection of a group

selection menu of additional axes
(8-12; 13-18; 19-24)
move robot with mouse; movement of calibrated

without orientation change additional axes, the TCP
at the robot moving along
move robot with mouse; cartesian movement in the

only orientation change coordinate system of an
external tool
move electrically
2nd menu
coupled axes
Coord
the Funct Key (1)
generate backup; memory selection of the 2nd

contents are copied from selection menu
S: to drive R: define new movement
directions for PHG-
mouse
copy backup file to disk calibration of tool, mouse,
in drive A: additional axes, frames
and sensors
select drive A: in order to

copy a backup file in change program
1st menu
protection
FUNCT
drive R:
the Funct Key (2)
selection of the Configuration

1st selection menu of USER TEST
adjust contrast
of the display stop storage process
set system clock

reset DNC interface
2nd menu
FUNCT
the Info Key (1)
display current position of selection of the 2nd

the robot axes (rotation selection menu
axes in degrees; linear
fade-in and -out status
axes in mm)
window
display cartesian actual

values of the TCP display of variable
contents
display current position of
the robot axes
(representation in
increments)
1st menu
INFO
the Info Key (2)
selection of the 1st selection of the 3rd

selection menu selection menu
status indication of the information about an

binary inputs individual CAN node
status indication of the list of all connected

binary outputs CAN nodes
status indication of the generation of the

marker bytes logbook program
2nd menu
INFO
the Info Key (3)
selection of the 2nd selection of the 4th

selection menu selection menu
The 4th and 5th menu serve for

status indication of the activation of amplifier test
Safety Controller functions
3rd menu
INFO
the Win Key
divide display in two undo display division

windows with horizontal
separation
divide display in two

windows with vertical
separation
WIN
Exercises
Exercise 1
Log-in
Move robot axes by hand
Exercise:
Switch on control; log-in and move robot axes by means of the

movement keys.
Procedure:
• After start-up of the control select menu item "password"

• Enter the figure 1 to log-in, terminate with the "Enter" key;
• Enter user name (reis_3), terminate with the "Enter" key,
• Enter password (reislev3), terminate with the "Enter" key.
• Move robot axes via the movement keys and doing so, vary the
speed by means of the override controller.
• Move slower in the proximity of workpieces in order to
avoid collisions!
Target of the exercise:
• Selection of a user level by input of user name and password
• Familiarizing with the axes' designations and directions
• Reasonable handling of the override controller

Exercise 2
Moving the tool in the basic coordinate system
Exercise:
Moving the tool in the $BASE coordinate system and changing the
orientation of the tool
Procedure:
• Set manual movement mode via the key "Coord" and

corresponding function key to §BASE Cartesian.
• Move tool via the movement keys in the directions X, Y, and Z
and doing so, vary the speed by means of the override
controller.
• At the destination point correct the tool orientation by means of
the movement keys.
avoid collisions!
• Getting to know the basic coordinate system
• Use of the tool orientation

Exercise 3
Moving the tool in the hand coordinate system
Exercise:
Moving the tool in the $TOOL coordinate system and changing the
orientation of the tool
Procedure:
• Set manual movement mode via the key "Coord" and

corresponding function key to §TOOL Cartesian.
• Move tool via the movement keys in the directions X, Y, and Z
and doing so, vary the speed by means of the override
controller.
• At the destination point correct the tool orientation by means of
the movement keys.
avoid collisions!
• Getting to know the tool coordinate system
• Use of the tool orientation

Exercise 4
Cartesian movement with handwheel function
Exercise:
Move tool in the selected coordinate system by means of the

"handwheel function"
Procedure:
• Move the tool near the destination point with the possible
movement modes
• Select a cartesian movement mode (Coord key)
• Set override controller to approx. 10%
• Activate the handwheel function with the key I next to the
override controller (bar gets green)
• Define the direction by means of the movement keys (keep key
pressed)
• By clockwise turning of the override controller move tool in the
desired direction; by anticlockwise turning move tool in the
opposite direction. Basically this also applies for the orientation
• With the key O under the override controller switch-over into
override function again
• Exact positioning of the tool

Exercise 5
Unload and deposit components
Exercise:
Unload and deposit components using the possible movement

modes. For this purpose existing macros for gripper control have to
be used
Procedure:
• Bring gripper into unloading position using the possible

movement modes.
• Select gripper macro with special key S1
• Close gripper (switch on vacuum)
• Bring component into deposit position using the possible
movement modes.
• Open gripper (switch off vacuum)
• Move tool away from the component
• Move slower in the proximity of workpiece and deposit
position in order to avoid collisions!
• Reasonable combination of the possible movement modes
• Use of existing operator macros

Exercise 6
Change tool and activate new tool data
Exercise:
Clamp pin in the gripper and activate corresponding tool data.

Approach a defined point with the pin.
Procedure:

• Hold pin in the gripper Attention! Danger of pinching!
• Close gripper (switch on vacuum)
• Change into DIR mode
• Select tool directory
• Select program W_STIFT
• Start Program
• Acknowledge error message
• Press "Quit/Reset" key again
• Move pin into defined position with the possible movement
modes
• Move slower in the proximity of workpiece and deposit
position in order to avoid collisions!
• Program selection and start
• Treatment of error messages
• After execution of program switch back into hand mode
• Effects of different tool data

Exercise 7
Generation of directory and program
Programming of PTP movement
Exercise:
Generate a new subdirectory named "UEBUNGEN". In this new

subdirectory generate a main program "PTP_<your_name>".
Programming the defined movement sequence in this program.
Procedure:
• Change into DIR mode

• Select "Prog new" with function key F1
• Enter name and terminate with "Enter"
• Select program type "DIR" from the selection menu.
• Select "Prog new" again
• Enter program name and terminate with "Enter"
• Select program type "MPR" from the selection menu.
• Select command "TOOL" from the menu "Move", 2 nd window
• Enter variable name "T" and terminate with "Enter"
• Approach defined positions one after the other and store
• Run program in operating mode TEST_1 or TEST_3
• Then run program in TEST_2 or TEST_4
• Generation of directories and programs
• Programming of PTP movements
• Difference between single step and sequential mode

Pattern for exercise 7
The following points have to be approached and stored: The first

position shall be situated approx. 300 mm above the paper (pos 1),
so does the last position (Pos 9)
Pos 2
Pos 3
• Pos 4
Pos 5
Pos 6
Pos 7
Pos 8
•
Exercise 8
Programming of PTP speed and
acceleration
Test operating modes
Exercise:
Insertion of speeds and acceleration for PTP movement into an

existing program. The acceleration should be programmed
constantly with 60%. The initial speed up to including pos. 4 shall
be 80%. From POS 4 to POS 5 the speed shall be 5%. The
positions 6 and 7 shall be approached with the speed 20%, and the
other positions with 40%.
After testing of the program behind the first programmed speed
switch on approximation
Procedure:
• After the command "TOOL" insert the command "PTP_ACCEL 60%".

• Then insert the command "PTP_VELOC 80%"
• After the corresponding positions insert the other PTP speeds
• Test program in single step mode
• Then test program in step sequential mode.
• Insertion of commands into existing programs
• Behavior of the robot with PTP movements with activated

approximation
• Approximation in the different test operating modes

Exercise 9
Edition and insertion of positions in existing
programs
Exercise:
Select the program written by you and run it in test mode. Then
change the movement sequence acc. to specification.
Procedure:
• Run program in TEST_2

• Have specified the changes
• Approach the positions to be changed in single step mode.
• Approach the new position in manual mode
• Overwrite the old position with function "Pos edit" or change the
corresponding parameter with "Step edit"
• If necessary, insert new positions
• Test program in single step mode forward and backward.
• Edition of programmed positions
• Insertion of new positions into existing programs

Exercise 10
Programming of linear movements
Exercise:
Generate a main program with the name "PATH_<your_name>".

The paths represented as line shall be moved in the "LINEAR"
movement mode, all other movements shall be executed in PTP
The PTP speed and acceleration each is 60%.
The speed for the linear movements is 20 mm/s and the
acceleration 100%.
After testing of the program switch on approximation
Procedure:
• Generate program
• Enter command "TOOL"
• Enter commands for speeds and accelerations
• Teach positions
• Test program in single step mode and in step sequential mode
• Switch on approximation
• Test program again
• Programming of straight lines
• Approximation with PTP and path movements
• Approximation in the test operating modes

Pos A Pos B
• •
Pos C Pos D
• •
Pos E
Pos F Pos G
• •
Exercise 11
Insertion of macro calls
Inquiry of input signals
Exercise:
In the main program with the name "PATH_<your_name>" the

cylinder 3 shall be in front position during the linear movement from
pos. C to Pos. E. The path movement shall only begin when the
cylinder has reached the front position. The TCP shall only move
away from Pos. E when the cylinder has reached its rear position.
Procedure:
• After the position POS C insert the macro "cylinder 3, #FORWARD"

• Then wait for the signal "cylinder 3 at front" with the command
WAIT_BIT #INPUT".
• After the position POS E insert the macro "cylinder 3, #BACK"
• Then wait for the signal "cylinder 3 at back" with the command
WAIT_BIT #INPUT".
• Then test the program in all test operating modes
• Insertion of programmable macros into existing programs
• Behavior of binary outputs in the test operating modes
• Treatment of input inquiries in the test operating modes

Exercise 12
Programming of subprograms
Programming of circular arcs
Exercise:
Generate a subdirectory with your name in the directory

"UEBUNGEN". In this directory generate a subprogram "G_B". This
subprogram shall contain speeds and accelerations for PTP and
path movements. In the subprogram "SEAM_1" to be generated
the linear movements shall be programmed acc. to the pattern. In
the subprogram "SEAM_2" the circular arc shall be programmed
acc. to the pattern. Before the first position always the subprogram
"G_B" is called. The subprograms shall be called by the main
program "PATHS"
Procedure:
• Generate subdirectory with "Prog new"

• Generate subprograms with "Prog new"
• Enter commands in subprograms
• Test the subprograms "SEAM_1" and "SEAM_2" in single step mode
• Generate main program "PATHS"
• Insert subprogram calls
• Test main program completely in single step mode, then in step
sequential mode
• Programming of circular arcs
• Programming and use of subprograms
• Return from subprograms
• Movement sequence between subprograms

Start
Seam_1
•
Seam_2
• •
Start
Exercise 13
Programming of closed circular paths
with constant orientation
Exercise:
Generate the subprogram "CIRCLE_1". After the call of

subprogram "G_B" program the circle acc. to the pattern. Doing so,
the orientation of the tool shall remain constant. Movement shall be
made in clockwise direction.
Procedure:
• Generate the subprogram "CIRCLE_1"

• 1. Program 1st circular arc
• 2. Program 2 nd circular arc
• Test program again with activated approximation
• Programming of closed circuits
• Approximation with path movements

Exercise 14
Programming of closed circular paths
with readjustment of orientation
Exercise:
Generate the subprogram "CIRCLE_2". After the call of

subprogram "G_B" program the circle acc. to the pattern. Doing so,
the flag at the pin shall always be pointing in tangent direction.
Movement shall be made in clockwise direction.
Procedure:
• Generate the subprogram "CIRCLE_2"

• 1. Program 1st circular arc
• 2. Program 2 nd circular arc
• Test program again with activated approximation
• Programming of closed circles with readjustment of orientation
• Approximation with path movements for the TCP and orientation

movement
Pattern for exercises 13 and 14
Start
Exercise 15
Conditional branches depending on
input signals
Exercise:
At the beginning of the subprogram "SEAM_1" cylinder 2 shall be

moved forward, at the beginning of the subprogram "SEAM_2"
cylinder 2 shall be moved back. In the main program "SEAMS" the
position of the cylinder is checked. If the cylinder is at back, the
subprogram "SEAM_1" will be called, if the cylinder is at front, the
subprogram "SEAM_2" will be called. Then in any case the
subprogram "CIRCUIT_2" should be called
Procedure:
• Insert commands for cylinder control into the subprograms

• Generate main program "SEAMS"
• Inquire the position of the cylinder with the command "TEST_BIT
#INPUT..."
• Enter corresponding branch commands in the main program
• Test the program in the single step modes and in the step sequential
modes
• Programming of conditional and absolute program branches
• Revision of inputs in the test operating modes

Exercise 16
Switching digital outputs
Exercise:
Generate subprogram "CYL_3_FORWARD". In this subprogram

program the commands "WRITE_BIT #OUTPUT..." in order to
move cylinder 3 forward.
Generate subprogram "CYL_3_BACK". In this subprogram
program the commands "WRITE_BIT #OUTPUT..." in order to
move cylinder 3 back. In the main program "CYLINDER_3" to be
generated call the subprogram "CYL_3_FORWARD". If the cylinder
is at front, the subprogram "CYL_3_BACK" shall be processed.
Then the signal "cylinder at back" shall be waited for.
Procedure:
• Generate subprograms
• Insert commands for cylinder control into the subprograms
• Generate main program "CYLINDER_3"
• Test the program in the single step modes and in the step sequential
modes
• Programming of digital output signals

•
• Behavior of input inquiries and output commands in the test
operating modes
Exercise 17
Switching digital outputs during a path movement
Exercise:
Copy subprogram "SEAM_1" to "SWITCH_1". In this subprogram

the cylinder 3 shall move forward after 20 mm from the starting
point. 30 mm before the end point of the first partial path the
cylinder 3 shall move back again. 10mm after the starting point of
the second path section the cylinder 2 shall move forward and 25
mm before the end point it shall move back again
Procedure:
• In DIR mode set cursor to the program "SEAM_1"

• Select "Prog copy", confirm displayed message with "Enter"
• Enter new program name, confirm with "Enter" and select program
type "SPR"
• In this program enter the commands "PATH_SWITCH
#OUTPUT_BIN..." after the starting point of the path by means of
which the cylinder 3 is moved
• Proceed according to the second path point
• Programming of digital output signals depending on

programmed paths
Exercise 18
Storage of individual programs on disk
Exercise:
The programs from the exercises 11 to 17 shall be stored on disk

for data backup
Procedure:
• Mark programs
• Select "prog copy"
• Enter drive "A:" as destination path
• Wait until the message "Archival storage order settled" is displayed
• Safeguarding of individual programs on disk

Exercise 19
Read-in individual programs from disk
Exercise:
The programs "SEAM_1", "SEAM_", "SWITCH_1" and "SEAMS"

shall be copied back from the disk
Procedure:
• Select drive A:
• Mark programs
• Select "prog copy"
• Enter complete destination path "S:/PROG/UEBUNGEN/...."
• Confirm the inquiry whether existing programs shall be overwritten
with F3
• Wait until the message "Archival storage order settled" is displayed
• Read-in individual programs from disk

Exercise 20
Complete data safeguarding
Exercise:
A backup of the complete memory content shall be established and

copied on disk
Procedure:
• After operation of the key "Funct" select the menu item "Bckup new"
• Enter file name and terminate with "Enter". The complete drive S: is
copied into the virtual drive R:. If this procedure is terminated, the
message "Backup established" is displayed
• Select menu item "Bckup write". Observe display and wait for finished
message. The content of the drive R: is copied on the disk under the
entered file name.
• Complete data safeguarding

Exercise 21
Read back data safeguarded via backup
Exercise:
Directories and programs shall be copied back from a backup file
Procedure:
• Select drive A: in DIR mode

• Mark backup file
• Select "prog copy". The content of the file <name>.bck is copied into
the drive R:. Observe display and wait for finished message
• Select drive R:
• Mark directories and programs that shall be copied to S:
• Select "prog copy". The path is proposed where the marked programs
and directories shall be copied to
• Confirm the inquiry after overwriting accordingly
• Read-in of directories and programs from a backup file

Basic functions
BASIC FUNCTIONS OF THE

ROBOT CONTROL
ROBOTstarV
1
Table of Contents Basic functions
1. Table of Contents
1. Table of Contents ......................................................................................................3
2. General.........................................................................................................................7
2.1. Safety instructions ...................................................................................................8
2.2. Agreements ..............................................................................................................8
2.2.1. Representation of keys on the PHG keyboard:..........................................8
2.2.2. Representation of menus: ..............................................................................8
2.2.3. Representation of selected menu items: .....................................................8
3. Switch-on and -off the robot...................................................................................9

3.1. Log-in after switch-on of the control .................................................................. 10
3.2. Switch on drives.................................................................................................... 13
3.3. Switch off Robot / Shutdown as of Software Version 10.x............................. 14
3.3.1. Level 1 active ................................................................................................ 14
3.3.2. Level 2 or 3 active ........................................................................................ 15
4. Move robot by hand............................................................................................... 17

4.1. Select movement mode axis .............................................................................. 18
4.1.1. Robot axes (axis 1 to 6)............................................................................... 18
4.1.2. Additional axes (axis 7 to 12) ..................................................................... 19
4.2. Select movement mode Cartesian-BASE ........................................................ 20
4.3. Select movement mode Cartesian tool............................................................. 21
5. Synchronization...................................................................................................... 23
5.1. Synchronize robot................................................................................................. 24
5.2. Move to reference position.................................................................................. 26
5.3. Correct the wrong Synchrionization................................................................... 27
5.4. Synchronize Safetycontroller.............................................................................. 30
6. Program selection and start................................................................................ 31

6.1. Program selection (open Program) by entering the Name ............................ 32
6.2. Select Program selection (open program) from directory.............................. 32
6.3. Start Program in Automatic mode...................................................................... 33
7. Test Program ........................................................................................................... 35

7.1. Program test in Step sequential mode (TEST 2) ........................................... 36
7.2. Program test in Step sequential mode (TEST 4) ........................................... 37
7.3. Program test in single Step mode (TEST 1) ................................................... 38
7.4. Program test in single Step mode (TEST 3) ................................................... 39
8. Marking of programs and program steps ........................................................ 41

8.1. Marking inidividual lines (Programs) (DIR-Mode) ........................................... 42
8.2. Marking individual lines of a Program (edit-Mode).......................................... 43
8.3. Marking several lines as Block (DIR-Mode and Edit-Mode).......................... 44
8.4. Marking All lines of a Program or of a directorY.............................................. 45
9. Data safeguarding.................................................................................................. 47
3
Basic functions Table of Contents
9.1. Safeguard individual programs on disk\b ......................................................... 48

9.2. Read-in individual programs from disk.............................................................. 50
9.3. Complete data safeguarding (backup).............................................................. 52
9.4. Backup of individual directories including subdirectories............................... 53
9.5. Read-in of Backup files (Extension .BCK)........................................................ 55
9.6. Delete disk............................................................................................................. 58
10. Program processing.............................................................................................. 59

10.1. Generate new program / directory................................................................. 60
10.2. Copy (duplicate) individual program.............................................................. 61
10.3. Rename individual program............................................................................ 63
10.4. Delete individual program or directroy.......................................................... 65
10.5. Deletion of several programs or directories ................................................. 66
10.6. Copying Programs or directories into another directory............................. 68
10.7. Shift programs or directories into another directory.................................... 69
11. Processing of program lines (EDIT-Mode) ...................................................... 71

11.1. Editing (Parameter change) of a Program line ............................................ 72
11.2. Deletion of a program line ............................................................................... 73
11.3. Validate or invalidate a program line ............................................................. 74
11.4. Validate or invalidate several program lines ................................................ 75
11.5. Copying a program line ................................................................................... 76
11.6. Shifting a program line ..................................................................................... 77
11.7. Copying or shifting of several program lines................................................ 78
12. Find and replace a text or value ......................................................................... 81

12.1. Find and replace in the current program....................................................... 82
12.2. Search in several programs............................................................................ 83
13. Password administration ..................................................................................... 85

13.1. Change password............................................................................................. 86
13.2. File new user ..................................................................................................... 88
14. Basic settings of the control ............................................................................... 91

14.1. Setting of date and time................................................................................... 92
14.2. Setting contrast of the display........................................................................ 92
14.3. Configuration of the operating mode "TEST USER"................................... 93
14.4. Fade in and out status window....................................................................... 94
15. Divide window......................................................................................................... 95

15.1. Divide window horizontally.............................................................................. 96
15.2. Divide window vertically................................................................................... 97
15.3. Window selection.............................................................................................. 98
15.4. Cancel window division ................................................................................... 99
16. Call information.....................................................................................................101

16.1. Display current robot position.......................................................................102
16.1.1.Position of the robot axes..........................................................................102
16.1.2.Cartesian values of the TCP.....................................................................102
16.1.3.Position of the resolvers ............................................................................103
16.2. Display variable contents ..............................................................................104
4
Table of Contents Basic functions
16.3. Display input and output statusES...............................................................106

16.3.1.Binary (digital) inputs and outputs ...........................................................106
16.3.2.Analog inputs and outputs.........................................................................109
17. Hints and tricks .....................................................................................................111

17.1. Shifting a step .................................................................................................112
17.2. Copy step.........................................................................................................112
17.3. Mark all lines....................................................................................................112
17.4. Cancel all markings........................................................................................112
17.5. Branch to beginning of program...................................................................112
17.6. Branch to end of program .............................................................................113
17.7. Page-by-page scrolling in the program .......................................................113
17.8. Branching to the end of line ..........................................................................113
17.9. Branching to the beginning of line ...............................................................113
17.10. Change into the main directory....................................................................113
17.11. Indication of path without drive letters.........................................................114
17.12. Making available storage location................................................................114
17.13. Reset keyboard...............................................................................................114
18. Index .............................................................................................................................1
5
Basic functions
6
General Basic functions
2. General
7
Basic functions General
2.1. SAFETY INSTRUCTIONS
All known safety instructions and regulations are valid, in case of inexpert handling
there will be danger for both man (operator, programmer) and machine .
2.2. AGREEMENTS
The following agreements are made for representation to ensure better readability
of the description:
2.2.1. Representation of keys on the PHG keyboard:

In general all keys to be pressed by the operator are indicated in angle brackets (
< > ) in the manual.
Examples:
<Dir> Dir is to be pressed
<F1> Operate function key F1
<Enter> Operate the ENTER key
2.2.2. Representation of menus:

Menus or submenus are represented in
[ ] brackets.
Example:
[Funct] Main menu Funct
2.2.3. Representation of selected menu items:

Selected menu items are represented in reversed angle brackets.
Example:
>Bckup new< Menu selection of the function "Bckup new"
8
Switching on and off Basic functions
3. Switch-on and -off the robot
9
Basic functions Switching on and off
3.1. LOG-IN AFTER SWITCH-ON OF THE CONTROL
Operator level 1 is active after start
<F2> >code word< opens the user administration
<1> >login<
10
<Enter>
enter letters enter login name, e.g. "user"

and/or digits
<Enter>
enter letters enter password (8 characters!)

and/or digits
8 digits!!!
11
<Enter>
12
3.2. SWITCH ON DRIVES

key switch in position AUTOMATIC
The SafetyController must be synchronized if

cams are programmed ("SC async" must not be
displayed in the status window)!!
acknowledge light barrier

close safety doors
optionally acknowledge SafetyController
key DRIVES ON on the PHG or operating panel
or
key-operated switch set to AUTO-TEST
operate the permission key on the PHG up to the

first pressing point and keep it pressed there
key-operated switch set to SETTING
operate the permission key on the PHG up to the

first pressing point and keep it pressed there
13
3.3. SWITCH OFF ROBOT / SHUTDOWN

AS OF SOFTWARE VERSION 10.X
3.3.1. Level 1 active
<F6> Opens window for <Shutdown>
Key 1 selects <Shutdown>
<ENTER> Starts <Shutdown>
Wait until the following message is

displayed:
Main switch OFF
14
3.3.2. Level 2 or 3 active
<F↓> 4th menu selection
3x
<F1> Opens window for <Shutdown>
Key 1 selects <Shutdown>
<ENTER> Starts <Shutdown>
Wait until the following message is displayed:
Main switch OFF
15
Basic functions
16
Move robot by hand Basic functions
4. Move robot by hand
17
Basic functions Move robot by hand
4.1. SELECT MOVEMENT MODE AXIS
4.1.1. Robot axes (axis 1 to 6)
<COORD> selects menu [Coord]
<F1> >Robot Axis<
Axis 1-6 is displayed in the info window. Asterisk

shows active operating mode.
Movement keys
Axes 1 to 6 can be moved into negative and

positive direction. Dead man operation!!
18
4.1.2. Additional axes (axis 7 to 12)
<F6> >Peri Axis<
Axis 7-12 is displayed in the info window.

Asterisk shows active operating mode.
Movement keys
The additional axes 7 to 12 can be moved into

negative and positive direction.
Dead man operation!!
The following allocation applies for this:

Key pair 1 controls axis 7
etc. to
19
4.2. SELECT MOVEMENT MODE CARTESIAN-BASE

(Only possible, if the robot is synchronous)
<F2> >Cart Base<
Cartesian is displayed in the info window. The

active coordinate system is $BASE
movement Straight-line movement of the TCP into X,- Y,- or

keys Z-direction. Dead man operation
movement Orientation change

keys Turn tool around the X-, Y-, or Z-coordinate.
Dead man operation
20
4.3. SELECT MOVEMENT MODE CARTESIAN TOOL

(Only possible, if the robot is synchronous)
<F3> >Cart Tool<
Cartesian is displayed in the info window. The

active coordinate system is $TOOL
movement Straight-line movement of the TCP into X,- Y,- or

keys Z-direction. Dead man operation
movement Orientation change

keys Turn tool around the X-, Y-, or Z-coordinate.
Dead man operation
21
22
Synchronization Basic functions
5. Synchronization
23
Basic functions Synchronization
5.1. SYNCHRONIZE ROBOT
<F1> >Robot Axis<
Movement keys
Move the robot axes to their reference markings

with the movement keys.
<Run> selects menu [Run]
<F↓> [Run] 2 nd menu selection
<F1> >Cal/ Sync<
24
<F1> >Synchronize<
<Enter>
Check axis position!
Synchronization is executed
or
<Quit> >Acknowledge message<
25
5.2. MOVE TO REFERENCE POSITION
<F2> >Ref Pos<
<Start +> Keep operated until the following message will

be displayed.
Attention!! Danger of collision!!
Check reference position on the

machine. Markings must coincide.
There might be caused collisions if the
robot was started in a wrong reference
position.
This might cause damage to the robot
or the peripheral equipment and
injuries to personnel as well.
26
5.3. CORRECT THE WRONG SYNCHRIONIZATION

Example: axis 2 and 4
Movement keys in the operating mode axis 1-6
Move the axes 2 and 4 to their reference

markings with the movement keys.
<F1> >Cal/ Sync<
<F1> >Synchronize<
27
The numbers 0 of the axes 2 and 4 must be

replaced by 1.
twice Cursor is moved to the left by 2 digits
<left>
<Del> Delete digit zero under the cell for axis 2
<1> Paste digit 1
twice Cursor is moved to the left by 2 digits
<left>
<Del> Delete digit zero under the cell for axis 4
28
<1> Paste digit 1
<Enter>
Acknowledge message, then approach reference

position and check the markings! (see item 6)
29
5.4. SYNCHRONIZE SAFETYCONTROLLER

Only possible in level 3
<scroll [Run] 2 nd menu selection

down>
<F3> >Sync Pos< The program for synchronization of

the SafetyController is selected
<F2> >Test2< operating mode is selected

set override controller to approx. 25%; setting is
automatically limited to max. 30%.

switch on drives (permission key)
<Start +> Starts program sequence in the selected

operating mode.
Follow the messages in the display.
30
Program selection and Basic functions
start
6. Program selection and start
31
Basic functions Program selection and
start
6.1. PROGRAM SELECTION (OPEN PROGRAM)

BY ENTERING THE NAME
<F5> >Prog open< is selected and the following is
displayed...
Indicate the name of the program to be opened.

Indication of path may be optionally added.
Example:
• >Program name without path indication<
• >Program name with path indication<
<Enter> Opens the indicated program with step 1.
6.2. SELECT PROGRAM SELECTION

(OPEN PROGRAM) FROM DIRECTORY
<Dir> Selects menu [Dir]
<up>; Set the cursor to the desired program.

<down>
<Enter> Opens the selected program.
32
Program selection and Basic functions
start
6.3. START PROGRAM IN AUTOMATIC MODE
Select desired program

(see program selection)
<F6> >Auto< selects automatic operating mode
key-operated switch set to AUTOMATIC
The SafetyController must be synchronized if

cams are programmed! ("SC async" must not be
displayed in the status window)

close safety doors
switch on drives
(key DRIVES ON on the PHG or operating panel)

switch on drives with the permission key
on the PHG
positions are not approached in dead man
operation, no reduced speed
<Start +> The selected program is started in automatic

mode.
33
Basic functions
34
Test Program Basic functions
7. Test Program
35
Basic functions Test Program
7.1. PROGRAM TEST IN STEP SEQUENTIAL MODE

(TEST 2)
<F2> >Test 2< selects test mode
input signals must be simulated; outputs are

switched

close safety doors
switch on drives
or

on the PHG
or

switch on drives with
permission key on the PHG
positions are approached in dead man operation,
reduced speed
<Start +> program is started in step sequential mode and

stops after having finished a cycle
The following menu appears if an input is called

in the current step:
<F1> F1 simulates level 0

or
36
7.2. PROGRAM TEST IN STEP SEQUENTIAL MODE

(TEST 4)
input inquiries are processed in automatic mode,

outputs are not switched.

close safety doors
switch on drives
or

on the PHG
or

switch on drives with
permission key on the PHG
positions are approached in dead man operation,
reduced speed
<Start +> program is started in step sequential mode and

stops after having finished a cycle
37
Basic functions Test Program
7.3. PROGRAM TEST IN SINGLE STEP MODE

(TEST 1)
<F1> >Test 1< selects test mode Test 1

switch on drives (depending on the position of
the key-operated switch)
Positions are approached in dead man operation!

Input signals must be simulated,
outputs are not switched
<Start +> Program is processed forward.

Press until the cursor jumps to the next step,
then release.
The following menu appears if an input is called

in the current step:

or
<Start +> Press anew until the cursor continued jumping

etc.
<Start -> Program processing backward

Current step is executed; then the cursor jumps
to the preceding step.
Input inquiries, subprogram calls and branch

commands cannot be executed.
<Start -> Press anew until the cursor continued branching

back etc.
38
7.4. PROGRAM TEST IN SINGLE STEP MODE

(TEST 3)

switch on drives (depending on the position of
the key-operated switch)
Positions are approached in dead man operation!

Input inquiries and output commands are
processed like in automatic mode.
<Start +> Program is processed forward.

Press until the cursor jumps to the next step,
then release.
<Start +> Press anew until the cursor continued branching

etc.
Attention!
The robot does not stop in the individual
positions if approximation is switched on. All
PTP positions and all CP positions are
traversed like in step sequential mode. The
robot only stops in the passage positions
from PTP to CP and from CP to PTP.
39
Basic functions
40
Marking Basic functions
8. Marking of programs and

program steps
41
Basic functions Marking
8.1. MARKING INIDIVIDUAL LINES (PROGRAMS) (DIR-MODE)
<up>; Set the cursor to the line that is to be marked.

<down>
<F2> >Prog mark< marks the current line,

The program "AUTO" was marked in this
example.
The procedure must be repeated if several lines

are to be marked.
The second line of a directory ".." cannot be

marked.
42
8.2. MARKING INDIVIDUAL LINES OF A PROGRAM (EDIT-MODE)
<up>; Set the cursor to the line that is to be marked.

<down>
<F2> >Step mark< marks the selected step.

Step 7 of the program "AUTO" was marked in
this example
The procedure must be repeated if several lines

are to be marked.
The first and last line of a program cannot be

marked.
43
Basic functions Marking
8.3. MARKING SEVERAL LINES AS BLOCK

(DIR-MODE AND EDIT-MODE)
<up>; Set the cursor to the first line to be marked.
<down>
 Switches on the marking function. “Mark” is

displayed in the status window. The current line
is marked
<down> Marking is "drawn along" when scrolling. The key

<down> is pressed four times in this example.
 Switches off the marking function. No line is

marked any more when scrolling is continued
44
8.4. MARKING ALL LINES OF A PROGRAM OR OF A

DIRECTORY
The procedures described applies for both program lines and directory
lines.
<Shift> Shift key is activated for the next key operation.
(Visible in the status window).
 All lines of the program are marked, Shift key is

deactivated.
<Shift> Repeating the procedure <Shift> resets

 the markings.
45
Basic functions
46
Data safeguarding Basic functions
9. Data safeguarding
47
Basic functions Data safeguarding
9.1. SAFEGUARD INDIVIDUAL PROGRAMS ON DISK

<up>; Set the cursor to the program to be stored.

<down>
<F2> >Prog mark< marks the current line, the

selected program. The program "AUTO" is
selected in this example.
The procedure must be repeated if several

programs are to be stored.
<F4> >Prog copy< prepares copying of the marked

programs.
<Var> >A< drive letter A is to be selected.
<Shift>; Enter >colon<

<Point> !!! Insert disk into the drive of the RSV!!!
<Enter> The marked programs are entered in an order list

and then copied onto the disk. The following
message appears if the procedure is finished:
<Quit> >acknowledge message<

copy procedure finished
48
Attention!
If a directory is marked for archiving, no

subdirectories will be stored on disk, but only
those programs directly stored in the marked
directory
49
9.2. READ-IN INDIVIDUAL PROGRAMS FROM DISK

<F6> >Drive sel<
<F3> Selects drive [A:]
<up>; Select and mark the desired programs with the

<down> cursor (see 4.1 and 4.3)
<F4> >Prog copy< prepares copying of the marked

programs.
enter complete path into which the programs are

to be copied, e.g.:
S:/TYPE/STATION1/TEIL3
!!! Attention, the destination path must exist

!!!
50
<Enter> Starts the copy procedure
<Quit> Acknowledges message, all programs copied.
51
9.3. COMPLETE DATA SAFEGUARDING (BACKUP)

<Funct> Selects menu [Funct]
<F1> >Bckup new<
Enter desired name for the backup file ( e.g.

310503_ for May 31, 2003) and acknowledge
with the Enter key.
The complete contents of the drive S: is copied
into the drive R: . Then, following message is
given:
<Quit> Acknowledges message, backup established.
<F2> >Bckup write< prepares storage.
<F1> >continue< starts storage.

The complete contents of the drive R: is stored
on the disk in the file with the name entered.
Doing so, as last character after the file name the
disk number is automatically entered and .BCK is
added as extension (e.g. 310503_1.BCK)
After data transfer is performed, the following
message is displayed.
<Quit> Acknowledges message, archival storage order

executed.
52
9.4. BACKUP OF INDIVIDUAL DIRECTORIES INCLUDING

SUBDIRECTORIES
<up>; Set the cursor to the directories to be stored and

<down> mark (see 4.1 and 4.3)
Insert disk!!
<scroll
down>
twice
<F5> >Text store< copies the marked directories into

the drive R:
Enter name of the file the marked directories are

to be stored in (e.g. Stat_1_) and acknowledge
input with the Enter key. Wait until the message
is given
A file with the name e.g. Stat_1_.SRC is

automatically generated on the disk.
The extension .SRC means "Source", i.e. this file

can be opened with a text editor (Word,
Wordpad) and the programs contained can be
read and printed out.

executed.
53
<Funct> Selects menu [Funct]
<F2> >Bckup write< prepares storage.
<F1> >continue< starts storage.

The contents of the drive R: is stored on the disk
in the file with the name entered. Doing so, as
last character after the file name the disk number
is automatically entered and .BCK is added as
extension (e.g. Stat_1_1.BCK)
After data transfer is performed, the following
message is displayed.

executed.
54
9.5. READ-IN OF BACKUP FILES

(EXTENSION .BCK)
<F6> >Drive sel<
<F3> Selects drive [A:]
<up>; Select the desired backup file with the cursor.

<down>
<F2> >Prog mark< marks the backup file
Attention!
Mark one file only!
<F4> >Prog copy< starts the copying procedure.

The program and directories in the marked file
are automatically copied into the drive R: . From
there, they can be copied into the drive S: .
<F6> >Drive sel<
<F2> Selects drive [R:]
55
<up>; Select and mark the desired programs and / or

<down> directories with the cursor.
Depending on need, select all or individual data

segments for copying.
<F4> >Prog copy< starts the copying procedure.
Indicate the desired path the data are to be

copied into.
In drive S: the control suggests the same path

where the marked data are stored in drive R: .
Input has to be finished with the Enter key
If a directory or program to be copied is already

existing on the drive S:, the corresponding
message is given:
Depending on the selection, the existing program
56
can be overwritten or not.
<F1>, >YES< confirms overwriting of the directory path.

(In this case: S:/PROG)
<F2> >NO< omits the copying procedure in this

, directory.
<F3>, >ALL< releases all paths for the copying

procedure.
<F4> >ABORT< aborts the copying procedure.
After having finished the copying procedure, the

following message appears
57
9.6. DELETE DISK

<F↓> [Dir] 2 nd menu selection
Please insert a disk!
<F4> >eras Disk <
<F1> >YES< confirms deletion procedure on the disk.
The following message is displayed after having

finished the deletion procedure:
58
Program processing Basic functions
10. Program processing
59
Basic functions Program processing
10.1. GENERATE NEW PROGRAM / DIRECTORY

Only possible in level 3!
<Dir> Selects menu [Dir] Select directory where the
new program/directory is to be generated.
<F1> >Prog new<
Enter the program name or the new directory

name.
<Enter>
Finish input of the name with the Enter key.
Select the program type with the function keys

F1-F5.
MPR = main program,

SPR = subprogram,
MAC = macroprogram,
PLC = PLC-program,
DIR = directory
60
10.2. COPY (DUPLICATE) INDIVIDUAL PROGRAM

Only possible in level 2 and 3
<up>; Select the desired program with the cursor.

<down>
Attention!
The program must not be marked!
<F4> >Prog copy< starts the copying preparation.
<Enter> Confirms the source program.
The new program name is to be indicated. A

program optionally can be copied to another
path; doing so, the correct path indication has to
be observed.
Example:
61
<Enter> Confirms the input.

F1-F4.
The option F5: DIR is displayed, but is not
admitted.
Copying procedure starts automatically after

selection of the program type.
If a program with the entered name is already
existing, an interrogation is faded in, whether to
overwrite or not.
Attention!
If the source program is of the PLC type, the
new program must also be of the PLC type!
If the source program is of the MPR, SPR or
MAC type, the new program must not be of
the PLC type!
62
10.3. RENAME INDIVIDUAL PROGRAM


<down>
<F6> Select >Prog ren<.
<Enter> Confirms the source program.
The new program name is to be indicated. A

program optionally can be shifted to another
path; doing so, the correct path indication has to
be observed.
2 possible ways of input

The program is renamed and remains in the
current directory.

The program is renamed and simultaneously
shifted into the indicated directory.
63
<Enter> Confirms the name.

F1-F4.
The option F5: DIR is displayed, but is not
admitted.
The program is automatically renamed after

selection of the type.
If a program with the name entered is already
existing, the procedure is aborted with the
corresponding error message.
Attention!
If the source program is of the PLC type, the
new program must also be of the PLC type!
If the source program is of the MPR, SPR or
MAC type, the new program must not be of
the PLC type!
64
10.4. DELETE INDIVIDUAL PROGRAM OR DIRECTROY

<up>; Select the desired program or directory with the

<down> cursor.
<F3> >Prog del< starts deletion procedure.
<Enter> Deletes the selected program or directory
Attention!
The deleted program or directory is not
removed from the program memory, but only
shifted into the directory S:/DEL_PROG.
If the directory S:/DEL_PROG already

contains a directory with the same name as
the one to be deleted, deletion procedure
cannot be executed. The following error
message is edited:
The corresponding directory must be deleted

in S:/DEL_PROG prior to deletion.
65
10.5. DELETION OF SEVERAL PROGRAMS OR DIRECTORIES

Only possible in level 3!

<down>
<F2> >Prog mark< marks the program or directory
<up>; Select a second/third...program or directory with

<down> the cursor and mark it
<F3> >Prog del< starts deletion procedure.
<F1> >YES< starts deletion without consultation
Attention!
Observe remark given on the next page!
<Quit> Acknowledges message, all programs deleted.
66
Attention!
The deleted programs or directories are not
removed from the program memory, but only
shifted into the directory S:/DEL_PROG.
If the directory S:/DEL_PROG already

contains a directory with the same name as
the one to be deleted, deletion procedure is
aborted. The following error message is
edited:
In order to continue the deletion, the

corresponding directory must be deleted
from S:/DEL_PROG, or the marking of this
directory must be canceled.
67
10.6. COPYING PROGRAMS OR DIRECTORIES INTO ANOTHER

DIRECTORY

<down>
<F2> >Prog mark< marks the program or directory.
Repeat procedure with the other programs or

directories.
<F4> >Prog copy< starts the copying preparation.
Enter complete destination path.
<Enter> Confirms the destination path and starts the

copying procedure.
If the destination path already contains a

program / directory with the same name, a
corresponding message is given in order to
overwrite perhaps the program / directory.
The copying procedure is finished with the

following message:
68
10.7. SHIFT PROGRAMS OR DIRECTORIES INTO ANOTHER

DIRECTORY
<up>; Select and mark the desired programs with the

<down> cursor.
<F2> >Prog mark< marks the program
<F6> Select >Prog ren<.
<Enter> Enter name of the destination path and

acknowledge with Enter.
If a program with the same name is already

existing in the destination directory, the
procedure is aborted with the corresponding
message.

executed.
69
70
EDIT-Mode Basic functions
11. Processing of program lines

(EDIT-Mode)
71
Basic functions EDIT-Mode
11.1. EDITING (PARAMETER CHANGE) OF A PROGRAM LINE

<up>; Select the step to be edited.
<down>
<F1>
>Step edit< the cursor branches to the 1 st

position in the step.
<left>; It may be moved with the cursor keys in the line.

<right> Move cursor behind the position to be changed.
Characters deleted in the Edit-Mode are

irrevocably deleted!!!
In the example given the PTP speed is to be

increased from 90% to 100%.
<Del> First deletes the digit 0 and then the digit 1 left
twice h.s. from the cursor
<9> Inserts the digit 9 left h.s. from the cursor.
<Enter> Terminates the editing procedure, the cursor

jumps in front of the line again.
72
11.2. DELETION OF A PROGRAM LINE

<up>; Select the line to be deleted.
<down>
<F3>
>Step del< immediately deletes the selected line

without inquiry!
Deletion of individual lines may remarkably

affect the program sequence!!!
73
11.3. VALIDATE OR INVALIDATE A PROGRAM LINE

<up>; Select the line to be processed.
<down>
<F4>
>Step v/i< validates or invalidates the selected

step.
Invalid steps are marked with a \ backslash at the
beginning of the line and not in color.
They are treated as comments in the program
sequence, i.e., they are not executed
The programs "HNZE" (stop after end of cycle)

and "Pick up" are not called in the example.
Setting individual lines valid or invalid may

remarkably affect the program sequence!!!
74
11.4. VALIDATE OR INVALIDATE SEVERAL PROGRAM LINES

Mark the lines to be processed
<F↓> [Edit] 2 nd menu selection
<F4>, >Blck valid<, all marked steps are validated
or
or >Blck inval< all marked steps are invalidated
<F5>
Example: 2 commands are marked
These are invalid after selection of >Blck inval<
75
11.5. COPYING A PROGRAM LINE

<up>; Select the line to be copied.
<down>
<F2>
>Step mark< marks the selected step.
<F2> >Copy< The selected line is copied into the

intermediate memory.
<up>; Select the lines the step is to be added to.

<down>
<F3> >Paste< adds the line from the intermediate

store on the selected position.
All following lines will be shifted downward by

one position.
76
11.6. SHIFTING A PROGRAM LINE

<up>; Select the step to be shifted.
<down>
<F2>
>Step mark< marks the selected step.
<F1> >Cut< The selected line is deleted from the

program and shifted into the intermediate
memory.
<up>; Select the line the clipped step is to be added to.

<down>
<F3> >Paste< adds the line from the intermediate

All following lines will be shifted downward by

one position.
77
11.7. COPYING OR SHIFTING OF SEVERAL PROGRAM LINES

For simultaneous copying or shifting of several
lines those must be marked as one connected
block.
See 7.3 and 7.4
Example for wrong marking
Example for correct marking
78
<F1> >Cut< The marked block is deleted from the

program and written into the intermediate
memory
or
<F2> >Copy< The marked block is copied into the
intermediate memory
<up>; Select the line the block from the intermediate

<down> memory is to be added to.
<F3> >Paste< adds the block from the intermediate

All following steps are shifted downward by as

many lines as contained in the block.
79
Basic functions
80
Find text Basic functions
12. Find and replace a text or value
81
Basic functions Find text
12.1. FIND AND REPLACE IN THE CURRENT PROGRAM

<F↓> [Edit] 3 rd menu selection
<F1> >Find repl<
• Enter the value or the word to be found.

Finish with Enter
• Enter the desired option. The various options
may also be connected to each other in
combination. Thus, the option “EOU“ finds
words in the given capitalization and replaces
them without inquiry. Finish with Enter
(special characters are allocated on the keys
F1-F6)
• Search starts after having operated the Enter
key.
• When the text or value to be searched is
found, the search will stop and give a
message.
• The procedure may be continued or aborted.
• If the text or value to be searched cannot or
no more be found, the search is aborted:
82
Find text Basic functions
12.2. SEARCH IN SEVERAL PROGRAMS

Mark the programs search is to be executed in.
<F↓> [DIR] 2 nd menu selection
<F1> >Find repl<
• Enter the value or the word to be found.
• Either select “E“ or “B“ under options. The

various options may also be connected to
each other in combination. Thus, the option
“EOU“ finds words in the given capitalization
and replaces them without inquiry.
• Enter the correct value in the “replace” field.
• Special characters are allocated on the keys

F1-F6.
• Input is finished with the Enter key.
83
Basic functions
84
Password administration Basic functions
13. Password administration
85
Basic functions Password administration
13.1. CHANGE PASSWORD

once
in DIR-
Mode
or

twice
in EDIT-
Mode
window, if level 3 is active
window, if level 2 is active
86
<3> >change password<

<Enter>
The input field for change of the password is
opened.
• enter user name, finish with <Enter>
• enter existing password, finish with <Enter>
• enter new password, finish with <Enter>

The password must be composed of 8
characters! Capitalization is not considered.
• repeat new password, finish with <Enter>
87
13.2. FILE NEW USER

once
in DIR-
Mode
or

twice
in EDIT-
Mode
<4> >user list<

<Enter>
opens program S:/$CONFIG/$CNF/PASSWD
88
<down> set cursor to the line before last
<Spec> opens selection menu
<F1> Selects the command "I".
or
or
<Enter>
enter name of the new user; capitalization is not

considered
89
<right h.s.> set input cursor under the second tabulator
8 times enter the digit 0
<right h.s.> set input cursor under the 3 rd tabulator
Enter level to be allocated to the new user (2 or

3). In the given example Mr. Miller gets the level
3. Finish with Enter
After finished input the password for "Miller" can

be changed
(see 12.1). The new password is stored in the
program "PASSWD" in coded manner
90
Basic settings Basic functions
14. Basic settings of the control
91
Basic functions Basic settings
14.1. SETTING OF DATE AND TIME

<FUNCT> Selects menu [Funct]
<F↓> [Funct] 2 nd menu selection
<F2> >Date time< starts automatically.

The current values for day, month, year, hour,
minute and second are displayed. The current
settings can be adopted with <Enter> or be
changed via input of new values.
<Quit> Closes the input window after having finished the

setting.
14.2. SETTING CONTRAST OF THE DISPLAY

<F1> >Contrast< starts the corresponding macro

set the desired contrast with the override
regulator
<Quit> Adopts the current setting.
92
Basic settings Basic functions
14.3. CONFIGURATION OF THE OPERATING MODE "TEST USER"

<F6> >Test Conf< starts the configuration macro
The current setting may be changed or adopted

by entering <y> <Enter> (Yes) or <n> <Enter>
(No).
The current settings are displayed for check after

the last input.
<Quit> Repeats the procedure.
<Enter> Terminates the procedure and adopts the

settings for the operating mode "Test User".
93
Basic functions Basic settings
14.4. FADE IN AND OUT STATUS WINDOW

<Info> Selects menu [Info]
<F6> >Chng stat< fades in or out the status window.
94
Divide window Basic functions
15. Divide window
95
Basic functions Divide window
15.1. DIVIDE WINDOW HORIZONTALLY

<Window> Selects menu [Window]
<F1> >Div hori< divides the current window in 2

windows one lying under the other.
<Quit> >leave menu< leaves the menu and activates the

division.
96
15.2. DIVIDE WINDOW VERTICALLY

<F2> >Div verti< divides the current window in 2

windows lying next to each other.
<Quit> >leave menu< leaves the menu and activates the

division.
97
Basic functions Divide window
15.3. WINDOW SELECTION

<Switch Changes from one window into the other.
Win>
98
15.4. CANCEL WINDOW DIVISION

<F3> >Div undo< closes the window not active.
<Quit> >leave menu<
99
Basic functions
100
Call information Basic functions
16. Call information
101
Basic functions Call information
16.1. DISPLAY CURRENT ROBOT POSITION
16.1.1. Position of the robot axes
<F1> >Axis actv< displays the position of the robot

axes. In degrees for articulated-arm robots, in
mm for linear robots
<Quit> closes the display window
16.1.2. Cartesian values of the TCP
<F2> >Cart actv< displays the current X-, Y- and Z-

coordinates of the TCP and the orientation
angles of the tool
102
16.1.3. Position of the resolvers
<F3> >Incr actv< displays the current values of the

resolvers in the unit "increments". One motor
revolution corresponds to 4096 increments.
103
16.2. DISPLAY VARIABLE CONTENTS

<F4> >Variable< opens a window for selection of a

variable the contents of which has already been
viewed of for input of a new variable name
In the given example the contents of the

variables "R_Time" and "I_count" have already
been called via the function "Info" and can be
seen anew with the function keys <F1>" or <F2>.
<F1> >new variable<
Enter name of the variable the contents of which

is to be displayed. Capitalization is not
considered.
Example:
104
<Enter> For integer and real variables opens a window

for selection of the display format (decimal or
hexadecimal).
<F1> The decimal display was chosen for the given

example
or
or
<Enter>
If the variable name spelling was wrong, or if the

variable with the name entered is not defined, the
following message will appear:
If an asterisk is added to the variable name, then

the variable is defined, but not yet initialized, i.e.,
it does not yet contain a valid value.
105
16.3. DISPLAY INPUT AND OUTPUT STATUSES
16.3.1. Binary (digital) inputs and outputs

Switching status of the input 2.0 is to be checked in the given example.
<Info> Selects first menu [Info]
<down> Selects second menu [Info]
<F1> >input> for input
or
or
<F2> >outp> for output
<F1> Selection >Digital<opens a window for selection

of a byte the contents of which has already been
viewed or for input of a new byte number.
In the given example the contents of the input

bytes 10 and 20 (output bytes 12 and 17) have
already been called once and can be viewed
anew with the functions keys <F1> or <F2>.
106
<F1> >new input< (>new output<)
Enter number of the desired byte (0 to 39) and

finish with >Enter<
Example: Byte number 2

The further descriptions refer to the inputs, but
are also applicable for the outputs.
The display always shows a group of 4 related

bytes.
Byte 0 to 3
Byte 4 to 7
Byte 8 to 11
etc. to
Byte 36 to 39
The display shows level 1 being applied to the

input 2.0.
107
Scrolling to the next (preceding) group is

possible with the scroll keys.
108
16.3.2. Analog inputs and outputs

This example is to demonstrate the current direct voltage on the analog output 2.
<Info> Selects first menu [Info]
<down> Selects second menu [Info]
<F1> >Input> for input
or
or
<F2> >Outp> for output
<F2> >Analog< opens a window for selection of an

analog input or output the contents of which has
already been viewed once or for input of a new
input or output number.
The further descriptions refer to analog outputs,

but are also applicable for analog inputs
<F1> >new output<
109
Enter number of the desired analog output and

finish with >Enter<.
Example: analog output 2
The display shows a direct voltage of 4.73 volt

being applied at the analog output 2.
The display always shows a group of 4 related

analog outputs.
output 1 to 4
output 5 to 8
output 9 to 12
etc. to
output 17 to 20
and
output 21 to 22
Scrolling to the next (preceding) group is

possible with the scroll keys.
110
Hints and tricks Basic functions
17. Hints and tricks
111
Basic functions Hints and tricks
17.1. SHIFTING A STEP

In order to shift a step, it is not required to mark it, to clip it then and to paste it
somewhere else.
It will be sufficient to perform the following steps:
Delete step with >Step del< (is shifted into the intermediate memory)
Select new insert position
Insert step (2nd menu >Paste<)
17.2. COPY STEP

You may proceed as follows in order to copy a step:
Delete step with >Step del<

2nd menu >Paste< (step is inserted again at the former position)
Select new insert position
Insert step anew
17.3. MARK ALL LINES

Key sequence:
17.4. CANCEL ALL MARKINGS

If several lines are marked and if all markings are to be canceled, the following key
sequence applies:
17.5. BRANCH TO BEGINNING OF PROGRAM

Apply the following key sequence in order to branch to the beginning of a program
or directory:
112
17.6. BRANCH TO END OF PROGRAM

Apply the following key sequence in order to branch to the end of a program or
directory:
17.7. PAGE-BY-PAGE SCROLLING IN THE PROGRAM

For scrolling up or down in a program or directory by 15 lines each:
Key sequence:
or
17.8. BRANCHING TO THE END OF LINE

If in the function "Step edit" e.g. the cursor is to be moved to the last parameter of
a command, or if the last parameter is to be displayed:
Key sequence
17.9. BRANCHING TO THE BEGINNING OF LINE

Key sequence:
17.10. CHANGE INTO THE MAIN DIRECTORY

Activate function "Prog open", enter as program name:
113
Basic functions Hints and tricks
17.11. INDICATION OF PATH WITHOUT DRIVE LETTERS

If the path is to be entered when programming a program call, it will be sufficient to
enter a slash "/" at the beginning of the path. It is not necessary to enter "S::"
before.
Example:
17.12. MAKING AVAILABLE STORAGE LOCATION

As described in chapter 10, all deleted programs are only shifted into the directory
S:/DEL_PROG, i.e. they require storage location now as before. The directory
DEL_PROG may be deleted in order to make available storage location.
The directory DEL_PROG is automatically generated if another program will be
deleted.
17.13. RESET KEYBOARD

In case the keys of the PHG don’t respond any more for random reason:
Key sequence:
114
Basic functions Index
18. Index
A
Analog inputs and outputs
Indication of statuses .................................................................................................109
Automatic mode................................................................................................................ 33
Axis 1-6 .............................................................................................................................. 18
Axis 7-12 ............................................................................................................................ 19
B
Backup
Generate backup .......................................................................................................... 52
Individual Directories.................................................................................................... 53
Read in........................................................................................................................... 55
Store backup on disk ................................................................................................... 52
Binary inputs and outputs
Indication of statuses .................................................................................................106
C
Cancel window division ................................................................................................... 99
Cartesian BASE................................................................................................................ 20
Cartesian TOOL................................................................................................................ 21
Complete data safegurding ............................................................................................. 52
Configuration of the operating mode "TEST USER"................................................... 93
Contrast of the display..................................................................................................... 92
Copy
Copy (duplicate) program............................................................................................ 61
Copy programs / directories into another directory................................................. 68
Individual program line................................................................................................. 76
Several program lines.................................................................................................. 78
Correct the wrong synchrionization ............................................................................... 27
D
Data safeguarding ............................................................................................................ 47
Read in programs from disk........................................................................................ 50
Safeguard all data ........................................................................................................ 52
Store individual directories.......................................................................................... 53
Store individual programs on disk.............................................................................. 48
Date and time setting ....................................................................................................... 92
Delete
Delete disk..................................................................................................................... 58
Individual program or directory................................................................................... 65
Program line .................................................................................................................. 73
Several programs or directories................................................................................. 66
Directory
Copy into another directory......................................................................................... 68
Delete individual directory........................................................................................... 65
115
Delete several directories............................................................................................ 66

Generate new directory............................................................................................... 60
Safeguarding ................................................................................................................. 53
Shift into another directory.......................................................................................... 69
Disk delete ......................................................................................................................... 58
Divide window
Cancel Division ............................................................................................................. 99
Horizontally.................................................................................................................... 96
Vertically......................................................................................................................... 97
Window selection.......................................................................................................... 98
E
Editing of a program line ................................................................................................. 72
F
Fade in and out status window....................................................................................... 94
File new user ..................................................................................................................... 88
Find and replace a text or a value
In several programs...................................................................................................... 83
In the current program ................................................................................................. 82
H
Hand operating modes .................................................................................................... 17
Hints and tricks ...............................................................................................................111
I
Indication
Cartesian values of the TCP.....................................................................................102
Position of the robot axes..........................................................................................102
Statuses of binary inputs and outputs .....................................................................106
Values of the resolvers ..............................................................................................103
Variable contents........................................................................................................104
Indications
Statuses of analog inputs and outputs....................................................................109
L
Log-in.................................................................................................................................. 10
M
Marking
Mark all lines.................................................................................................................. 45
Mark individual program lines..................................................................................... 43
Mark individual programs ............................................................................................ 42
Marking a block............................................................................................................. 44
Move to referenceposition............................................................................................... 26
Movement mode
Axis 1-6 .......................................................................................................................... 18
Axis 7-12 ........................................................................................................................ 19
Cartesian BASE............................................................................................................ 20
116
Cartesian TOOL............................................................................................................ 21
O
Operating mode
Axis 1-6 .......................................................................................................................... 18
Axis 7-12 ........................................................................................................................ 19
Cartesian BASE............................................................................................................ 20
Cartesian TOOL............................................................................................................ 21
P
Parameter change............................................................................................................ 72
Password
Change password......................................................................................................... 86
New Password .............................................................................................................. 88
Password administration ................................................................................................. 85
Program
Copy (duplicate) program............................................................................................ 61
Copy into another directory......................................................................................... 68
Delete individual programm ........................................................................................ 65
Delete several programs ............................................................................................. 66
Generate new program................................................................................................ 60
Marking........................................................................................................................... 42
Read in from disk.......................................................................................................... 50
Rename.......................................................................................................................... 63
Shift into another directory.......................................................................................... 69
Start in automatic mode............................................................................................... 33
Store program on disk ................................................................................................. 48
Program line
Copy / Shift several lines............................................................................................. 78
Copy individual line ...................................................................................................... 76
Delete ............................................................................................................................. 73
Edit a program line ....................................................................................................... 72
Marking........................................................................................................................... 43
Shift individual line........................................................................................................ 77
Validate / Invalidate individual line ............................................................................. 74
Validate / Invalidate several lines............................................................................... 75
Program selection............................................................................................................. 31
By entering the name................................................................................................... 32
From directory............................................................................................................... 32
R
Read in of backup files .................................................................................................... 55
Read in programs ............................................................................................................. 50
Referenceposition............................................................................................................. 26
Rename program.............................................................................................................. 63
Robot position (Indication)
Cartesian values of the TCP.....................................................................................102
Robot axes...................................................................................................................102
Values of the resolvers ..............................................................................................103
117
Robot synchronization ..................................................................................................... 24
S
Safetycontroller synchronization.................................................................................... 30
Select disc drive................................................................................................................ 50
Settings
Configuration of TEST USER..................................................................................... 93
Contrast of the display................................................................................................. 92
Date and time................................................................................................................ 92
Fade in and out status window................................................................................... 94
Shift
Program or directory.................................................................................................... 69
Shutdown
Level 1 active ................................................................................................................ 14
Level 2 or 3 active ........................................................................................................ 15
Start Program in automatic mode .................................................................................. 33
Status window
Fade in and out ............................................................................................................. 94
Statuses of binary inputs and outputs .........................................................................106
Store program on disk ..................................................................................................... 48
Switch off robot
Level 1 active ................................................................................................................ 14
Level 2 or 3 active ........................................................................................................ 15
Switch on drives................................................................................................................ 13
Switch-on and -off the robot...............................................................................................9
Synchronization ................................................................................................................ 23
Correct wrong synchronization................................................................................... 27
Move to referenceposition........................................................................................... 26
Synchronize safetycontroller....................................................................................... 30
Sznchronization
Synchronize robot......................................................................................................... 24
T
TEST 1 ............................................................................................................................... 38
TEST 2 ............................................................................................................................... 36
TEST 3 ............................................................................................................................... 39
TEST 4 ............................................................................................................................... 37
Test program ..................................................................................................................... 35
Single step mode (TEST 1)......................................................................................... 38
Single step mode (TEST 3)......................................................................................... 39
Step sequential mode (TEST 2)................................................................................. 36
Step sequential mode (TEST 4)................................................................................. 37
TEST USER ...................................................................................................................... 93
V
Validate / Invalidate
118
W
Window division
Cancel division.............................................................................................................. 99
Horizontally.................................................................................................................... 96
Vertically......................................................................................................................... 97
Window selection.......................................................................................................... 98
Window selection.............................................................................................................. 98
119

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Contents

test operating modes

Automatic Setting Auto - Test

in test 1 and test 3 only dead man in test 1 and test 3

1 Vers. 7.3 / 25.05.00

enter name enter name

calibration of additional axes

2 Vers. 7.3 / 25.05.00

3 Vers. 7.3 / 25.05.00

change to a superimposed di- DIR (1) Prog enter

4 Vers. 7.3 / 25.05.00

5 Vers. 7.3 / 25.05.00

copying a program into a n- set cursor to

6 Vers. 7.3 / 25.05.00

set cursor to confirm

7 Vers. 7.3 / 25.05.00

8 Vers. 7.3 / 25.05.00

9 Vers. 7.3 / 25.05.00

executor mode Run (1) Test 5

10 Vers. 7.3 / 25.05.00

Prog select pro-

Code enter enter

DIR (2) Code enter enter

DIR (2) Code enter

11 Vers. 7.3 / 25.05.00

Backup enter file

set cursor to the

set cursor to the Step

set cursor to the

12 Vers. 7.3 / 25.05.00

set cursor to the Step

mouse; move only in linear Mouse

13 Vers. 7.3 / 25.05.00

14 Vers. 7.3 / 25.05.00

Prog select pro-

Backup mark file Prog

15 Vers. 7.3 / 25.05.00

search character string in a Find enter char- enter op-

16 Vers. 7.3 / 25.05.00

17 Vers. 7.3 / 25.05.00

18 Vers. 7.3 / 25.05.00

shift program(s) into another set cursor to

19 Vers. 7.3 / 25.05.00

20 Vers. 7.3 / 25.05.00

21 Vers. 7.3 / 25.05.00

Maximum distance from programmed

Activate vector RELATIVE Vektor: <Vname> Move 3

Maximum distance from programmed

step number, current path,

step processed last

selection menu of the function keys

selection menu of the function keys

manual movement mode of the robot

operating mode for program start

The star points to the active operating mode

selection of the 2nd selection menu

Copying of a program in the current

Write marked programs as

editing the current step selection of the 2nd selection menu

selection of the selection of the 3rd selection menu

copying a marked block

insertion of the content

Input of user name and Store marked block