MRC Controller Data Communications Manual

MRC Controller
Data Communications
Manual
Part Number 133684-1
April 30, 1997
MOTOMAN
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West Carrollton, OH 45449
TEL: (937)847-6200 FAX: (937)847-6277
24-HOUR SERVICE HOTLINE: (937)847-3200
The information contained within this document is the proprietary property of Motoman, Inc.,
and may not be copied, reproduced or transmitted to other parties without the expressed
written authorization of Motoman, Inc.
©1997 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. YASNAC and MOTOMAN are registered trademarks of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section Page
LIST OF FIGURES..................................................................................................iv
LIST OF TABLES ....................................................................................................v
1.0 INTRODUCTION ........................................................................................... 1
1.1 Communication Basics........................................................................ 1
1.1.1 Binary Data Encoding .............................................................. 2
1.1.2 Serial vs. Parallel Interface ...................................................... 5
1.1.3 Data Transmission .................................................................. 6
1.2 Modifications to MY-BASIC................................................................. 8
1.3 Reference to Other Documentation ..................................................... 9
2.0 SAFETY ...................................................................................................... 11
2.1 Standard Conventions ....................................................................... 12
2.2 General Safeguarding Tips ................................................................ 13
2.3 Mechanical Safety Devices ................................................................ 13
2.4 Installation Safety.............................................................................. 14
2.5 Programming Safety ......................................................................... 14
2.6 Operation Safety................................................................................ 15
2.7 Maintenance Safety ........................................................................... 16
3.0 DATA COMMUNICATIONS ......................................................................... 17
3.1 Remote Mode.................................................................................... 17
3.1.1 REMOTE Mode Setup............................................................ 17
3.2 Serial Interface Multiport................................................................... 20
3.3 Parallel Operation .............................................................................. 21
3.4 MRC vs. ERC Data Communications ................................................. 21
3.5 Basic Communications Specifications............................................... 23
3.5.1 Communication Control Characters ...................................... 23
3.6 Transmission Format ........................................................................ 25
3.6.1 Error Control ......................................................................... 26
3.6.2 Character Configuration ........................................................ 27
3.6.3 Heading and Text Configuration ............................................ 27
3.7 Communication Parameters .............................................................. 28
3.7.1 Communication Control Monitoring Timers .......................... 28
3.7.2 Communication Control Resending Sequence ...................... 28
3.8 D-SUB Connector Pin Connection ..................................................... 30
3.9 Data Management ............................................................................. 31
3.9.1 Selecting Files ....................................................................... 31
MRC Data Communications Manual Page i MOTOMAN

Section Page
4.0 DCI FUNCTION ........................................................................................... 33
4.1 LOADJ (Load Job) Operation ............................................................ 33
4.1.1 LOADJ Instructions ............................................................... 34
4.2 SAVEJ (Save Job) Operation ............................................................. 35
4.2.1 SAVEJ Instructions ............................................................... 35
4.3 DELETEJ (Delete Job) Operation ....................................................... 36
4.3.1 DELETEJ Instructions............................................................ 36
4.4 SWAIT (Send Wait) Operation........................................................... 37
4.4.1 SWAIT Instructions ............................................................... 37
4.5 LOADV (Load Variable) Operation ..................................................... 37
4.5.1 LOADV Instructions .............................................................. 37
4.6 SAVEV (Save Variables) Operation .................................................... 38
4.6.1 SAVEV Instructions ............................................................... 38
4.7 Concurrent Tasks from Multiple Jobs ............................................... 39
4.8 DCI Parallel Execution ....................................................................... 39
4.8.1 Parallel Execution Using PSTART (Optional) ......................... 40
4.9 Transmission Sequence .................................................................... 40
4.9.1 Job Transmission.................................................................. 40
4.9.2 Variable Transmission........................................................... 42
4.10 Axial Data Transmission Format........................................................ 44
4.11 DCI Alarm Codes ............................................................................... 45
5.0 STAND-ALONE FUNCTION ......................................................................... 47
5.1 Operation .......................................................................................... 47
5.1.1 External Memory Unit Display ............................................... 47
5.1.2 Saving a Job ......................................................................... 48
5.1.3 Saving Condition Files/Universal Data ................................... 48
5.1.4 Saving System Information ................................................... 48
5.1.5 Loading Jobs ........................................................................ 49
5.1.6 Loading Condition Files/Universal Data ................................. 49
5.1.7 Verifying Jobs ....................................................................... 49
5.1.8 Verifying Condition Files/Universal Data................................ 50
6.0 HOST CONTROL FUNCTION....................................................................... 51
6.1 File Data Transmission Function ....................................................... 52
6.2 Data Communication......................................................................... 53
6.2.1 Host Computer to MRC ......................................................... 53
6.2.2 MRC to Host Computer ......................................................... 54
6.2.3 Robot Control........................................................................ 54
6.3 Interlock for Host Control Commands............................................... 56
6.4 Axial Data Commands ....................................................................... 57
6.5 Responses to MOV-Type Commands................................................ 57
MRC Data Communications Manual Page ii MOTOMAN
Section Page
6.6 Read/Monitor System Commands .................................................... 58
6.6.1 RALARM ............................................................................... 58
6.6.2 RPOS .................................................................................... 58
6.6.3 RPOSJ................................................................................... 59
6.6.4 RSTATS................................................................................. 59
6.6.5 RJSEQ ................................................................................... 60
6.6.6 RPOSC .................................................................................. 60
6.6.7 JWAIT ................................................................................... 61
6.6.8 RGROUP ............................................................................... 62
6.6.9 RJDIR ................................................................................... 63
6.6.10 RUFRAME ............................................................................. 64
6.6.11 SAVEV ................................................................................... 65
6.7 Operation System Commands........................................................... 67
6.7.1 HOLD .................................................................................... 67
6.7.2 RESET ................................................................................... 67
6.7.3 CANCEL................................................................................. 67
6.7.4 MODE.................................................................................... 68
6.7.5 CYCLE ................................................................................... 68
6.7.6 SVON .................................................................................... 68
6.7.7 HLOCK .................................................................................. 69
6.7.8 MDSP.................................................................................... 69
6.7.9 CGROUP ............................................................................... 69
6.7.10 CTASK (Optional) .................................................................. 70
6.8 Start-Up System Commands............................................................. 71
6.8.1 START ................................................................................... 71
6.8.2 MOVJ .................................................................................... 71
6.8.3 MOVL .................................................................................... 72
6.8.4 IMOV ..................................................................................... 73
6.8.5 PMOVJ .................................................................................. 74
6.8.6 PMOVL.................................................................................. 74
6.9 Editing System Commands ............................................................... 75
6.9.1 DELETE ................................................................................. 75
6.9.2 CVTRJ ................................................................................... 75
6.9.3 CVTSJ ................................................................................... 76
6.9.4 WUFRAME ............................................................................ 76
6.9.5 LOADV .................................................................................. 77
6.10 Job Selection System Commands..................................................... 79
6.10.1 SETMJ................................................................................... 79
6.10.2 JSEQ ..................................................................................... 79
MRC Data Communications Manual Page iii MOTOMAN

Section Page
6.11 Commands for Multi-control Group and Independent
Control Functions ......................................................................... 80
6.11.1 Commands for the Independent Control Function................. 81
6.12 Alarm Codes...................................................................................... 82
6.13 Interpreter Messages ........................................................................ 83
APPENDIX A: Reference Information ..............................................................A-1
APPENDIX B: Data Transmission Function for MRC vs. ERC ..........................B-1
INDEX
LIST OF FIGURES
Figure Page
Figure 1-1 Data Communications Using a Host Computer .................................. 1
Figure 1-2 Data Transmission Modes ................................................................. 6
Figure 1-3 Asynchronous Bit Frame.................................................................... 7
Figure 3-1 Customer Option Screen.................................................................. 18
Figure 3-3 Example BCC Calculation ................................................................. 26
Figure 3-4 Character Configuration ................................................................... 27
Figure 3-5 Heading and Text Configuration....................................................... 27
Figure 3-6 Communication Control Monitoring Timers..................................... 28
Figure 3-7 D-SUB Connector Pinout ................................................................. 30
Figure 3-8 Connection for Playback Box (D-SUB25S)....................................... 30
Figure 3-9 MCPO1 Board Connection ............................................................... 31
Figure 4-1 PSTART Job .................................................................................... 40
Figure 4-2 Data Transmission from MRC to Host Computer............................. 41
Figure 4-3 Data Transmission from Host Computer to MRC............................. 42
Figure 4-4 SAVEV Transmission ....................................................................... 42
Figure 4-5 LOADV Transmission....................................................................... 43
Figure 6-1 Transmission from Host Computer to MRC..................................... 53
Figure 6-2 Transmission from MRC to Host Computer.................................... 54
Figure 6-3 Delete Command Transmission ....................................................... 55
Figure 6-4 RSTATS Bit Data .............................................................................. 59
Figure 6-5 “Type” Bit Data ................................................................................ 61
Figure 6-6 Group Information ........................................................................... 62
Figure 6-7 Bit Data ............................................................................................ 66
Figure 6-8 Control Group Data .......................................................................... 70
Figure 6-9 Bit Data ............................................................................................ 78
MRC Data Communications Manual Page iv MOTOMAN

LIST OF TABLES
Table Page
Table 1-1 ASCII Character Set and Cross-Reference ......................................... 3
Table 1-2 Parity Bit Description ......................................................................... 7
Table 1-3 Modified File Names .......................................................................... 9
Table 3-1 Submodes for Remote Mode ........................................................... 17
Table 3-2 Status of Command Remote Settings .............................................. 18
Table 3-3 Parameter Used with the Host Control Function .............................. 19
Table 3-4 Command Remote Screen Settings ................................................. 19
Table 3-5 Parameter Settings .......................................................................... 20
Table 3-6 Communication Control Characters ................................................. 24
Table 3-7 Communication Parameters ............................................................ 29
Table 3-8 Job Selection ................................................................................... 32
Table 4-1 Instructions Used with the DCI Function.......................................... 33
Table 4-2 Parallel Execution Using NWAIT (No Wait) ...................................... 39
Table 4-3 Alarm Codes .................................................................................... 45
Table 4-4 Alarm Data ....................................................................................... 45
Table 5-1 Instructions Used with the Stand-Alone Function ............................ 47
Table 6-1 Instructions Used with the Host Control Function ........................... 51
Table 6-2 Command Interlock ......................................................................... 56
Table 6-3 JWAIT Response ............................................................................. 62
Table 6-4 CGROUP/RGROUP Commands........................................................ 80
Table 6-5 Set Control Group Commands ......................................................... 80
Table 6-6 Alarm Codes .................................................................................... 82
Table 6-7 Interpreter Messages ....................................................................... 83
Table A-1 Header Number List ........................................................................A-1
Table A-2 Parameter List ................................................................................A-3
Table B-1 Basic Functionality of Controller .....................................................B-1
Table B-2 Basic Data Communications Commands - MRC vs. ERC ................B-2
Table B-3 DCI Commands - MRC vs. ERC ......................................................B-2
Table B-4 Stand-Alone Commands - MRC vs. ERC.........................................B-2
Table B-5 Host Control Commands - MRC vs. ERC ........................................B-3
MRC Data Communications Manual Page v MOTOMAN

NOTES
MRC Data Communications Manual Page vi MOTOMAN

1.0 INTRODUCTION
The Data Communications function for the MRC controller enables
communication between the MRC and a remote host computer (see Figure 1-1).
Communication with a host computer provides a variety of benefits including:
• Use of increased storage capacity of the host computer.
• Ability to download job and condition data created and stored off-line in the
host computer as needed.
• Control of robot operation by host computer.
• Inspection of robot status and position information by host computer.
• Automatic transfer of job and variable data between host computer and MRC
as required to meet work conditions.
Descriptions of these and other functions are included in this manual along with
instructions and information on data transmission. With the information in this
manual, users can write their own PC-based software package or may purchase
one of the Motoman software packages to support these functions.
MRC CONTROLLER
PROGRAMMING SERVO POWER

PLAY
MODE
TEACH REMOTE AUTO
CYCLE
1 CYCLE STEP
E.STOP
RESET
ET
RES
ES
ALARM/ R T
ERROR
PENDANT
HOLD START
YASNAC MRC
480 VOLTS
HOST COMPUTER
WARNING
(PERSONAL COMPUTER)
DATA COMMUNICATION
Figure 1-1 Data Communications Using a Host Computer
1.1 Communication Basics

In order for computing devices to communicate there must be an interface, i.e.,
transfer media (such as a cable), through which information can flow.
Additionally, a common set of rules must be used if the devices are to understand
each other. Protocol is a term which describes the set of procedures and
conventions used to formalize information transfer and error control. The
following sections provide a basic description of communication terminology as it
applies to the MRC controller.
MRC Data Communications Manual Page 1 MOTOMAN

1.1.1 Binary Data Encoding
Computer data streams are simply sequences of electrical highs and lows (1’s and
0’s). A simple eight-bit sequence can produce any number between 0 and 255.
These 256 values have been assigned to character sets. Thus, every time a
computer receives a certain value, it may be interpreted as a unique character.
More than one of these code sets exists, but the most common is the ASCII
(American Standard Code for Information Interchange). ASCII was developed by
the American National Standards Institute (ANSI) and has attained nearly
universal acceptance. EBCDIC (Extended Binary Coded Decimal Interchange
Code), another code set, has been used widely in IBM applications.
Most people find eight-bit binary values difficult to read. Therefore, we usually
look at the numeric representation of the character in hexadecimal (base 16) or
decimal (base 10) form. Binary numbers are composed of 1’s and 0’s; decimal
numbers are composed of numbers 0 through 9; and hexadecimal numbers are
composed of the numbers 0 through 9, plus the letters A, B, C, D, E and F. (A
corresponds to decimal 10, B to 11, C to 12, D to 13, E to 14 and F to 15.) Table
1-1, on the following three pages, provides a cross-reference between ASCII
character sets and their decimal, hexadecimal, and binary representations.
NOTE: Table 1-1 provides only the first 127 ASCII characters (i.e., those characters which can be
depicted with seven (7) bits).

Table 1-1 ASCII Character Set and Cross-Reference
DECIMAL HEXADECIMAL BINARY ASCII MEANING
0 0 00000000 NUL
1 1 00000001 SOH
2 2 00000010 STX
3 3 00000011 ETX
4 4 00000100 EOT
5 5 00000101 ENQ
6 6 00000110 ACK
7 7 00000111 BEL
8 8 00001000 BS
9 9 00001001 HT
10 A 00001010 LF
11 B 00001011 VT
12 C 00001100 FF
13 D 00001101 CR
14 E 00001110 SO
15 F 00001111 SI
16 10 00010000 DLE
17 11 00010001 DC1
18 12 00010010 DC2
19 13 00010011 DC3
20 14 00010100 DC4
21 15 00010101 NAK
22 16 00010110 SYN
23 17 00010111 ETB
24 18 00011000 CAN
25 19 00011001 EM
26 1A 00011010 SUB
27 1B 00011011 ESC
28 1C 00011100 FS
29 1D 00011101 GS
30 1E 00011110 RS
31 1F 00011111 US
32 20 00100000 Space
33 21 00100001 !
34 22 00100010 "
35 23 00100011 #
36 24 00100100 $
37 25 00100101 %
38 26 00100110 &
39 27 00100111 '
40 28 00101000 (
41 29 00101001 )
42 2A 00101010 *
43 2B 00101011 +
44 2C 00101100 ,
45 2D 00101101 -
46 2E 00101110 .
47 2F 00101111 /

Table 1-1 ASCII Character Set and Cross-Reference - Continued
48 30 00110000 0
49 31 00110001 1
50 32 00110010 2
51 33 00110011 3
52 34 00110100 4
53 35 00110101 5
54 36 00110110 6
55 37 00110111 7
56 38 00111000 8
57 39 00111001 9
58 3A 00111010 :
59 3B 00111011 ;
60 3C 00111100 <
61 3D 00111101 =
62 3E 00111110 >
63 3F 00111111 ?
64 40 01000000 @
65 41 01000001 A
66 42 01000010 B
67 43 01000011 C
68 44 01000100 D
69 45 01000101 E
70 46 01000110 F
71 47 01000111 G
72 48 01001000 H
73 49 01001001 I
74 4A 01001010 J
75 4B 01001011 K
76 4C 01001100 L
77 4D 01001101 M
78 4E 01001110 N
79 4F 01001111 O
80 50 01010000 P
81 51 01010001 Q
82 52 01010010 R
83 53 01010011 S
84 54 01010100 T
85 55 01010101 U
86 56 01010110 V
87 57 01010111 W
88 58 01011000 X
89 59 01011001 Y
90 5A 01011010 Z

Table 1-1 ASCII Character Set and Cross-Reference - Continued
91 5B 01011011 [
92 5C 01011100 \
93 5D 01011101 ]
94 5E 01011110 ^
95 5F 01011111 _
96 60 01100000 `
97 61 01100001 a
98 62 01100010 b
99 63 01100011 c
100 64 01100100 d
101 65 01100101 e
102 66 01100110 f
103 67 01100111 g
104 68 01101000 h
105 69 01101001 i
106 6A 01101010 j
107 6B 01101011 k
108 6C 01101100 l
109 6D 01101101 m
110 6E 01101110 n
111 6F 01101111 o
112 70 01110000 p
113 71 01110001 q
114 72 01110010 r
115 73 01110011 s
116 74 01110100 t
117 75 01110101 u
118 76 01110110 v
119 77 01110111 w
120 78 01111000 x
121 79 01111001 y
122 7A 01111010 z
123 7B 01111011 {
124 7C 01111100 |
125 7D 01111101 }
126 7E 01111110 ~
127 7F 01111111 DEL
The connection medium between computing devices provides the interface

(avenue for information flow) and thus, determines the amount of simultaneous
data which may be transferred. Two interface methods, serial and parallel, can be
used to transfer information between computing devices.
1.1.2 Serial vs. Parallel Interface

In serial transmission, information is transferred, one data bit at a time, over a
single transmission line. The flow of this data can follow one of three
transmission modes: simplex, half duplex, or full duplex. Simplex allows data
flow in one direction only, half duplex allows data flow in both directions (but not
simultaneously), while full duplex allows simultaneous two-way transmission.
Examples of simplex, half duplex and full duplex are provided in Figure 1-2.

SIMPLEX CONFIGURATION
TRANSMITTER DATA FLOW RECEIVER
HALF-DUPLEX CONFIGURATION
TRANSMITTER DATA FLOW TRANSMITTER

AND AND
RECEIVER RECEIVER
FULL-DUPLEX CONFIGURATION
DATA FLOW
TRANSMITTER TRANSMITTER
AND DATA FLOW AND
RECEIVER RECEIVER
Figure 1-2 Data Transmission Modes

Parallel transmission involves the transfer of data bits over multiple transmission
lines simultaneously. A parallel interface is most commonly used in computer-to-
printer applications. Further discussion of a parallel interface will not be provided
in this document.
1.1.3 Data Transmission

Once the interface has been established, a method of controlled data transmission
must be employed. Data transfer between devices may be asynchronous or
synchronous. Asynchronous data transfer occurs randomly, while synchronous
data transfer occurs at timed intervals.
Within the asynchronous data stream, each character of data is transported as a

binary bit frame. Each frame begins with a start bit, which is a low-voltage signal
on the data line. Upon detection of the start bit, the receiving device begins
looking for 0’s and 1’s, which constitute the data bits. The following five to eight
data bits (the number depends on the code used) comprise the binary character.
For error detection, an optional parity bit marks whether the total number of 0’s or
1’s was odd or even. An explanation of the parity types and associated meanings
is provided in Table 1-2. A stop bit signals the end of the character. Stop bits
range in length from one to two bits. Generally, the slower the transmission, the
more stop bits required for end-of-frame recognition. Figure 1-3 depicts an
asynchronous data bit frame and Table 1-2 gives parity bit descriptions.

BITS
0 1 2 3 4 5 6 7 8 9 10
STOP BITS
1, 1.5 OR 2
5, 6, 7 OR 8
DATA BITS
PARITY BIT
START BIT -NONE/OFF
USUALLY 1 -MARK
-SPACE
-EVEN
-ODD
ASYNCHRONOUS WORD LENGTH
Figure 1-3 Asynchronous Bit Frame
Table 1-2 Parity Bit Description

PARITY TYPE DESCRIPTION
ODD Eighth data bit is logical zero if the total number of
logical 1’s in the first seven data bits is odd.
EVEN Eighth data bit is logical zero if the total number of
logical 1’s in the first seven data bits is even.
MARK Eighth data bit is always logical 1 (high/mark).
SPACE Eighth data bit is always logical 0 (low/space).
NONE/OFF Eighth data bit is ignored.
The previous paragraph describes the data frame, which is used to constitute a
character of information. In order for flow to occur without loss of data, each end
of the data link must conform to certain operating parameters.
The first parameter is the rate of transmission. Serial data transmission is

measured in bits per second (bps). Typical asynchronous serial transmission rates
are 110, 300, 600, 1200, 2400, 4800, 9600 and 19200 bps. In order for two
devices to interact, both must be operating at the same transmission rate, or an
intermediate memory device, called a buffer, that accommodates the differences
in speed, must be used.
In addition to transmit and receive buffers, most serial asynchronous links use a
flow control system to handle data transmission. A common flow control is X-
ON/X-OFF. When a receive buffer reaches its memory capacity, the receiving
device sends an ASCII DC3 (X-OFF) signal to the transmitting device telling it to
stop sending data. When the receive buffer has sufficiently unloaded enough data,
it transmits an ASCII DC1 (X-ON) signal back to the transmitting device, telling
it to resume transmission.

Other flow controls commonly used in asynchronous communications are lead
control and the Enquiry/Acknowledgment (ENQ/ACK) protocol. A lead control
protocol controls data flow by alternately raising and lowering the voltage on a
lead of the RS-232 interface. DTR (pin 20) and CTS (pin 5) are often used.
When the voltage on a pin is high, data flow is enabled; when the voltage drops
low, data flow is stopped.
ENQ/ACK is a block-oriented protocol, i.e., a protocol that sends a fixed amount

of characters every time it transmits. Typically, the transmitting device sends an
ENQ character and waits for an ACK character from the receiving station before
beginning transmission. Once the ACK character is received, the entire block is
transmitted.
In synchronous data transmission, special characters synchronize the transmitting

and receiving elements of the link. This provides a benefit in that transmissions
occur without the overhead of start and stop bits, as in asynchronous
communication.
Synchronous protocols fall into two major categories: 1) character- (or byte-)
oriented protocols, which specify a definite character length, and 2) bit-oriented
protocols which do not specify character boundaries.
BSC, which is short for Binary Synchronous Communication (or Bisynchronous),

is one of the most common character-oriented protocols. BSC uses a set of
special characters to define each structure of the data transmission frame.
SDLC, which is short for Synchronous Data Link Control, is the typical bit-
oriented protocol. SDLC uses a variety of bit patterns to flag the beginning and
end of a frame. Other bit patterns are used for the address, control, and packet
header fields, which route the frame through the network to its destination.
The MRC controller utilizes asynchronous data transmission. Therefore, in order

to distinguish between the two types of data transmission methods, only a brief
description of synchronous data transmission has been provided.
1.2 Modifications to MY-BASIC

The following modifications have been made to the software for the
external computer:
1. Addition of MODE Command
This command has been added to select TEACH mode or PLAY mode from the
host computer.
2. Modification to FSAVE, FLOAD, ERCDSK0, and ERCDSK1 Commands
Modifications have been made so that condition data file names and headers will
be referred to for use on MRC.
3. Extension of Tool Number Specification Range
Range of specification of the tool number has been extended to 0 to 23.
4. Extension of User Coordinate Number Specification Range
User Coordinate Specification Number Range has been extended to 1 to 23.
5. Modification of File Names

According to modifications (1) to (4), the following file names listed in Table 1-3,
have been changed:
Table 1-3 Modified File Names

FILE NAME MY-BASIC/ERC MY-BASIC/MRC
ERC.COM ERC.COM MRC.COM
START.ERC START.ERC START.MRC
CONFIG.ERC CONFIG.ERC CONFIG.MRC
MY-BASIC internal service names such as ERCDSK, ERCRV, and ERCSV are
left unchanged because the usage are the same.
MY-BASIC RESTRICTIONS
The following functions cannot be used with MY-BASIC. To use the functions
shown below, the MOTOCOM data transmission software for personal computers
must be used. For more information, refer to the MOTOCOM operations manual.
The following commands in the host control function:
1. CGROUP: Changing control group
2. CTASK: Changing control task
3. RGROUP: Reading control group and task selected status
4. LOADV: Loading variables in host control function*
5. SAVEJ: Saving variables in host control function*
6. CVTSJ: Converting relative job to standard job
* LOADV and SAVEV in the DCI function can be used with MY-BASIC.
1.3 Reference to Other Documentation

For additional information refer to the following:
• Motoman MRC Robotic Arc Welding Manual (Part Number 132335-1)
• Motoman MRC User Functions &
I/O Structure Manual (Part Number 132331-1)
• Motoman MRC Operator’s Manual for Arc Welding (Part Number 132332-1)
• Motoman MRC Operator’s Manual for Handling (Part Number 132332-2)
• Motoman MRC Operator’s Manual for Jigless (Part Number 132332-3)
• Motoman MRC Operator’s Manual
for Spot Welding (Part Number 132332-4)
• Motoman Manipulator Manual (for your robot type)
• Motoman Independent Control Manual (Part Number 133552-1)
• Vendor manuals for system components not manufactured by Motoman

1.4 Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (SK6, SK16, etc.)
• System Type (ArcWorld 1000, FabWorld, LaserWorld, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Application Type (palletizing, welding, handling, etc.)
• Order No. (located on the back side of the controller)

2.0 SAFETY
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: 313/994-6088
FAX: 313/994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not
been trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:

• Standard Conventions (Section 2.1)
• General Safeguarding Tips (Section 2.2)
• Mechanical Safety Devices (Section 2.3)
• Installation Safety (Section 2.4)
• Programming Safety (Section 2.5)
• Operation Safety (Section 2.6)
• Maintenance Safety (Section 2.7)

2.1 Standard Conventions
This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to
equipment damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or
equipment damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

2.2 General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).
• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).
2.3 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware
of the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

2.4 Installation Safety
Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing
federal, local, and state laws and regulations. Additional safety measures for
personnel and equipment may be required depending on system installation,
operation, and/or location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local codes,
and ANSI/RIA R15.06 safety standards are permitted to install the equipment.
• Identify the work envelope of each robot with floor markings, signs,
and barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
2.5 Programming Safety

equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. Y O U R
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to modify
the internal ladder inputs and outputs for maximum robot performance. Great
care must be taken when making these modifications. Double-check all
modifications under every mode of robot operation to ensure that you have not
created hazards or dangerous situations that may damage the robot or other
parts of the system.
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

• Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.
2.6 Operation Safety

equipment must understand potential dangers of operation. Operation tips are
as follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories are
permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
must have the teach pendant when they enter the cell.
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O (Input
and Output) modifications. Check and test all changes at slow speed.

2.7 Maintenance Safety
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and understanding
the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
must have the teach pendant when they enter the cell.
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs
and Outputs).

3.0 DATA COMMUNICATIONS
The Data Communications function enables communication between the MRC
controller and a host computer (usually a personal computer) using bisynchronous
(BSC) compliant software. Communication consists of not only job data
transmission, but also robot control by a host computer. The ASCII code
command format is used to develop the necessary software to be run on the host
computer. Communication between the host computer and MRC controller
occurs along a serial transmission line using standard protocol. The Data
Communications function consists of three separate functions:
• DCI (Data Communication by Instruction) Function (Section 4.0)
• Stand-Alone Function (Section 5.0)
• Host Control Function (Section 6.0)
3.1 Remote Mode

The MRC must be in REMOTE mode before the Data Communications functions
can be used. Pressing the REMOTE button on the playback box or turning on the
REMOTE selection signal from the host computer allows communication
between the MRC and the host computer (see Table 3-1).
Table 3-1 Submodes for Remote Mode

OPERATION MODE OPERATION CONTROL CONDITIONS FOR ENABLING OPERATION
LOCAL Mode Programming pendant The remote lamp is OFF, or the customer
or playback box option screen displays the PP/PBOX
setting as being USED.
REMOTE Mode
• I/O Remote External I/O control The customer option screen displays I/O as
Enable board being USED and the remote lamp is ON.
• Command External computer The customer option screen displays the
Remote Enable COMMAND setting as being USED and
the remote lamp is ON.
3.1.1 REMOTE Mode Setup

REMOTE mode operation differs depending upon setup of I/O remote, Command
remote, and PP/PBOX (programming pendant/playback box) controls. Setup of
these controls takes place in the CUSTOMER MAINTENANCE mode. To set up
REMOTE mode operation, proceed as follows:
1. While holding down the CUSTOMER key on the programming pendant, turn
on the MRC main power switch.
2. Enter your 8-digit user ID number.
3. With the cursor keys, move the cursor to SETUP SYSTEM and press ENTER.
4. Move the cursor to SYSTEM CONFIGURATION and press ENTER.
5. Move the cursor to CUSTOMER OPTION and press ENTER again.
The Customer Option screen displays (see Figure 3-1).

CUSTOMER OPTION
REMOTE FUNCTION
IO USED NOT USED
COMMAND USED NOT USED
PP/PBOX USED NOT USED
INITIALIZE RELATED FILES

ARE YOU SURE? YES NO
SEL BY /CONFIRM BY <ENTER>
Figure 3-1 Customer Option Screen

6. Select USED or NOT USED for each item and press ENTER.
Selecting USED for I/O control validates I/O remote and enables operation
from an external I/O when the REMOTE key on the playback box is pressed.
When NOT USED is selected, operation from an external I/O is not possible.
Selecting USED for COMAND control validates all Host Control functions
and enables control from the host computer when the REMOTE key on the
playback panel is pressed (see Table 3-2).
Table 3-2 Status of Command Remote Settings
COMMAND REMOTE SETTING STATUS OF ENABLED FUNCTION
NOT USED DCI function usable
Stand-alone function usable
Host control function (only read/monitor
system commands) usable
USED Host control function (all commands) usable
Operation of the REMOTE key when NOT USED is selected, depends upon
the setting of parameter RS005. When RS005=0, all host functions are
disabled. However, the DCI and Stand-Alone functions are still available.
When RS005=1, the Read-only commands alone from the Host Control
function are enabled and all other functions are disabled (see Table 3-3).

Table 3-3 Parameter Used with the Host Control Function
PARAMETER DESCRIPTION AND SETTINGS INITIAL VALUE
RS005 BSC port function specification when 0
command remote is disabled
0: DCI or Stand-Alone Function
1: Read-Only Function for Host
Control
Selecting USED for PP/PBOX control enables operation from the

programming pendant and playback panel while in REMOTE mode.
Selecting NOT USED for PP/PBOX control disables operation from the
programming pendant and playback box while in REMOTE mode. However,
the Emergency Stop, HOLD keys, and REMOTE keys remain operable even
in the disabled status.
7. Move the cursor to YES and press ENTER to record the settings. To cancel,
move the cursor to NO and press ENTER.
To verify REMOTE key settings, use the REMOTE display screen as follows:
1. Press DISP.
2. Press DIAG (F5).
3. Press MORE.
4. Press REMOTE (F5).
Five messages are used to show the status of REMOTE mode (see Table 3-4).
Table 3-4 Command Remote Screen Settings

REMOTE SELECT MESSAGE DESCRIPTION
STATUS
I/O Command
Not Not Used REMOTE MODE NOT Same as LOCAL mode
Used SPECIFIED
Used Not Used I/O MODE
Not Used COMMAND MODE Only in REMOTE mode
Used
Used Used I/O AND COMMAND
MODE
Read-Only REMOTE MODE NOT “CURR” and “PREV” are
Function valid SPECIFIED displayed

The HLOCK command from the host computer locks the MRC in the Command
Remote Enable submode. When HLOCK is ON, all operations on the MRC,
except for HOLD and emergency stop, are invalid. In this state, REMOTE mode
cannot be canceled and the following I/O operations are disabled:
• External servo ON
• PLAY/TEACH mode selection
• Cycle selection
• Master job call
• External Start
• Selection between remote and local modes (404x and 405x)
All other I/O operations remain valid. Refer to Section 6.7.7 for more
information on the HLOCK command.
3.2 Serial Interface Multiport

The MRC controller has two serial interface (RS-232C) ports. FC1 protocol and
BSC complying protocol (for data transmission) can be assigned to each port for
communication with external devices (see Table 3-5).
NOTE: Only a single port can be assigned to each of the FC1 and the BSC complying protocol. (It is
impossible to have two FC1 ports or two BSC ports.) To use more than one protocol at a
single port, reassign parameters RS000 and RS001 while in TEACH mode.
Table 3-5 Parameter Settings

PARAMETER DESCRIPTION AND SETTINGS INITIAL VALUE
RS000 Standard port 1 (playback box) protocol 3
specification
0: NON
1: System reservation
2: BSC LIKE (Data transmission function)
3: FC1
RS001 Standard port 2 (MCPO1) protocol 0
specification
0: NON
1: System reservation
2: BSC LIKE (Data transmission function)
3: FC1
NOTE: Multi-port processing is serial. Parallel processing is unavailable in these ports.

3.3 Parallel Operation
The MRC controller is capable of parallel processing. For example, the MRC can
check signals with the programming pendant while saving files to the FC1 (floppy
disk drive). The MRC is also capable of handling file editing from the
programming pendant while the operation status is being monitored by the host
computer. Parallel processing in the MRC does have the following
restrictions though:
1. Port specifications of tasks cannot be the same.
Because all DCI, Stand-Alone, and Host Control functions use BSC protocol
and the same port, the MRC cannot perform these functions by parallel
processing. Parallel processing of the FC1 floppy disk drive and BSC
protocol is also impossible. If these restrictions are violated, the following
warning messages are displayed:
• SERIAL PORT NOT DEFINED
• SERIAL PORT BEING USED
• PROTOCOL BEING USED
2. File access and editing operations must not occur simultaneously.
Access to single target files is available. However, parallel processing of
reads from two or more sources is impossible. For example, a file cannot be
monitored by the host computer at the same time it is being edited by the teach
pendant. When the programming pendant is in EDIT mode or is accessing a
file for another function, the HLOCK command from the Host Control
function cannot be used. Key operations are ignored when the HLOCK
command is ON (see Section 6.7.7). If these restrictions are violated, the
following warning messages are displayed:
• DATA ACCESSED WITH OTHER FUNCTIONS
• EDITING ONGOING
3.4 MRC vs. ERC Data Communications

The Data Communications functions for the MRC are essentially compatible with
those of the ERC. The following are minor differences from the ERC:
1. REMOTE mode and Host Control functions
Because the selection of REMOTE mode or LOCAL mode (selection of the
operation site) and selection of TEACH or PLAY modes are independent of
each other, you need to be aware of your mode of operation. The MRC
control mode is the Stand-Alone function. The function that accepts
commands from the host computer is called the Host Control function. To
verify REMOTE key settings, use the REMOTE display screen as follows:
1. Press DISP.
2. Press DIAG (F5).
3. Press MORE.
4. Press REMOTE (F5).
2. Multi-Port Processing
Two standard ports are available for the FC1 floppy disk drive and the Data
Communications function. These ports may not be used simultaneously.

3. Transmission Monitor
Not supported in MRC.
4. Group Axes and Axial Data
The CGROUP command in the Host Control function changes the group axis
being controlled. There is, however, no distinction between robot axes 1 and
2, base axes 1 and 2, or station axes 1 through 6 in position-type variables.
Base axes and station axes are recognized as external axes. Up to three base
axes are available. With station axis data added after base axis data, up to six
axes can be handled. Refer to Section 6.7.9 for more information on the
CGROUP command.
5. Coordinated and Independent Motion
The CTASK command in the Host Control function changes the task to be
controlled. Commands related to coordinated motion are not available. Refer
to Section 6.7.10 for more information on the CTASK command.
6. Condition Data and System Data
Condition data and System data have different file names as well as different
communication headers. System data is divided into System information and
Alarm History data.
7. Host Control Function
• Hold/Start and Emergency Stop (Servo OFF/Servo ON) Interlock
Regardless of the method used to establish a HOLD, only the active
operator input device (programming pendant, playback box, I/O signal or
command) can restart operation after a HOLD. The same is true of Servo
ON after an Emergency Stop (Servo OFF).
• Mode of Operation and Executability of Commands
The executability of each Data Communication command is different,
depending on the mode of operation (PLAY or TEACH mode). There are
also additional commands which control the mode of operation.
• Specified Range for Tool Number, User Coordinate System Number, and
Step Number
Each of these specified ranges has been expanded.
• SVON (Servo ON) Command
To execute a SVON command, an external servo on the terminal must be
connected. Connect terminals TM1-21 and TM1-24 on the JANCD-
MRY01 board. Refer to Section 6.7.6 for more information on the
SVON command.

3.5 Basic Communications Specifications
The interface between the MRC controller and the remote computer conforms to
the RS-232C standard for pin assignments (see Section 3.8). The following
specifications are employed for data communications between the MRC controller
and host computer.
Interface: RS-232C Compatible (RS/CS Method)
Transmission Speed: 9600 bps
Transmission Mode: Serial Asynchronous Half-Duplex (Point to Point)
Synchronization System: Asynchronous Method
Stop Bits: One*
Protocol: Bisynchronous
Transmission Code: ASCII
Data Bits: Eight*
Parity: Even*
Error Check: BCC (Block Check Character Method)
Flow Control: ACK Alternating Response
NOTE: Items marked with an asterisk (*) can be modified with communication parameters.
3.5.1 Communication Control Characters

The first thirty-two (32) ASCII characters are dedicated as control characters.
(see Section 1.1.1 for a complete listing of ASCII characters.) These characters
act as signals to control specific operations of printing, display, and
communication devices. Control characters are broken down into three groups:
1. Communication Control.
2. Forms Effectors.
3. Information Separators.
The MRC uses the communication control group for transmission control between
the MRC and host computer. The communication control characters perform
three basic functions:
1. Inform the receiving device what type of data to expect.
2. Indicate a transition in the type of data being transmitted.
3. Verify proper transmission and receipt.

The communication control characters used by the MRC controller are described
in Table 3-6.
Table 3-6 Communication Control Characters

CONTROL HEX CODE DESCRIPTION
CHARACTER
SOH 01 Start of Heading denotes the start of the message
heading data block.
STX 02 Start of Text denotes the end of the heading and
the beginning of information data.
ETX 03 End of Text signals receiving station that all
information data has been transmitted.
EOT 04 End of Transmission indicates the end of
transmission of all data associated with a message.
ENQ 05 Enquiry requests a response from the receiving
station.
DLE 10 Data Link Escape is used to modify the meaning
of a limited number of subsequent characters.
NAK 15 Negative Acknowledgment indicates improper
communication.
ETB 17 End of Transmission Block indicates the end of a
particular block of transmitted data. ETB is used
in place of ETX when data are transmitted in two
or more blocks.
ACK0 10, 30 Even Affirmative Acknowledgment.
ACK1 10, 31 Odd Affirmative Acknowledgment.

3.6 Transmission Format
Data transmission between the host computer and the MRC controller consists of
ASCII characters, header numbers, error control values, and transmission timers.
The following sections describe these and other topics. Figure 3-2 is an example
of a typical data transmission format.
S S E
O HEADING T TEXT T BCC
H X B
S S E
O HEADING T TEXT T BCC
H X X
S E
T TEXT T BCC
X B
S E
T TEXT T BCC
X X
E
N
Q
E
O
T
N
A
K
ACK0
ACK1
Figure 3-2 Data Transmission Format

3.6.1 Error Control
The Block Check Character (BCC) provides a method of checking the
transmission block for errors. The BCC is a check value provided by the
transmitting station, which allows the receiving station to compare its own
calculated check value to the BCC sent by the transmitting station.
The BCC is calculated using the summation of all the character data transmitted
after the SOH or STX control characters. The summation ends when an ETB or
ETX control character appears. These characters are included in the BCC
calculation. The summation of the character data is used to create a two-character
BCC, which is transmitted as the last two characters of the transmission block.
The receiving station keeps track of its received characters and calculates its own
BCC. To validate the data, the receiving station’s calculated BCC is compared to
the transmitted BCC. If the two BCCs match, the transmission is error free. The
receiving station then responds with the appropriate ACK0 or ACK1 control
characters to indicate a valid reception.
The BCC calculation starts when either an SOH or STX control character appears.
These characters are not included in the summation.
NOTE: When an STX appears within a command transaction which starts with an SOH, the STX is
included in the BCC calculation.
Figure 3-3 provides an example of a BCC calculation for one transaction in the
sequence used to save the job VACON from the MRC to the host computer.
S S E
O T C T
H 0 2 , 0 0 1 X V A C O B
R
00110000
00110010
00101100
00110000
00110000
00110001
00000010
01010110
01000001
01000011
01001111
01001110
00001101
00010111
00000010 10111100
Figure 3-3 Example BCC Calculation

The BCC characters will range from 00000000 to 11111111 (00H to FFH where
H represents a hexadecimal value). In this example, the BCC calculation results
in a transmission sequence of BCH (1011100 binary) as the first BCC character
and 02H (00000010 binary) as the second BCC character. These values may or
may not be displayable ASCII characters.
3.6.2 Character Configuration

The character configuration includes a Start bit, 7 character bits, a Stop bit and a
Parity bit, as shown in Figure 3-4.
Start bit
Stop bit
b1 b2 b3 b4 b5 b6 b7 b8 bp
Parity bit
Figure 3-4 Character Configuration
3.6.3 Heading and Text Configuration

The heading and text configuration is shown in Figure 3-5.
FIELD #2 FIELD #4
HEADER SUB CODE FIELD #7
NUMBER NUMBER ETX or ETB
FIELD #6 TEXT
(MAXIMUM 256 CHARACTERS)
FIELD #1 FIELD #3 FIELD #5 FIELD #8

SOH COMMA STX BLOCK CHECK
CHARACTER
Figure 3-5 Heading and Text Configuration

3.7 Communication Parameters
Communication parameters are used to control data transmission characteristics
between the MRC and the host computer.
3.7.1 Communication Control Monitoring Timers

The following two timers are available for communication control monitoring.
Both are communication parameters and can be modified for each system (see
Figure 3-6).
• Timer A: Sequence monitoring timer. This timer serves as protection against
an invalid response or no response. The recommended value for Timer A is
3 seconds.
• Timer B: Text reception monitoring timer. This timer serves as protection
against no response of the text end character. The recommended value for
Timer B is 20 seconds.
MRC MRC
Host computer
Host computer
ENQ
ENQ
Timer A ACK0
ACK0
Data
Timer B
Data Timer A ACK1
ACK1
Timer B
EOT EOT
Figure 3-6 Communication Control Monitoring Timers
3.7.2 Communication Control Resending Sequence

The following two constants are related to the communication control resending
sequence. Both are communication parameters and can be modified for each
system.
• Retry 1: The number of times sequence characters are resent at an invalid
response or no response. The recommended value is 10 times.
• Retry 2: The number of times text is resent after a block check error (reception
of NAK). The recommended value is 3 times.
Communication parameters are listed below in Table 3-7.

Table 3-7 Communication Parameters
PARAMETER INITIAL DESCRIPTION EXPLANATION
NUMBER VALUE
RS030 8 Number of data bits 7: 7 (Bit)
8: 8
RS031 0 Number of stop bits 0: 1 (Bit)
1: 1.5
2: 2
RS032 2 Parity setting 0: None
1: Odd parity
2: Even parity
RS033 7 Transmission speed setting 1: 150 (Baud Rate)
2: 300
3: 600
4: 1200
5: 2400
6: 4800
7: 9600
RS034 30 Timer A Unit 0.1 second
Sequence monitoring timer. Range: 0 - 100
Protects against invalid or
no response.
RS035 200 Timer B Unit 0.1 second
Protects against invalid or
no response.
RS036 10 Retry 1 Unit 0.1 second
Number of resending of a Range: 0 - 30
sequence at an invalid or no
response
RS037 3 Retry 2 Range: 0 - 10
Number of text at a block
check error (NAK
reception)
RS038 0 Block check method 0: Check value
0: Check value

3.8 D-SUB Connector Pin Connection
The MRC has two standard serial ports. One is located on the playback box and
the other is on the MCP01 board. Pinout of the D-SUB connector for both serial
ports is shown below in Figure 3-7.
1. Playback Box (D-SUB25S) 2. MCP01 Board (D-SUB9P)
MRC MRC
FG 1 Protective ground CD 1 Carrier detect

SD 2 Sending data RD 2 Receiving data
RD 3 Receiving data SD 3 Sending data
RS 4 Send request ER 4 Data terminal ready
CS 5 Sending permission SG 5 Ground for signal
SG 7 Ground signal RS 7 Send request
CD 8 Carrier detect CS 8 Sending permission
ER 20 Data terminal ready FG 9 Protective ground
Figure 3-7 D-SUB Connector Pinout

Because the system is “null modem," pins should be connected as shown below in
Figures 3-8 and 3-9.
YASNAC MRC HOST COMPUTER
FG 1
SD 2 2 SD
RD 3 3 RD
RS 4 4 RS
CS 5 5 CS
SG 7 7 SG
CD 8 8 CD
ER 20 20 ER
Figure 3-8 Connection for Playback Box (D-SUB25S)

YASNAC MRC HOST COMPUTER
CD 1 2 SD
RD 2 3 RD
SD 3 4 RS
ER 4 5 CS
SG 5 7 SG
RS 7 8 CD
CS 8 20 ER
FG 9
Figure 3-9 MCPO1 Board Connection

• The MRC sends a signal from RS to CS in the host computer to prevent data
overrun when the reception processing speed of the MRC cannot catch up
with data sent from the host computer. (i.e., the RS signal from the MRC
controls the start/hold of data transmission from the host computer).
• Data is sent between the MRC and host computer only when the CS signal
is ON.
• The ER signal on the MRC is always ON when the controller is ready for data
transmission. Use the ER signal on the host computer whenever needed.
• Although the MRC’s CD signal is connected to the host computer’s ER signal,
the MRC does not use this signal.
3.9 Data Management

Some jobs in the MRC may reference other jobs or condition data according to
their instructions. For example, a Master job may have several JUMP or CALL
commands referencing other jobs and files. When saving a single job or condition
data to the host computer, these references between jobs and files must be
maintained. To save this labor, related jobs and condition data can be transmitted
in a batch as the related job data. When specification of related job data is made,
the master job, related jobs, and condition data are all transmitted sequentially.
the header number and the subcode number indicate that the related job data is
added. Refer to Appendix A, Table A-1, for the header number list.
3.9.1 Selecting Files

To select a job to save, load, verify, or delete, use the following methods:
1. EACH/BATCH selection
EACH: Pressing EACH (F1) places a “✩” or “★” beside each job
selected with the cursor. Pressing EACH (F1) again, erases the
mark and releases the job.
BATCH: Pressing BATCH (F2) places a “✩” or “★” beside all the jobs.
Pressing BATCH (F2) again, erases the marks and releases
the jobs.

2. SINGLE/RELATED selection mode
SINGLE: SINGLE selection mode selects only the job at the cursor
position.
RELATED: RELATED selection mode selects the job at the cursor position
and all related jobs or condition data.
Pressing MODE (F3) toggles the selection between SINGLE and RELATED.
✩ : SINGLE mode selection.
★ : RELATED mode selection.
By selecting SINGLE/RELATED, and EACH/BATCH, job selection changes as
shown below in Table 3-8.
Table 3-8 Job Selection
SINGLE SELECTION MODE RELATED SELECTION MODE
Jobs marked with I Jobs marked with H and related

EACH jobs and data
SELECTION
All jobs All jobs and their related jobs

and data
BATCH
SELECTION
: Job : Related job/data

4.0 DCI FUNCTION
The DCI (Data Communication by Instruction) function uses job instructions in
the MRC to perform data communication with the host computer. Jobs and
variables are manipulated while the robot is in PLAY mode using the instructions
shown in Table 4-1. The Master job loads, executes, and deletes jobs stored in the
host computer as needed. The host computer can set variables used by the Master
job to call optional jobs. These variables can be used to shift program locations
according to operator feedback, or feedback from a PC-operated vision system.
NOTE: Motoman supports all DCI functions with the Visual DCI software package. Please refer to the
MARVI Visual DCI Installation and Operation Manual (Part Number 132205-1) for
more information.
Table 4-1 Instructions Used with the DCI Function

FUNCTION INSTRUCTION DESCRIPTION
LOAD Jobs can be transmitted in:
Job Transmission SAVE • SINGLE Job mode
DELETE • RELATED Job mode
Transmittable variables:
LOAD • Byte-type global variables
Variable Transmission • Integer-type global variables
• Double precision-type global
variables
SAVE • Real-type global variables
• Position-type global variables
(Robot, base, and station axes)
4.1 LOADJ (Load Job) Operation

The LOADJ (Load Job) instruction loads specified jobs as single or related jobs
from the host computer to the MRC (see Section 3.9.1). If the MRC contains a
job with the same name as the job to be loaded, the existing job is deleted and the
new job is loaded. However, an alarm will occur under the following conditions:
• The job called is the current job containing the LOADJ instruction.
• The job called is the Master job.
• The job called is being executed/on hold.
• The job called is registered in job call stack.

Specify input group numbers (BCD/BIN parity specification) and variable
numbers in the same way as in CALL instructions. If the pattern input value is
“0," no operation will be performed. “0” is a valid variable number. The name of
the target job of pattern input or variable value must consist of half-width digits.
If an NWAIT command is used, the next instruction is executed without waiting

for the job to be completely loaded. While a job is being loaded by a LOADJ
instruction in which NWAIT is specified, attempting to enter the same job by
either a CALL or JUMP instruction will cause an alarm to occur. If the LOADJ
or SAVEJ instruction has been fully executed, the CALL or JUMP instruction is
completed without interruption.
4.1.1 LOADJ Instructions

1. Display job in TEACH mode.
2. Press EDIT.
3. Press the ARROW UP key.
4. Press OTHER (F5) to display soft key labels for DCI instruction.
5. Press LOADJ (F1). LOADJ instruction is displayed on the input buffer line
with any additional items unchanged from previous entry.
6. Press ENTER to register the instruction with additional items unchanged.
7. To edit items before register, use the ARROW LEFT (F3) and ARROW
RIGHT (F4) keys to select the item to be modified.
8. Press MODIFY (F1).
9. Set IF sentence and NWAIT commands using the IF (F1) and NWAIT (F4)
soft keys.
10. To delete all additional items from the input buffer, press CLEAR (F5).
11. To modify the job name on the input buffer line, move the cursor to the job
name using the ARROW LEFT (F3) and ARROW RIGHT (F4) keys and
press MODIFY (F1).
12. Press NAME (F1) to display the job list. Select a job name to be loaded using
the cursor keys or by character entering operation.
13. To modify how the job is loaded, move the cursor using (F3) and (F4), to JBI
or JBR on the input buffer line and press MODIFY (F1).
14. Press the SINGLE (F1) or RELATED (F2) key to select unit of loading (see
Section 3.9.1).
• [SINGLE} : Loads in unit of a single job.
• [RELATED] : Loads in unit of related jobs.
15. After editing, press ENTER to register the instruction.

4.2 SAVEJ (Save Job) Operation
The SAVEJ (Save Job) instruction saves specified jobs as single or related job
units from the MRC to the host computer. Specify input group numbers
(BCD/BIN parity specification) and variable numbers in the same way as in
CALL instructions. If the pattern input value is “0," no operation will be
performed. “0” is a valid variable number. The name of a target job of pattern
input or variable value must consist of half-width digits. Jobs can be saved as
either single jobs (JBI) or related jobs (JBR).
If an NWAIT command is used, the next instruction is executed without waiting

for the job to be completely saved. While a job is being saved by a SAVEJ
instruction in which NWAIT is specified, attempted access to the job by a CALL
or JUMP instruction will cause an alarm to occur. If the SAVEJ instruction has
been fully executed, the CALL or JUMP instruction is completed
without interruption.
4.2.1 SAVEJ Instructions

2. Press EDIT.
5. Press SAVEJ (F2). SAVEJ instruction is displayed on the input buffer line
6. Press ENTER to register instruction with additional items unchanged.
9. IF sentence and NWAIT commands can be set using the IF (F1) and NWAIT
(F4) keys.
press MODIFY (F1).
12. Press NAME (F1) to display the job list. Select a job name to be saved using
13. To modify how the job is saved, move the cursor using (F3) and (F4), to JBI
14. Press SINGLE (F1) or RELATED (F2) to select unit of saving.

4.3 DELETEJ (Delete Job) Operation
The DELETEJ (Delete Job) instruction deletes jobs from the memory of the
MRC. These can be deleted either as single jobs (JBI) or related jobs (JBR). The
following is a list of jobs that cannot be deleted using the DELETEJ instruction:
• Job has CALL instructions.
• Job called to be deleted is the original job.
• Job is an Execution Start job.
• Job is being executed/on hold.
• Job is registered in job call stack.
4.3.1 DELETEJ Instructions

2. Press EDIT.
5. Press DELETEJ (F1). DELETEJ instruction is displayed on the input buffer
line with any additional items unchanged from previous entry.
9. IF sentence commands can be set using the IF (F2) key.
press MODIFY (F1).
12. Press NAME (F1) to display the job list. Select a job name to be deleted using
13. To modify how the job is deleted, move the cursor using (F3) and (F4), to JBI
14. Press SINGLE (F1) or RELATED (F2) to select unit of deleting.

4.4 SWAIT (Send Wait) Operation
The SWAIT (Send Wait) instruction verifies completion of LOADJ, SAVEJ,
LOADV, and SAVEV instructions when NWAIT is specified for these
instructions. This command stops operation until completion is confirmed.
4.4.1 SWAIT Instructions

2. Press EDIT.
5. Press SWAIT (F2).
4.5 LOADV (Load Variable) Operation

The LOADV (Load Variable) instruction loads specified global variables from the
host computer to the MRC. These include:
• Byte-type global variables
• Integer-type global variables
• Double precision-type global variables
• Real-type global variables
• Position-type (robot axis) global variables
• Position-type (base axis) global variables
• Position-type (station axis) global variables
4.5.1 LOADV Instructions

2. Press EDIT.
5. Press LOADV (F3). LOADV instruction is displayed on the input buffer line
9. NWAIT commands can be set using the NWAIT (F1) key.

11. To modify the variable on the input buffer line, move the cursor to the
variable name using the ARROW LEFT (F3) and ARROW RIGHT (F4) keys
and press MODIFY (F1).
12. Select the variable to be set using the function keys.
13. Enter the value using the number keys.
4.6 SAVEV (Save Variables) Operation

The SAVEV (Save Variable) instruction is used to save specified global variables
from the MRC to the host computer. These include:
• Byte-type global variables
• Integer-type global variables
• Double precision-type global variables
• Real-type global variables
• Position-type (robot axis) global variables
• Position-type (base axis) global variables
• Position-type (station axis) global variables
4.6.1 SAVEV Instructions

2. Press EDIT.
5. Press SAVEV (F4). SAVEV instruction is displayed on the input buffer line
9. NWAIT commands can be set using the NWAIT (F1) key.
11. To modify the variable on the input buffer line, move the cursor to the
variable name using the ARROW LEFT (F3) and ARROW RIGHT (F4) keys
and press MODIFY (F1).
12. Select the variable to be set using the function keys.
13. Enter the value using the number keys.

4.7 Concurrent Tasks from Multiple Jobs
DCI-related instructions can be executed from more than one job as explained
below:
1. DCI-related instructions can be executed in any job, regardless of the job type.
2. Multiplexing of DCI communications is not supported. It is therefore
impossible to manipulate files on two or more host computers connected to
the MRC.
3. If two or more instructions related to the DCI function are issued concurrently,
execution of the second command begins after completion of the first
command. If a module issues a command request while another module is
executing a DCI Function, the request must wait until the current command
is completed.
4.8 DCI Parallel Execution

DCI commands can be executed in parallel with universal instructions such as
MOVE or arithmetic instructions, as described below. For example, the robot can
be moved or calculations can be executed during data transmission by the DCI
Function. This effectively reduces robot cycle time. Table 4-2 is an example of a
job with parallel execution using NWAIT.
Table 4-2 Parallel Execution Using NWAIT (No Wait)

STEP INSTRUCTION COMMENT
000 NOP
001 MOVJ VJ=50.00
002 MOVJ VJ=50.00
003 LOADJ JOB:ABC JBI NWAIT Loading Job ABC...No Wait, move
to Step 004
004 MOVJ VJ=50.00
005 MOVJ VJ=50.00
006 SWAIT Waiting for Step 003 before
moving to Step 007
007 CALL JOB:ABC
008 END
In Table 4-2, when Step 003 is executed, the MRC begins loading job ABC from
the host computer. If the NWAIT command is not specified, Steps 004 and those
thereafter are not executed until job loading is complete. However, when NWAIT
is specified, Steps 004 and 005 are executed sequentially during job loading. The
SWAIT command stops job execution until Step 003 is finished loading. Without
the SWAIT command, Step 007 would be executed before the loading of job
“ABC” was complete and an alarm would occur. Use the SWAIT command to
verify that loading is complete before executing a loaded job. SWAIT should be
used with LOADV and SAVEV commands also.

4.8.1 Parallel Execution Using PSTART (Optional)
By using this optional independent control command, DCI commands are
executed in parallel with universal commands. For example, to execute job R1
(robot 1) in parallel with job S1 (station 1) during job downloading, the following
procedure is used (see Figure 4-1):
JOB R1 JOB S1
STEP COMMAND STEP COMMAND
000 NOP 000 NOP
001 MOVJ VJ=50.00 001 MOVJ VJ=50.00
002 MOVJ VJ=50.00 002 MOVJ VJ=50.00
003 PSTART 003 END
004 LOADJ JOB:ABC
005 PWAIT
006 CALL JOB:ABC
007 END
Figure 4-1 PSTART Job
When the PSTART command (Step 003) is executed, S1 begins execution in
parallel with job R1. Job ABC is loaded by the LOADJ command (Step 004)
during execution of job S1. After the job is loaded, the MRC waits for job S1 to
be completed by the PWAIT command (Step 005). After job S1 has been
executed, job ABC is executed by the CALL command (Step 006). Please refer
to the Independent Control Manual (part number 133552-1) for more information.
4.9 Transmission Sequence

The data transmission sequence between the host computer and MRC differ
between job and variable transmission.
4.9.1 Job Transmission

Data transmission from the MRC to the host computer proceeds as follows (see
Figure 4-2):
1. The ENQ code is sent out to establish a data link.
2. After a link has been established, data is transmitted to the host computer.
3. After the data transmission is complete, the MRC waits for a response from
the host computer to confirm completion of the transmission. The computer
must then return a response.
4. Transmission is terminated upon receipt of the response from the computer .
Data type is distinguished by the header number and the subcode number. See the
header number list, Appendix A, Table A-1, for further information on
header numbers.

ENQ
ACK0
SOH 02,001 STX File name* ETB BCC
ACK1
STX Data ETB BCC
ACK0
MRC STX Data ETX BCC HOST
ACK**
EOT
ENQ
ACK0
SOH 90,000 STX Data*** EXT BCC
ACK1
EOT
* File name CR (File name does not include extension.)

** ACK0 or ACK1
*** Normal Completion : "0000 CR "" (ASCII code)
Abnormal completion: "Integer except 0000 CR" (ASCII code)
Figure 4-2 Data Transmission from MRC to Host Computer

Data transmission from the host computer to the MRC proceeds as follows (see
Figure 4-3):
1. The ENQ code is sent out to the host computer to establish a data link.
2. After a link has been established, a request to send signal is sent to the
host computer.
3. After the request to send has been accepted, the MRC enters receiving status
and waits for the ENQ code from the host computer. The host computer must
then send data after the data link has been established.
4. The data link is terminated upon completion of data transmission by the
host computer.
The request to send consists of a header number and a subcode number. See the
header number list in Appendix A, Table A-1, for more information.
During transmission, memory capacity is checked, and if the data received cannot
be stored, an alarm occurs. If the transmission itself is normal, transmission
continues and the alarm is displayed once the data link is terminated. If an error
occurs during reception, job data will not be stored.

ENQ
ACK0
SOH 02,051 STX File name* ETX BCC
ACK1
EOT
ENQ
MRC ACK0 HOST
ACK1
STX Data ETB BCC
STX Data EXT BCC

ACK**
EOT

** ACK0 or ACK1
Figure 4-3 Data Transmission from Host Computer to MRC
4.9.2 Variable Transmission

The following are examples of variable transmission using the SAVEV and
LOADV commands (see Figures 4-4 and 4-5).
SAVEV
ENQ
ACK0
SOH 03,001 STX ETX BCC
ACK1
EOT VISION
MRC OR
ENQ PC
ACK0
SOH 03,001 STX Data* CR ETX BCC
ACK1
EOT
Figure 4-4 SAVEV Transmission

LOADV
ENQ
ACK0
SOH 03,051 STX ETX BCC
ACK1
EOT VISION
MRC OR
ENQ PC
ACK0
SOH 03,001 STX Data* CR ETX BCC
ACK1
EOT
Figure 4-5 LOADV Transmission

See the header number list in Appendix A, Table A-1, for more information.
Data *
• Byte-type global variable:
XXX (0 to 255)
• Integer-type variable:
±XXXXX (-32768 to 32767)
• Double precision-type global variable:
±XXXXXXXXXX (-2147483648 to 2147483647)
• Real-type global variable:
7 significant digits (-1.70141E + 38 to 1.70141E + 38)
• Position-type (robot axis) global variable:
Pulse or XYZ-type (depending on the internal setting status)
• Pulse-type:
SLURBT (unit: pulse) (-999,999,999 to 999,999,999)
• XYZ-type:
X,Y,Z (unit : mm Significant 3 decimal points -999999.999 to
999999.999)
TX,TY,TZ (unit : ˚ Significant 2 decimal points -9999.99 to
9999.99)
TYPE (d0 = 0 : Flip, d0 = 1 : No flip, d2 = 0 : Up, d2 = 1 : Back)
• Position-type (base axis) global variable:
Pulse or XYZ-type (depending on the internal setting status)
• Pulse-type:
1,2,3 (unit: pulse) (-999,999,999 to 999,999,999)
• XYZ-type:
X,Y,Z (unit : mm Significant 3 decimal points -999999.999 to
999999.999)
• Position-type (station axis) global variable:
Pulse-type 1,2,3,4,5,6 (unit : pulse) (-999.999.999 to 999.999.999)

Data **
• 0000 or Error code
• # The response changes as shown below if an alarm occurs.
SOH 90,000 STX DATA** CR ETX BCC
If Hold or Emergency Stop are used during data transmission, the robot stops
operation and the start lamp goes off, but data transmission continues.
4.10 Axial Data Transmission Format

The MRC Data Communications function and the ERC-compatible version have
restrictions on transmission of MRC internal data. Robots are fixed to a six-axis
set. A base axis and a station axis are recognized as an external axis. Up to three
base axes are available. With station axis data added after base axis data, up to six
axes can be handled. For example, SAVEV BP005 is read as SAVEV
BP005+EX005. If the system lacks one of the variables, only the existing one is
used. An error occurs if the system has both variables but not registered.
SAVEV data transmission is shown in different system configurations below.

1. In a system that has two base axes (X and Z) and no station axis...
If BP005 is a pulse-type variable and Axis 1 is 100 and Axis 2 is 200, then
SAVE BP005 → 03, 007 100, 200, 0,0,0,0
If BP005 is an XYZ-type variable and Axis X is 123 and Axis Z is 234, then
SAVE BP005 → 03, 008 123, 234, 0,0,0,0
2. In a system that has no base axes and three station axes...
If EX005 is a pulse-type variable and Axis 1 is 500, Axis 2 is 600, and Axis 3
is 700, then SAVEV EX005 → 03,007 500,600,700,0,0,0
3. In a system having two base axes (X and Z) and three station axes...
If BP005 is a pulse-type variable and Axis 1 is 100, Axis 2 is 200, and EX005
is a pulse-type variable, and Axis 1 is 500, Axis 2 is 600 and Axis 3 is 700,
then SAVEV BP005 → 03, 007 100,200,500,600,700,0
(Same as SAVEV EX005)
If BP005 is an XYZ-type variable and Axis X is 123, Axis Z is 234 and
EX005 is a pulse-type variable and Axis 1 is 500, Axis 2 is 600, and Axis 3 is
700, then SAVEV BP005 → 03, 008 123,234,500,600,700,0
(Same as SAVEV EX005)

4.11 DCI Alarm Codes
The following are lists of Alarm and Data codes used in data transmission (see
Tables 4-3 and 4-4).
Table 4-3 Alarm Codes
CODE MESSAGE
5920 WRONG EXECUTION OF LOAD INST
5930 WRONG EXECUTION OF SAVE INST
5940 WRONG EXECUTION OF DELETE INST
Table 4-4 Alarm Data

DATA DESCRIPTION
001 Not enough memory
002 Job edit prohibited
003 Attempted to load or delete a job being executed
004 No specified job
012 Position data destroyed
013 Position data not registered
017 Instruction destroyed
019 Invalid character in job name
020 Invalid character in label
023 Invalid character in this system
024 Syntax error
104 Error response from host computer
111 Syntax error
112 Error in position data
113 No NOP or END instruction
117 Format error
118 Invalid number of data
120 Data range exceeded
122 Destroyed file exists
125 No serial port setting
126 This serial port already used
127 This protocol being used
128 File accessing in other function
211 System block error (Receiving EOT while waiting for ACK)
212 System block error (Receiving EOT at start of reception)

Table 4-4 Alarm Data - Continued
DATA DESCRIPTION
213 System block error (Receiving EOT before receiving the last
block)
214 System block error (Receiving codes other than EOT before
receiving the last block)
221 Sending error (NAK retry exceeded)
222 Sending error (Time-out for Timer A after retry)
223 Sending error (ACK0/ACK1 order error after retry)
231 Receiving error (Time up for Timer A while waiting for ACK
after ENG, time for Timer A while waiting for ENQ response)
232 Receiving error (Time up for Timer B while receiving text)
233 Receiving error (Length of heading is less than 6 characters)
234 Receiving error (Length of heading is greater than 6 characters)
235 Receiving error (Header number error)
236 Receiving error (Length of text exceeds 256 bytes)
240 Software error
241 Hardware error (Overrun error)
242 Hardware error (Parity error)
243 Hardware error (Framing error)
244 Hardware error (Sending time: Timer A)
245 Hardware error (Sending time up: Timer B)

5.0 STAND-ALONE FUNCTION
The Stand-Alone function allows the operator to manipulate jobs and condition
data in the host computer using the programming pendant in TEACH mode.
Table 5-1 lists the instructions used to transmit file data between the MRC
controller and the host computer.
Table 5-1 Instructions Used with the Stand-Alone Function

FUNCTION INSTRUCTION DESCRIPTION
LOAD Jobs can be transmitted in:
Job Transmission SAVE • INDEPENDENT JOB mode
VERIFY • COORDINATED JOB mode
Transmittable data:
Condition LOAD • Tool data
Data/Universal Data
Transmission SAVE • Weaving data
VERIFY • User coordinate data
• Arc welding related data
• Variable data
System Information Transmittable data:
Transmission SAVE • System information
• Alarm history
5.1 Operation
The Stand Alone function uses commands from the teach pendant to transfer job
data, condition data/universal data and system data between the MRC and the host
computer. The LOAD command transmits file data from the host computer to the
MRC. The SAVE command transmits file data from the MRC to the memory of
the host computer. System information can be saved but not loaded. The
VERIFY command verifies data between the MRC and the host computer and
informs the operator if data does not match.
5.1.1 External Memory Unit Display

To display the external memory unit display, follow either of these sequences:
1. Press FUNC.
2. Press FDD (F1).
3. Press PC (F3) to display the external memory unit display.
or
1. Press CUSTOMER.
2. Press MORE.
3. Press ORG (F5).

4. Enter your 8-digit user ID number.
5. Press MORE.
6. Press FDD (F4).
7. Press PC (F3) to display the external memory unit display.
5.1.2 Saving a Job

To save a job, follow these steps:
1. Display the external memory unit display screen. If you are not on this
screen, follow the steps in Section 5.1.1.
2. Move the cursor to JOB.
3. Press SAVE (F2) The JOB list screen displays.
4. Select the file to be saved using the cursor keys and EACH (F1), BATCH (F2)
or MODE (F3). Refer to Section 3.9.1 for more information.
5. Press EXECUTE (F5) to save the file or CANCEL (F4) to cancel the save.
NOTE: Once a save has been initialized, it cannot be interrupted.
5.1.3 Saving Condition Files/Universal Data

To save condition files or universal data, follow these steps:
2. Move the cursor to CONDITION FILE/CONDITION DATA.
3. Press SAVE (F2). The CONDITION FILE/CONDITION DATA list
screen displays.
4. Select the condition file or universal data to be saved using the cursor keys
and EACH (F1) or BATCH (F2). Refer to Section 3.9.1 for more information.
5.1.4 Saving System Information

To save system information, follow these steps:
2. Move the cursor to SYSTEM INFORMATION.
3. Press SAVE (F2).

5.1.5 Loading Jobs
To load jobs from the host computer to the MRC, proceed as follows:
2. Move cursor to JOB.
3. Press LOAD (F1).
4. Enter the name of the desired file to be loaded using the character keys.
5. Press one of the following job types to start loading the job. Refer to Section
3.9.1 for more information.
a. Press SINGLE (F1) to load a single job (xxx.JBI).
b. Press RELATED (F2) to load related jobs (xxx.JBR) and condition data.
NOTE: Once you have begun loading a job, it cannot be interrupted.
5.1.6 Loading Condition Files/Universal Data

To load condition files or universal data, follow these steps:
2. Move cursor to CONDITION FILE/CONDITION DATA.
3. Press LOAD (F1).
4. Using the cursor keys, select the name of the desired condition file or
universal data to be loaded.
5. Press EXECUTE (F5) to load the file or CANCEL (F4) to cancel the load.
NOTE: Once a load has been initialized, it cannot be interrupted.
5.1.7 Verifying Jobs

To verify a job between the host computer and the MRC, proceed as follows:
2. Move cursor to JOB.
3. Press VERIFY (F3).
4. Select the file to be verified using the cursor keys and EACH (F1), BATCH
(F2) or MODE (F3). Refer to Section 3.9.1 for more information.
5. Press EXECUTE (F5) to verify the job file or CANCEL (F4) to cancel
job verification.
NOTE: Once you have begun verifying a job, it cannot be interrupted.

5.1.8 Verifying Condition Files/Universal Data
To verify condition files or universal data, follow these steps:
2. Move the cursor to CONDITION FILE/CONDITION DATA.
3. Press Verify (F3) to display the CONDITION FILE/CONDITION DATA list
screen.
4. Select the desired condition file or universal data to be verified using the
cursor keys and EACH (F1) or BATCH (F2). Refer to Section 3.9.1 for
more information.
5. Press EXECUTE (F5) to verify the file o r CANCEL (F4) to cancel
verification command.
NOTE: Once you have begun verifying a file, it cannot be interrupted.

6.0 HOST CONTROL FUNCTION
The Host Control function enables instructions issued from the host computer to
control robot operation and data transfer. Jobs and condition data are loaded and
saved using the instructions listed in Table 6-1.
Table 6-1 Instructions Used with the Host Control Function

FUNCTION DATA INSTRUCTION DESCRIPTION
Jobs LOAD Jobs can be transmitted in:
SAVE • SINGLE JOB mode
• RELATED JOB mode
File Data Condition LOAD Transmittable data:
Transmission Data/ SAVE • Tool data
Universal
Data • Weaving data
• User coordinate data
• Arc welding related data
• Variable data
System SAVE Transmittable data:
Information • System information
• Alarm history
Robot Status Reading • Read errors and alarms
Control • Read current position in a Cartesian
coordinate system
• Read current position in a joint
coordinate system
• Read mode, cycle, operation, alarm
errors, and servo status
• Read current job name, line number,
and step number
• Read all job names or related job
names
• Read current position in a specified
Cartesian coordinate system
• Monitor completion of manipulator
operation
• Read specified user coordinate data
• Read control group and task
selected status
• Read variable data

Table 6-1 Instructions Used with the Host Control Function - Continued
FUNCTION DATA INSTRUCTION DESCRIPTION
Robot Status Control • Start, Hold
Control • Reset, Cancel
• Job deletion
• Master job setup
• Job, line number, and step number
setup
• Mode and Cycle selection
• Servo power ON/OFF
• Programming pendant and playback
box interlock setup/release
• Message display
• Joint operation and linear operation
using a specified Cartesian
coordinate system
• Linear operation by incrementing a
specified coordinate system
• Joint operation and linear operation
using a specified joint coordinate
system
• Conversion/reverse conversion of
related jobs of a specified job
(Requires Relative Job Function)
• Write specified user coordinate data
• Modification of control group
• Modification of task to be controlled
• Write variable data
To use the Host Control Function, the Command setting must be validated as
described in Section 3.1.1 Remote Mode Setup.
1. Set the Command setting to USED.
2. Set Parameter RS000 (for Port 1) or RS001 (for Port 2) at 2, depending on the
which port is being used for the host computer.
6.1 File Data Transmission Function

The Host Control function enables data transfer between the host computer and
the MRC according to instructions issued by the host computer. Data that can be
transmitted between the host computer and the MRC include:
• Job data
• Condition file/universal data
• System information

NOTE: System information can only be transmitted to the host computer. System information cannot
be loaded from the host computer to the MRC.
6.2 Data Communication

Data transmission between the MRC and the host computer uses the set of ASCII
command characters, as described in Section 3.5.1. The sequence of these
commands is described in the following sections.
6.2.1 Host Computer to MRC

Transmission of data from the host computer to the MRC proceeds as follows (see
Figure 6-1):
1. If the host control function is ON, the system is ready to receive. The ENQ
code is sent from the computer to establish a data link.
2. After the data link is established, data is sent from the host computer to
the MRC.
3. After transmission completes, the host computer waits for a response from the
MRC to verify completion of transmission.
4. After the response is returned by the MRC, the data link is terminated.
Data type is distinguished by the header number and the subcode number. Refer
to Appendix A, Table A-1, for a list of header numbers.
ENQ
ACK0
SOH 02,001 STX File name*** EXB BCC
ACK1
STX Data ETB BCC
ACK0
HOST STX Data ETX BCC MRC

ACK*
EOT
ENQ
ACK0
SOH 90,000 STX Data** EXT BCC
ACK1
EOT
ACK0 or ACK 1
** Normal Completion: "0000 CR ""(ASCII code)
Abnormal completion: "Integer except 0000 CR "(ASCII code)
*** File name CR (File name does not include extension.)
Figure 6-1 Transmission from Host Computer to MRC

6.2.2 MRC to Host Computer
Transmission from the MRC to the host computer proceeds as follows (see
Figure 6-2):
1. If the host control function is ON, the system is ready to receive. The ENQ
code is sent from the computer to establish a data link.
2. After establishing a data link, a request to send signal is sent from the
computer. The request to send consists of a header number and a subcode
number. Refer to Appendix A, Table A-1, for a list of header numbers.
3. After the request to send is accepted, the computer prepares to receive data.
The MRC then sends out an ENQ code to establish a data link.
4. After the data link is established, data is sent from the MRC. Transmission
terminates at completion of reception. If the data requested to send is not
found, or the header of the request to send has an error, the MRC sends the
following response message instead of data: Refer to the header number and
take appropriate action.
SOH 90,000 STX DATA CR ETX BCC
ENQ
ACK0
SOH 02,051 STX File name* ETX BCC
ACK1
EOT
ENQ
HOST ACK0 MRC
ACK1
STX Data ETB BCC
STX Data EXT BCC

ACK**
EOT

** ACK0 or ACK1
Figure 6-2 Transmission from MRC to Host Computer
6.2.3 Robot Control

To control the robot using the Host Control function, the host computer sends
commands to the MRC as follows:
1. If the Host Control function is ON, the system is ready to receive. An ENQ
code is sent from the host computer to establish a data link.

2 After the data link is established, commands are sent. Commands and file
data are distinguished by the header number. Refer to Appendix A, Table A-
1, for a header number list. The transmission of a command must be
completed in a single block. The MRC cannot divide and receive more than
one command in a single block.
3. After the data link is established, the computer must prepare to receive. The
MRC sends out the ENQ code to establish a data link.
4. After the data link is established, the MRC sends out a response to the host
computer and terminates transmission. The instruction format and the
response format are shown below.
The response format of normal termination 2 applies to commands that require
data returned as response.
Command Format
SOH 01,000 STX COMMAND Data1, Data2, Data3, CR ETX BCC
Response Format
SOH 90,000 STX {0000 or Error code} CR ETX BCC
0000 : Normal completion

Error code : Number with 4 digits other than 0000. When a number smaller than
1000 is used, 0 is added before the number.
SOH 90,000 STX Data1, Data2, ...DataN CR ETX BCC
If the MRC receives a command that cannot be executed, the MRC returns an
interpreter message. An example of the DELETE command (Delete a Job) is
shown below in Figure 6-3.
ENQ
ACK0
ACK1
MRC EOT HOST
ENQ
ACK0
SOH 90,000 STX 000 CR ETX BCC
ACK1
EOT
Figure 6-3 Delete Command Transmission

6.3 Interlock for Host Control Commands
The executability of each command depends on the status of the MRC, as shown
below in Table 6-2:
Table 6-2 Command Interlock

READ/WRITE ENABLED READ-ONLY
ENABLED
NON-ALARM /ERROR ALARM NON-
COMMAND NAME TEACH MODE PLAY MODE ERROR ALARM ALARM
STOP OPERATING STOP OPERATING ERROR ERROR
Read or RALARM X X
Monitor RPOS X X
RPOSJ X X
RSTATS X X X X X X X
RJSEQ X X
RPOSC X X
JWAIT A A
RGROUP X X
Read or RJDIR X X X X X
Data RUFRAME X C
Access UPLOAD A
SAVEV
HOLD X
RESET X
CANCEL X
MODE X / A
CYCLE X X X X 3 C
Operation SVON 0 X / A
(OFF) 3
SVON 1 X
(ON) A
HLOCK X
MDSP X
CGROUP X
CTASK X
START
MOVJ X/ MOVE /
Activation MOVL M M H X A C
IMOV 1 2
PMOVJ
PMOVL
DELETE
CVTRJ
Editing CVTSJ X MOVE M M A C
WUFRAME
DOWN-
LOAD
LOADV
Job SETMJ X MOVE X MOVE A C
Selection JSEQ

(Interpreter Messages)
X : Possible to execute
A : Alarm/ error occurring 2060
M : Different mode 2080
H : Hold 2020 to 2050
MOVE : Robot moving 2010
C : No command remote setting 2100
1 : X if not being held; H is being held.
2 : MOVE If the robot is moving by operation other than command;
X if the robot is moving by command (because a single command can be accepted)
3 : X during an alarm; A during an error.
6.4 Axial Data Commands

There are some restrictions on handling control axial data with the MRC Data
Communications function. Since robot axes are fixed at a 6-axis set, any robots
having more than seven axes (K10A, K30A, K60A, Etc.) cannot use the
following commands:
RPOS, RPOSJ, RPOSC, RUFRAME, MOVJ, MOVL, IMOV, PMOVJ, PMOVL,

WUFRAME
A base axis or a station axis is recognized as an external axis. Up to three base

axes are available. With station axis data added after base axis data, up to six axes
can be handled.
6.5 Responses to MOV-Type Commands

The following are possible responses to MOV-type commands:
1. If the robot is already moving according to an instruction not issued by the
host computer, interpreter message 2010 (Robot Moving) is displayed and the
robot will not move according to the command sent by the host computer.
2. If the robot is stopped, the MOV-type command turns the start lamp ON,
moves the robot accordingly, and immediately returns a response.
3. If the robot is moving according to a previous command issued by the host
computer, only a single command is accepted and response is stalled. After
the preceding command has been executed, the robot returns a response, then
begins execution of the suspended command.
This applies to the following commands:
MOVJ, MOVL, IMOV, PMOVJ, and PMOVL

6.6 Read/Monitor System Commands
Read/Monitor System commands are described below.
6.6.1 RALARM
The RALARM (Read Alarm) command reads the error alarm code. Although the
MRC has the subcode to the error code, it cannot be read by RALARM because
the command doesn’t have the argument for the subcode.
Command Format: RALARM
Response Format: Data-1 to Data-9 or error code
Data-1 = error code (0 to 9999)
Data-2 = alarm code (0 to 9999)
Data-3 = alarm data (0 to 256)
Example:
Command: RALARM
Response: 0, 1234, 12, 0, 0, 0, 0, 0, 0
6.6.2 RPOS
The RPOS (Read Position) command reads the current robot position in the
Cartesian coordinate system.
Command Format: RPOS
Response Format: Data -1 to Data -15 or error code
Data-1 = X coordinate system (unit: mm)
Data-2 = Y coordinate system (unit: mm)
Data-3 = Z coordinate system (unit: mm)
Data-4 = wrist angle TX (unit: °)
Data-5 = wrist angle TY (unit: °)
Data-6 = wrist angle TZ (unit: °)
Data-7 = type 1 (0: flip, 1: no-flip)
Data-8 = type 2 (0: upper arm, 1: lower arm)
Data-9 = type 3 (0: front, 1: back)
Data-10 = 7th axis pulse number (for traveling axis, mm)
Data-13 = 10th axis pulse number
Example:
Command: RPOS
Response: 1205.1, 50.34, 712.3 159.2, 12.35, 25.3, 0, 0, 0, 0, 0, 0, 0,
0, 0

6.6.3 RPOSJ
The RPOSJ (Read Joint Position) command reads the current robot position in the
joint coordinate system.
Command Format: RPOSJ
Data-1 = S-axis pulse number
Data-2 = L-axis pulse number
Data-3 = U-axis pulse number
Data-4 = R-axis pulse number
Data-5 = B-axis pulse number
Data-6 = T-axis pulse number
Example:
Command: RPOSJ
Response: 500, 2600, 1250, 10789, 624, 36, 0, 0, 0, 0, 0, 0
6.6.4 RSTATS
The RSTATS (Read Status) command reads the status of mode, cycle, operation,
alarms, errors, and servo power.
Command Format: RSTATS
Response Format: Data -1, Data -2 or error code (see Figure 6-4).
MSB LSB
Data 1
Step
1 cycle
Auto
Running
Safety speed operation
Teach
Play
Command remote
MSB LSB
Data 2
Hold (playback box)

Hold (programming pendant)
Hold (1 external)
Hold (command)
Alarm occurring
Error occurring
Servo ON
Figure 6-4 RSTATS Bit Data

Example:
Command: RSTAT
Response: 1,0

6.6.5 RJSEQ
The RJSEQ (Read Job Sequence) command reads the current job name, line
number, and step number.
Command Format: RJSEQ
Data-1 = Job name (8 characters processed in MS-DOS)
Data-2 = Line number (0 to 9999)
Data-3 = Step number (0 to 999)
Example:
Command: RJSEQ
Response: WORK-A, 10, 5
6.6.6 RPOSC
The RPOSC (Read Position Coordinate) command reads the current value in a
specified coordinate system. You can also specify whether or not there is an
external axis.
Command Format: RPOSC [Data -1, Data -2]
Data-1 = Coordinate specification
0: Base coordinate
1: Robot coordinate
2: User coordinate 1
:
Data-2 = External axis specification
0: Without external axis data
1: With external axis data
Response Format: Data-1 to Data-13
Data-1 = X coordinate system (unit: mm, 3 decimal points)
Data-2 = Y coordinate system (unit: mm, 3 decimal points)
Data-3 = Z coordinate system (unit: mm, 3 decimal points)
Data-4 = wrist angle TX (unit: °, 2 decimal points)
Data-5 = wrist angle TY (unit: °, 2 decimal points)
Data-6 = wrist angle TZ (unit: °, 2 decimal points)
Data-7 = type
Data-8 = tool number (0 to 23)
Example:
Command: RPOSC
Response: 100.0, 50, 34, 12.34, 180.00, 0, 0, 0, 0, 0, 0
Data-9 to-14 are added when an external axis is specified. If the specified user
coordinate system is undefined, an error response is returned.

Because there are more than one way in which the manipulator can be oriented
around the same TCP (Tool Center Point) position, “Type” data gives the
manipulator orientation and is represented by the following bit data coded into a
decimal number (see Figure 6-5):
D4 D3 D2 D1 D0
0 : Flip 1 : No flip
0 : Upper arm 1 : Low arm
0 : Front 1 : Back
0 : R<180 1 : R>180
0 : T<180 1 : T>180
Figure 6-5 “Type” Bit Data
6.6.7 JWAIT
The JWAIT (Job Wait) command is used to coordinate operations between the
MRC and the host computer or to simply monitor current job status from the host
computer. JWAIT monitors the present job for an END command. Monitoring
can be done for a specified period of time or can be set to wait indefinitely for the
END command. No response is sent out until the job is completed or the
specified waiting period is up.
Command Format: JWAIT [Time]
Time= waiting time (-1.0 to 32767 seconds)
-1 indicates infinite time
Response Format: Data or error code
Data= operation status
0: completed
1: not completed
The JWAIT command waits for job execution to be completed and returns a
response to the host computer. The response varies, based on job status as shown
below in Table 6-3.

Table 6-3 JWAIT Response
STATUS RESPONSE
END, PAUSE execution during waiting time Completed
Step execution completed during waiting Completed
time
Operation stops by hold, alarm, emergency Not completed
stop or servo OFF during the waiting time
Job stops by changing mode during the Not completed
waiting time
Test run stops during the waiting time Not completed
Waiting time up Not completed
Stopped status (including control power ON) Completed
Stopped status (hold) Interpreter message 2020 to 2050
Stopped status (alarm/ error) Interpreter message 2060
Stopped status (servo OFF) Interpreter message 2070
Example:
Command: JWAIT 10
Response: 0000
6.6.8 RGROUP
The RGROUP (Read Group) command reads the current control group set by the
CGROUP or CTASK command, and the task selected status. Refer to Sections
6.7.9 and 6.7.10 for more information on CGROUP and CTASK commands.
Command Format: RGROUP
Response Format: Data -1, Data -2 or error code
Data -1= Group information (see Figure 6-6).
D7 D6 D5 D4 D3 D2 D1 D0
R1 : ROBOT 1
R2 : ROBOT 2
S1 : STATION 1
S2 : STATION 2
S3 : STATION 3
S4 : STATION 4
S5 : STATION 5
S6 : STATION 6
Figure 6-6 Group Information

Data-2= Task information
0: Master task
1: Sub 1 task
2: Sub 2 task
In a system where independent control is not allowed, “0” is returned.
Example:
Command: RGROUP
Response: 5,0
6.6.9 RJDIR
The RJDIR (Read Job Directory) command reads all job names, including the
names of jobs related to a parent job.
Command Format: RJDIR [Job-Name]
Job-Name = * (all job names registered at the time)
Job-Name = Parent job name (8 characters processed by MS-DOS)
If the parent job is specified, RJDIR reads the names of all related jobs excluding
the parent job. If there are no related child jobs, the command returns the null list.
If the parent job has a related child job which is not registered in the system, an
error occurs.
Response Format: Name-1 to Name-N or error code
Name-1 = Job name-1 (8 characters)
Name-2 = Job name-2 (8 characters)
:
Name-N = Job name-N (8 characters)
Example:
Command: RJDIR MASTER-1
Response: WORK-A, WORK-B, SAMPLE-1

6.6.10 RUFRAME
The RUFRAME (Read User Frame) command reads specified user coordinate
system data.
Command Format: RUFRAME [Data-1]
Data-1 = User coordinate system number
0 : Reserved
1 : Reserved
2 : User coordinate 1
:
25 : User coordinate 24
Response Format: [Data -1 to Data -28]
Data-1 = ORG X coordinate system (unit: mm, 3 decimal points)
Data-2 = ORG Y coordinate system (unit: mm, 3 decimal points)
Data-3 = ORG Z coordinate system (unit: mm, 3 decimal points)
Data-4 = ORG wrist angle TX (unit: °, 2 decimal points)
Data-5 = ORG wrist angle TY (unit: °, 2 decimal points)
Data-6 = ORG wrist angle TZ (unit: °, 2 decimal points)
Data-7 = ORG type
Data-8 = XX X coordinate system (unit: °, 3 decimal points)
Data-9 = XX Y coordinate system (unit: °, 3 decimal points)
Data-10 = XX Z coordinate system (unit: °, 3 decimal points)
Data-11 = XX wrist angle TX (unit: °, 2 decimal points)
Data-12 = XY wrist angle TY (unit: °, 2 decimal points)
Data-13 = XZ wrist angle TZ (unit: °, 2 decimal points)
Data-14 = XY type
Data-15 = XY X coordinate system (unit: mm, 3 decimal points)
Data-16 = XY Y coordinate system (unit: mm, 3 decimal points)
Data-17 = XY Z coordinate system (unit: mm, 3 decimal points)
Data-18 = XY wrist angle TX (unit: °, 2 decimal points)
Data-19 = XY wrist angle TY (unit: °, 2 decimal points)
Data-20 = wrist angle TZ (unit: °, 2 decimal points)
Data-21 = type
ORG, XX, and XY coordinates are read in the base coordinate system. An error
occurs if ORG, XX, and XY have different base axial data. In systems having no
external axis, Data-23 to Data-28 read 0. If the specified user coordinate system
is not registered, an error occurs. Also, if the group axis of the specified user
coordinate system is not R1, and error occurs.
Example:
Command: RUFRAME 2
Response: 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0,..., 0

6.6.11 SAVEV
The SAVEV (Save Variable) command saves variable data from the MRC to the
memory of the host computer.
Command Format: SAVEV [Data -1, Data -2]

Data-1 = Type of variable
0: Byte-type variable
1: Integer-type variable
2: Double precision-type variable
3: Real number-type variable
4: Robot axis position-type variable
5: Base axis position-type variable
6: Station axis position-type variable
Data-2 = Variable number
Response Format: Data-1, Data-2, Data-3, ... Data-10 or error code

Data-1 = Byte value/ Integral value/ Double precision
Integral value/ Real number value/ Position data type
Position data type= 0: Pulse type

1: Orthogonal type
When position data type is 0:
Data-2 = S-axis pulse number/Base 1st axis pulse number/

Station axis 1st axis pulse number
Data-3 = L-axis pulse number/Base 2nd axis pulse number/
Station axis 2nd axis pulse number
Data-4 = U-axis pulse number/Base 3rd axis pulse number/
Station axis 3rd axis pulse number
Data-5 = R-axis pulse number/Base 4th axis pulse number/
Station axis 4th axis pulse number
Data-6 = B-axis pulse number/Base 5th axis pulse number/
Data-7 = T-axis pulse number/Base 6th axis pulse number/
Data-8 = Tool number

When position data type is 1:
Data-2 = Coordinate data

Coordinate data = 0: Base coordinate
1: Robot coordinate
:
26: Tool coordinate
27: Master tool coordinate
Data-3 = X coordinate value/ Base 1st orthogonal value
(unit: mm, significant 3 decimal points.)
Data-4 = Y coordinate value/ Base 2nd orthogonal value
(unit: mm, significant 3 decimal points)
Data-5 = Z coordinate value/ Base 3rd orthogonal value
(unit: mm, significant 3 decimal points)
Data-6 = Wrist posture RX-coordinate value
(unit: °, significant 2 decimal points)
Data-7 = Wrist posture RY-coordinate value
Data-8 = Wrist posture RZ-coordinate value
Data-9 = Form
Because there are more than one way in which the manipulator can be oriented
around the same TCP position, “Form” data gives the manipulator orientation and
is represented by the following bit data coded into a decimal number (see
Figure 6-7):
D4 D3 D2 D1 D0
0 : Front 1 : Back
0 : R<180 1 : R≥180
0 : T<180 1 : R≥180
Figure 6-7 Bit Data

Data10 = Tool No.
Example:
Command: SAVEV 0, 0
Response: 123
In the example above, 123, the value of byte-type variable B000 is sent to the
host computer.

6.7 Operation System Commands
Operation System commands do more than just read or save system data. These
commands are used to affect control of the robotic system. The following is a
description of each of the system commands.
6.7.1 HOLD
The HOLD command turns the system HOLD status ON and OFF. The HOLD
command stops robot operation and places the system in HOLD or releases
HOLD signals, including those caused by operation faults (i.e., welding fault at
arc welding). Operation of this command depends upon data included with
the command.
Command Format: HOLD [Data]
Data = Hold ON/OFF specification
0: OFF
1: ON
Response Format: 0000 or error code
Example:
Command: HOLD 1 (Places the robot in HOLD)
Response: 0000
6.7.2 RESET
The RESET command resets robot alarms from the host computer.
Command Format: RESET
Example:
Command: RESET
Response: 0000
6.7.3 CANCEL
The CANCEL command resets manipulator error messages from the host
computer. Operation is similar to that of the CANCEL key on the
programming pendant.
Command Format: CANCEL
Example:
Command: CANCEL
Response: 0000

6.7.4 MODE
The MODE command toggles the operation mode of the MRC between TEACH
and PLAY.
Command Format: MODE [Mode-No]
Mode-No = 1 or 2
1: TEACH mode
2: PLAY mode
Example:
Command: MODE 2 (Places the robot in PLAY mode)
Response: 0000
6.7.5 CYCLE
The CYCLE command selects the operation cycle of the MRC.
Command Format: CYCLE [Cycle-No]
Cycle-No = Cycle specification 1-3
1: Step
2: 1-Cycle
3: Auto
Example:
Command: CYCLE 2 (Places the robot in 1-Cycle mode)
Response: 0000
6.7.6 SVON
The SVON (Servo On) command turns the servo power ON/OFF. Connect the
external servo ON signal (EXSVON) TM1-21 on the RY Board (JANCD-
MRY01) with +24V TM1-24 to use this command.
Command Format: SVON [Data]
Data = Servo power ON/OFF specification
0: OFF
1: ON
Example:
Command: SVON 1 (Turns servo power ON)
Response: 0000

6.7.7 HLOCK
The HLOCK (Hold Lock) command sets an interlock between the programming
pendant or playback box and I/O operation signals. While the interlock is ON, all
operations from the programming pendant or playback box, with the exception of
the following, are prohibited:
• Hold from the programming pendant
• Hold and Emergency Stop from the playback box
• Input signals except 404x and 405x from the I/O (including external hold and
external servo OFF)
HLOCK is not valid when the programming pendant is in EDIT mode or when
accessing a file for another function.
Command Format: HLOCK [data]
Data = Interlock status specification
0: OFF
1: ON
Example:
Command: HLOCK 1 (Sets interlock)
Response: 0000
6.7.8 MDSP
The MDSP (Message Display) command receives messages and displays them on
the remote screen of the programming pendant. If the programming pendant is
not currently displaying the remote screen, it is automatically switched to the
remote screen and the MDSP command message is displayed.
Command Format: MDSP [Data]
Data = Displayed message (maximum 30 characters)
Example:
Command: MDSP auto running
Response: 0000
6.7.9 CGROUP
The CGROUP (Control Group) changes the objective control group of various
commands used in the Host Control function. The MRC is capable of supporting
several robots or stations. CGROUP is used when any control group for
commands, such as RPOS, is to be changed. See Section 6.11, “Commands for
Multi-Control Group and Independent Control Functions” for further explanation
on changing control groups. When the controller is powered up, Robot 1, Base 1,
and Station 1 (if a station and base axis exist) are specified.

Command Format: CGROUP [Data-1]
Data-1 = Control group specification (see Figure 6-8). Any control
group can be specified according to the following data.
However, the following settings are not allowed:
• Selection of control axis which does not exist
• Simultaneous specification of both R1 and R2
• Specification of several station axes
In a system containing a base axis, specification of the robot containing the base
axis is made automatically.
D7 D6 D5 D4 D3 D2 D1 D0
R1 : ROBOT 1
R2 : ROBOT 2
S1 : STATION 1
S2 : STATION 2
S3 : STATION 3
S4 : STATION 4
S5 : STATION 5
S6 : STATION 6
Figure 6-8 Control Group Data

Example: Command: CGROUP 6
Response: 0000
In the example, both Robot 2 and Station 2 are validated. By issuing RPOS after
this command is issued, the current values of Robot 2 and Station 2 can be read.
6.7.10 CTASK (Optional)

The CTASK (Control Task) command is used to select the task being manipulated
by the Host Control function. At system power up, the Master task is selected as
the task to be controlled. The CTASK command cannot be used in a system
where independent control is not allowed. See Section 6.11, “Commands for
Multi-Control Group and Independent Control Functions” for further explanation
on changing control groups.
Command Format: CTASK [Data-1]
Data-1 = Specified task
0: Master task
1: Sub 1 task
2: Sub 2 task
Example:
Command: CTASK 1
Response: 0000

6.8 Start-Up System Commands
Start-up System commands are used to start jobs and move the manipulator
remotely from the host computer.
6.8.1 START
The START command is used to activate a job. If a job name is specified for an
operand, the relation between that job and the Master job is checked and
execution is started from the beginning of the specified job. If no job name is
specified, the execution is started from the line number of the currently
executed job.
Command Format: START [Job-Name]
Job-Name = Starting job name (8 characters). Job name can be omitted.
Example:
Command: START WORK-A (Job WORK-A is executed)
Response: 0000
6.8.2 MOVJ
The MOVJ (Joint-Type Move) command is used to move the robot to a specified
coordinate position using joint-type motion.
Command Format: MOVJ [Data-1 to Data-16]
Data-1 = Speed (0.01 to 100.0%)
0: Base coordinate
1: Robot coordinate
2: User coordinate
:
Data-3 = X coordinate system (unit: mm, significant
3 decimal points)
Data-4 = Y coordinate system (unit: mm, significant
3 decimal points)
Data-5 = Z coordinate system (unit: mm, significant
3 decimal points)
Data-6 = Wrist angle TX (unit: °, significant 2 decimal points)
Data-7 = Wrist angle TY (unit: °, significant 2 decimal points)
Data-8 = Wrist angle TZ (unit: °, significant 2 decimal points)
Data-9 = Type
Data-10 = Tool number (0 to 23)
NOTE: For a system that has no external axis, set 0 for Data-11 to Data-16. If the specified user

Example:
Command: MOVJ 50.0, 2, 123.1, 50.34, 10.8, 180.00, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
Response: 0000
6.8.3 MOVL
The MOVL (Linear Move) command is used to move the robot to a specified
coordinate position using linear-type motion.
Command Format: MOVL [Data-1 to Data-17]

Data-1 = Speed (0: V (speed), 1: VR (posture speed))
Data-2 = Speed (0.1 to XXX.XX mm/sec., 0.1 to XXX.XX°/ sec.)
0: Base coordinate
1: Robot coordinate
2: User coordinate
:
3 decimal points)
3 decimal points)
3 decimal points)
Data-10 = type
Example:
Command: MOVJ 500.0, 2, 123.1, 50.34, 10.8, 180.00, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
Response: 0000

6.8.4 IMOV
The IMOV (Incremental Move) command moves the robot by an incremental
value of a specified coordinate position using linear motion-type.
Command Format: IMOV [Data-1 to Data-17]

Data-2 = Speed (0.1 to XXX.XX mm/sec., 0.1 to XXX.XX°/ sec.)
0: Base coordinate
1: Robot coordinate
2: User coordinate
:
26: Tool coordinate
3 decimal points)
3 decimal points)
3 decimal points)
Data-10 = reserved
Example:
Command: MOVJ 500.0, 2, 123.1, 50.34, 10.8, 180.00, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
Response: 0000

6.8.5 PMOVJ
The PMOVJ (Pulsed Joint Move) command moves the robot to a specified pulse
position using joint-type motion.
Command Format: PMOVJ [Data-1 to Data-14]
Data-1 = Speed (0.01 to 100.0%)
NOTE: For a system that has no external axis, set 0 for Data-9 to Data-14.
Example:
Command: PMOVJ 20.0, 100, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0
Response: 0000
6.8.6 PMOVL
The PMOVL (Pulsed Linear Move) command moves the robot to a specified
pulse position using linear-type motion.
Command Format: PMOVJ Data-1 to Data-15
Data-2 = Speed (0.1 to XXX.XX mm/sec., 0.1 to XXX.XX°/sec.)
Data-11= 8th axis pulse number
NOTE: For a system that has no external axis, set 0 for Data-10 to Data-15.
Example:
Command: PMOVL 0, 123.0, 10, 200, 300, 400, 500, 0, 0, 0, 0, ...0
Response: 0000

6.9 Editing System Commands
Editing System commands are used to modify jobs and system data remotely from
the host computer.
6.9.1 DELETE
The DELETE command is used to delete a specified job in the MRC.
Command Format: DELETE [Job-Name]
Job-Name = Job name to be deleted (8 characters processed by
MS-DOS)
= *: all jobs
Example:
Command: DELETE WORK-B (Job WORK-B is deleted)
Response: 0000
6.9.2 CVTRJ
The CVTRJ (Convert to Relative Job) command converts a specified job into a
relative job of a specified coordinate system. The job to be converted is the job
being edited. After the conversion, the original job is replaced by the converted
job.
Command Format: CVTRJ [Data-1, Data-2]
Data-1 = Job name to be converted
Data-2 = Conversion coordinate system specification
0: Base coordinate
1: Robot coordinate
2: User coordinate
:
26: Reserved
NOTE: If the specified user coordinate system is undefined, an error response is returned.
Example:
Command: CVTRJ TESTJOB, 2 (Converts TESTJOB to User
coordinate system)
Response: 0000

6.9.3 CVTSJ
The CVTSJ (Convert to Standard Job) command converts a specified job to a
standard job in the specified converting method.
Command Format: CVTSJ Data-1, Data-2, Data-3
Data-1 = Name of job to be converted
Data-2 = Specification of converting method
0: Previous step regarded
1: Form regarded
Data-3 = Reference position variable. When Data-2 is set to 0:
Previous step regarded, use position variable number
indicating the first step conversion reference position.
Example:
Command: CVTSJ SAMPLE, 01, 1, 0
Response: 0000
NOTE: In the example shown above, P000 is the reference point and the job, SAMPLE01 is converted
to a standard job with the form regarded.
6.9.4 WUFRAME
The WUFRAME (Write User Frame) command writes user coordinate system
data to a specified user coordinate system.
Command Format: WUFRAME [Data-1 to Data-29]
Data-1 = User coordinate system number
0: Reserved
1: Reserved
:
Data-2 = ORG X coordinate system (unit: mm, significant
3 decimal points)
Data-3 = ORG Y coordinate system (unit: mm, significant
3 decimal points)
Data-4 = ORG Z coordinate system (unit: mm, significant
3 decimal points)
Data-5 = ORG wrist angle TX (unit: °, significant 2 decimal points)
Data-6 = ORG wrist angle TY (unit: °, significant 2 decimal points)
Data-7 = ORG wrist angle TZ (unit: °, significant 2 decimal points)
Data-8 = ORG type
Data-9 = XX X coordinate system (unit: mm, significant
3 decimal points)
Data-10 = XX Y coordinate system (unit: mm, significant
3 decimal points)
Data-11 = XX Z coordinate system (unit: mm, significant
3 decimal points)
Data-12 = XX wrist angle TX (unit: °, significant 2 decimal points)
Data-13 = XX wrist angle TY (unit: °, significant 2 decimal points)
Data-14 = XX wrist angle TZ (unit: °, significant 2 decimal points)
Data-15 = XX type
Data-16 = XY X coordinate system (unit: mm, significant
3 decimal points)

Data-17 = XY Y coordinate system (unit: mm, significant
3 decimal points)
Data-18 = XY Z coordinate system (unit: mm, significant
3 decimal points)
Data-19 = XY wrist angle TX (unit: °, significant 2 decimal points)
Data-20 = XY wrist angle TY (unit: °, significant 2 decimal points)
Data-21 = XY wrist angle TZ (unit: °, significant 2 decimal points)
Data-22 = XY type
NOTE: ORG, XX, and XY coordinates are written in the base coordinate system. For a system which
has no external axis, set Data -24 -29 at 0. If the specified user coordinate system group axis
is not R1, an error will occur. Base axis data of ORG, XX, and XY contain the same data.
Example:
Command: WUFRAME 2, 600.00, 12.34, 500.0, 180.00, 0, ... 0
Response: 0000
6.9.5 LOADV
The LOADV (Load Variable) command receives variable data and writes it in the
specified variable.
Command Format: LOADV [Data -1, Data -2, ... Data -12]
Data-1 = Type of variable
0: Byte-type variable
1: Integer-type variable
2: Double precision-type variable
3: Real number-type variable
4: Robot axis position-type variable
5: Base axis position-type variable
6: Station axis position-type variable (only pulse-type)
Data-2 = Variable number
Data-3 = Byte value/ Integral value/ Double precision
integral value/ Real number value/ Position data type
Position data type = 0: Pulse type
1: Orthogonal type
If Position data type is 0:
Data-4 = S-axis pulse number/ Base 1st axis pulse number/
Station axis 1st axis pulse number
Data-5 = L-axis pulse number/ Base 2nd axis pulse number/
Station axis 2nd axis pulse number
Data-6 = U-axis pulse number/ Base 3rd axis pulse number/
Station axis 3rd axis pulse number
Data-7 = R-axis pulse number/ Base 4th axis pulse number/
Data-8 = B-axis pulse number/ Base 5th axis pulse number/

Data-9 = T-axis pulse number/ Base 6th axis pulse number/
Data-10 = Tool number
If position data type is 1:
Data-4 = Coordinate data
Coordinate data = 0: Base coordinate
1: Robot coordinate
:
26: Tool coordinate
27: Master tool coordinate
Data-5 = X coordinate value/ Base 1st orthogonal value (unit: mm,
significant 3 decimal points.)
Data-6 = Y coordinate value/ Base 2nd orthogonal value (unit: mm,
significant 3 decimal points)
Data-7 = Z coordinate value/ Base 3rd orthogonal value (unit: mm,
significant 3 decimal points)
Data-8 = Wrist posture RX coordinate value (unit: °, significant
2 decimal points)
Data-9 = Wrist posture RY coordinate value (unit: °, significant
2 decimal points)
Data-10 = Wrist posture RZ coordinate value (unit: °, significant
2 decimal points)
Data-11 = Form
Because there are multiple ways in which the manipulator can be oriented around
the same TCP position, “Form” data gives the manipulator orientation and is
represented by the following bit data coded into a decimal number (see
Figure 6-9):
D4 D3 D2 D1 D0
0 : Front 1 : Back
0 : R<180 1 : R≥180
0 : T<180 1 : R≥180
Figure 6-9 Bit Data

Example:
Command: LOADV 0, 0, 123
Response: 0000
In the example above, 123, the value of byte-type variable B000 is sent to the
host computer.

6.10 Job Selection System Commands
Job Selection System commands manipulate jobs and line numbers in the MRC.
6.10.1 SETMJ
The SETMJ (Set Master Job) command sets a specified job as the Master job.
The specified job is then set as the job to be executed.
Command Format: SETMJ [Job-Name]

Job-Name = Job name to be set (8 characters processed by MS-DOS)
Example:
Command: SETMJ WORK-C (Job WORK-C is set as Master job)
Response: 0000
6.10.2 JSEQ
The JSEQ (Job Sequence) command sets the job name and line number of the
starting job or the job you want to manipulate.
Command Format: JSEQ [Data-1, Data-2]

Data-1 = Job name to be set (8 characters processed by MS-DOS)
Data-2 = Line number to be set (0 to 9999)
Example:
Command: JSEQ WORK-A,10 (Job WORK-A is set at line 10)
Response: 0000

6.11 Commands for Multi-control Group and Independent
Control Functions
The MRC is capable of controlling more than one robot or station simultaneously.
The following commands are available for multi-control groups:
• CGROUP: Changes the control group
• RGROUP: Reads the control group or the status of the task selected
Table 6-4 shows the combinations that can be set using the CGROUP and
RGROUP commands.
Table 6-4 CGROUP/RGROUP Commands

R1 B1 R2 B2 S1-S6* CONTROLLER
X ERC/MRC
X X* ERC/MRC
X X ERC/MRC
X X X* ERC/MRC
X X MRC
X X X MRC
X MRC
X MRC
X X MRC
X X MRC
X X X MRC
Bases and stations are equivalent to the external axes of the ERC. The following
is a list of commands which have influence when the commands in Table 6-4 are
used. The operation of these commands are applicable to the set control groups
(see Table 6-5).
Table 6-5 Set Control Group Commands

READ SYSTEM STARTUP SYSTEM EDIT SYSTEM COMMANDS
COMMANDS COMMANDS
RPOS MOVJ WUFRAME
RPOSJ MOVL
RPOSC IMOV
RUFRAME PMOVJ
PMOVL

6.11.1 Commands for the Independent Control Function
The MRC supports the Independent Control function, which can execute more
than one job simultaneously. The following commands are available for this
function:
• CTASK: Changes the task.
• RGROUP: Reads the status of the control group or task selected.
By using the CTASK and RGROUP commands, the task being controlled can be
changed. The following is a list of the commands which have influence when the
Independent Control function is used:
1. START (Job Startup)
The START command is used for job startup. When a job name is specified
as an operand, execution of that job is started from the job head as the
currently selected task. If no job name is specified, all tasks that are currently
set are executed from their current file number.
2. JWAIT (Wait for Job Completion)
The JWAIT command returns information stating whether the selected task
operation has been completed.
3. SETMJ (Master Job Registration)
The SETMJ command sets a specified job as the Master job. The specified
job is then also set as an execution job.
4. JSEQ (Job Sequence)
The JSEQ command sets the job name and line number to the current task.
5. RJSEQ (Read Job Sequence)
The RJSEQ command reads the job name, line number, and step number of
the current task.
6. RSTATS (Read Status)
The RSTATS command reads and returns the system status, i.e., mode, cycle,
operation, alarms, errors, and servo power. However, the running status
differs from the conventional status. Running status is entered even if only
one task is operating.

6.12 Alarm Codes
Table 6-6 shows a list of Alarm numbers used in the Host Control function, their
corresponding error messages, and a brief description of each.
Table 6-6 Alarm Codes

ALARM NUMBER ERROR MESSAGE DESCRIPTION
6690 Data Sending Error The EOT code is sent out
1. NAK retry over and the data link is
2. Timer A time up retry over canceled.
3. Alternating response error retry over
6700 Data Receiving Error For 3 to 6, the EOT code
1: Receiving time up: Timer A is sent out and the data
2: Receiving time up: Timer B link is canceled.
3: Short heading
4: Long heading
5: Illegal header number
6: Text exceeds 256 characters
6710 Communication Hardware Error The EOT code is not sent
1: Overrun error out.
2: Parity error
3: Framing error
4: Sending time up: Timer A
5: Sending time up: Timer B
6720 Transmission System Block This alarm notifies that
1. EOT was received while waiting for the transmission
ACK. procedure is correct, but
2. EOT was received while waiting for the received contents
ENQ. cause an inconsistency in
3. EOT was received before receiving the system. Usually this
the last block. alarm results from a
4. Code other than EOT was received violation of rules or
after receiving the last block.* illegal notification.
*The EOT code is sent
out and the data link is
canceled.
6730 Transmission System Error Notifies the user on an
100. Error in transmission task. error in processing in the
transmission system.
No EOT code is sent out.

6.13 Interpreter Messages
After receiving a command from the computer, the controller will issue an error
code if the command cannot be executed. If this occurs, note the error code and
click OK to close the message box. Use Table 6-7 to interpret the error code.
Interpreter messages are divided into the following five categories:
1xxx: Command text process error
2xxx: Command execution mode error
3xxx: Command execution error
4xxx: Job registration error
5xxx: File text error
Table 6-7 Interpreter Messages
CODE DESCRIPTION
1010 Command failure
1011 Command operand number failure
1012 Command operand data range over
1013 Command operand length failure
1020 Disk file number full
2010 File transfer during robot operation
2020 File transfer during programming pendant HOLD
2030 File transfer during playback box HOLD
2040 File transfer during external HOLD
2050 File transfer during command HOLD
2060 File transfer during error or alarm
2070 In servo off
2080 Mode is different
2090 File is busy in another process
2100 Command REMOTE is not active
2110 The data cannot be accessed
2120 The data cannot be loaded
2130 In editing mode
3010 Do servo on
3040 Set ABSO data
3050 Check home position
3070 Current position is not set
3220 Panel lock: mode/cycle inhibit is input

Table 6-7 Interpreter Messages - Continued
CODE DESCRIPTION
3230 Panel lock: start inhibit is input
3350 The user coordinate frame is not defined
3360 User file broken
3370 Control group is different
3380 Base axes data is different
3390 Cannot convert to relative job
3400 Master job call is inhibited by parameter
3410 Master job call is inhibited by robot in operation
3420 Master job call is inhibited by teach-lock
3430 Inter-robot calibration is not defined
4010 Shortage of memory capacity (job registration)
4012 Shortage of memory capacity (position data registration)
4020 Job edit is prohibited
4030 Job with the same name exists
4040 Desired job does not exist
4060 Set execution job
4120 Position data broken
4130 No position data
4150 END instruction of job (except master job)
4170 Instruction data broken
4190 Incorrect characters in job name
4200 Incorrect characters in label name
4230 Existing instructions cannot be used on this system
4420 No MOV instruction in the job to be converted
4430 Job has already been converted
4480 Define the user coordinate frame
4490 Relative job is not permitted
5110 Instruction syntax error
5120 Position data fault
5130 NOP and END do not exist
5170 Format error
5180 Data number is inadequate

Table 6-7 Interpreter Messages - Continued
CODE DESCRIPTION
5200 Data range exceeded
5310 Syntax error except instruction
5340 Pseudo instruction error
5370 Condition data record error
5390 Job data record error
5430 System incompatible
5480 Arc welding type incompatible

APPENDIX A:
Reference Information
Table A-1 Header Number List
HEADER NUMBER DESCRIPTION FILE NAME
01, 000 Command from an external computer
02, 001 Single job data XXXXXXXX.JBI
002 Related job data XXXXXXXX.JBR
02, 051 Request of single job data
052 Request of related job data
02, 200 Tool data TOOL.CND
201 Weaving condition data WEAVE.CND
202 User coordinate data USFRAME.CND
203 Welding start condition data ARCSRT.CND
204 Welding end condition data ARCEND.CND
205 Path correction condition data SENSCOR.CND
206 COM-ARC3 condition data COMSRT.CND
207 Sensing condition data COMARC3.CND
209 CO2 laser processing condition data LASER.CND
210 Piercing condition data PIERCE.CND
211 Ultra piercing condition data UPIERCE.CND
212 Laser cutting condition data CUT.CND
213 Multi-layer welding condition data MWDBASE.CND
230 Welding condition auxiliary data ARCSUP.DAT
231 Phase offset value data PC1PC2.DAT
232 Variable data VAR.DAT
240 System information SYSTEM.SYS
241 Alarm list data ALMHIST.DAT
02, 300 Request tool data
301 Request weaving condition data
302 Request user coordinate data
303 Request welding start condition data
304 Request welding end condition data
305 Request path correction condition data
306 Request COM-ARC3 condition data
MRC Data Communications Manual A-1 MOTOMAN

Table A-1 Header Number List - Continued
HEADER NUMBER DESCRIPTION FILE NAME
307 Request sensing condition data
308 Request COM-ARC3 file
309 Request CO2 laser processing condition data
310 Request piercing condition data
311 Request ultra piercing condition data
312 Request laser cutting condition data
313 Request multi-layer welding condition data
330 Request welding condition auxiliary data
331 Request multi-layer welding condition data
332 Request variable data
340 Request system information
341 Request alarm list data
003, 001 Byte-type variable
002 Integer-type variable
003 Double precision-type variable (pulse type)
004 Real-type variable
005 Robot axis position variables (pulse-type)
006 Robot axis position variables (XYZ-type)
007 External axis position variable (pulse-type)
008 External axis position variable (XYZ-type)
03, 051 Request byte-type variable
052 Request integer-type variable
053 Request double precision-type variable
054 Request real-type variable
055 Request robot axis position variable (pulse-type)
056 Request robot axis position variable (XYZ-type)
057 Request external axis position variable
(pulse-type)
058 Request external axis position variable
(XYZ-type)
90, 000 Command or data response (normal/error)
90, 001 Command or data response (data)

Table A-2 Parameter List
PARAMETER INITIAL DESCRIPTION EXPLANATION
NUMBER VALUE
SC057 0 Playback box operation (at 0: Invalid
remote) specification 1: Valid
RS000 3 Standard port 1 protocol 0: None
specification 1: System reserved
2: BSC
3: FC1
RS001 0 Standard port 2 protocol 0: None
specification 1: System reserved
2: BSC
3: FC1
RS030 8 Number of data bits 7: 7 (Bit)
8: 8
RS031 0 Number of stop bits 0: 1 (Bit)
1: 1.5
2: 2
RS032 2 Parity setting 0: None
1: Odd parity
2: Even parity
RS033 7 Transmission speed setting 1: 150 (Baud Rate)
2: 300
3: 600
4: 1200
5: 2400
6: 4800
7: 9600
RS034 30 Timer A Unit 0.1 second
Protects against INVALID or NO
RESPONSE.
RS035 200 Timer B Unit 0.1 second
Protects against INVALID or NO
RESPONSE.
RS036 10 Retry 1 Unit 0.1 second
Number of times a sequence is Range: 0 - 30
resent in response to an
INVALID or NO RESPONSE.
RS037 3 Retry 2 Range: 0 - 10
Number of text at a BLOCK
CHECK error (NAK reception)
RS038 0 Block check method 0: Check value
0: Check value

NOTES

APPENDIX B:
Data Transmission Function for MRC vs. ERC
Table B-1 Basic Functionality of Controller
FUNCTION ERC MRC
REMOTE/ Non- REMOTE mode means In REMOTE mode, both data
REMOTE data communication communication and external
REMOTE mode. operations are valid. REMOTE
REMOTE mode and mode has I/O REMOTE
TEACH/PLAY modes VALID/INVALID and
are in the same mode command REMOTE
group. (Transmission)
VALID/INVALID submodes.
Setup of these submodes is
done in MAINTENANCE
mode. Even in COMMAND
REMOTE mode, operations
other than manipulation of
robot are still valid from the
MRC. For integrity of I/O
commands, editing operations
are interlocked using the
HLOCK command.
Robot Control REMOTE Mode Host Control Function
Function if the If COMMAND REMOTE
Master Channel is mode is selected, both READ
the Host Computer and WRITE are possible. If it
is not selected, only READ is
possible using parameters.
REMOTE Screen The REMOTE screen is Display the REMOTE screen
always displayed in using the function keys under
REMOTE mode. the DIAG category.
Multi-port Function Not supported. Supported.
Setup Two ports are available for FC1
and data communication.
Note: only serial processing is
available.
MRC Data Communications Manual B-1 MOTOMAN

Table B-2 Basic Data Communications Commands - MRC vs. ERC
COMMAND ERC MRC
Communication Control Sending function is Not supported
Characters (WACK, supported.
RV1, TTD)
Communications Supported Not supported
Monitor
Table B-3 DCI Commands - MRC vs. ERC

COMMAND ERC MRC
LOADJ, SAVEJ Supported Supported
LOADV, Supported Supported
SAVEV External axes are input as a synthesis of
base and station axes.
Up to three base axes are available. With
station axis data added after base axis data,
up to six axes can be handled.
Example: Data SAVEV BP005 is read and
executed as SAVEV BP005 + EX005
Table B-4 Stand-Alone Commands - MRC vs. ERC

COMMAND ERC MRC
Job (Single/ Supported Supported
Related) Save,
Load, Verify
Condition Data Supported Supported
Save, Load, File names are incompatible.
Verify Communication headers are also
different.
System Data Supported Supported
Save Only SYSTEM.DAT File names are incompatible.
Data is divided into
SYSTEM.SYS and
ALMHIST.DAT.

Table B-5 Host Control Commands - MRC vs. ERC
COMMAND ERC MRC
Hold, Emergency Possible only from the Not dependent on the point of
Stop, and Restart point of stop or turn OFF stop or turn OFF. Dependent
only upon status of MRC.
Mode Selection All commands are In PLAY mode and TEACH
and Command executable in REMOTE mode, different commands are
Executability mode. executable.
Axial Data Robot axes (6 axes) + Robot axes are fixed to a six-axis
Processing External axes (6 axes) set. Applicable to multiple
control group using a CGROUP
command.
Up to three base axes are
available.
With station axis data added after
base axis data, up to six axes can
be handled.
Tool Number 0 to 8 0 to 23
Specification
Range
User Coordinate 1 to 8 1 to 24
Specification
Range
Step Number 0 to 99 0 to 999
Upload, Supported Supported
Download Condition data file names are
incompatible.
Communication headers are also
different.
System data file names are
incompatible.
System data are divided into
SYSTEM.SYS and
ALMHIST.DAT.
RALARM Supported. Supported.
Error subcodes are not Error subcodes are not supported.
supported.
RPOS Supported Supported.
Robot axes are fixed to a six-axis
set. Applicable to multiple
command.

Table B-5 Host Control Commands - MRC vs. ERC - Continued
COMMAND ERC MRC
RPOSJ Supported Supported.
command.
RSTATS Supported. Supported.
Mode information not Mode information is added.
necessary.
RJSEQ Supported. Supported.
Step number 0 to 999.
RJDIR Supported. Supported.
Jobs related to the Master Jobs related to the Parent job can
be read.
job can be read.
RPOSC Supported Supported.
control group using CGROUP
command.
Tool number specification range:
0 to 23.
User coordinate specification
range: 1 to 24.
JWAIT Supported Supported.
RUFRAME Supported. Supported.
Base coordinate of 3 basic An error will occur if 3 basic
points are the same. points are not the same.
command.
0 to 23.
range: 1 to 24.
START Supported Supported
HOLD Supported Supported
RESET Supported Supported
CANCEL Supported Supported
DELETE Supported Supported
SETMJ Supported Supported

COMMAND ERC MRC
JSEQ Supported Supported
MODE Not supported Supported
CYCLE Supported Supported
SVON Supported Supported
Connection to an external Must be connected to an external
terminal is not necessary. servo on a terminal.
HLOCK Supported Supported
MDSP Supported Supported
Maximum 28 characters. Maximum 30 characters.
MOVJ Supported Supported
command.
0 to 23.
range: 1 to 24.
MOVL Supported Supported
control group number using
CGROUP command.
0 to 23.
range: 1 to 24.
IMOV Supported Supported
control group number using a
CGROUP command.
0 to 23.
range: 1 to 24.

COMMAND ERC MRC
PMOVJ Supported Supported
CGROUP command.
0 to 23.
range: 1 to 24.
PMOVL Supported Supported
CGROUP command.
0 to 23.
range: 1 to 24.
CVTRJ Supported Supported
range: 1 to 24.
WUFRAME Supported Supported
Base coordinate of 3 basic An error will occur if the base
points are the same. coordinate 3 basic points are not
the same.
CGROUP Not supported Supported
RGROUP Not supported Supported
CTASK Not supported Supported
CVTSJ Not supported Supported
SAVEV Not supported Supported
LOADV Not supported Supported

INDEX
A
ALARM CODES, 82 DELETE, 75
APPENDIX A, A-1 DELETEJ (DELETE JOB) OPERATION, 36
APPENDIX B, B-1 DELETEJ INSTRUCTIONS, 36
AXIAL DATA COMMANDS, 57
AXIAL DATA TRANSMISSION FORMAT,
E
44 EDITING SYSTEM COMMANDS, 75
ERROR CONTROL, 26
B EXTERNAL MEMORY UNIT DISPLAY, 47
BASIC COMMUNICATIONS
SPECIFICATIONS, 23 F
BINARY DATA ENCODING, 2 FILE DATA TRANSMISSION
FUNCTION, 52
C
CANCEL, 67 G
CGROUP, 69 GENERAL SAFEGUARDING TIPS, 13
CHARACTER CONFIGURATION, 27
COMMANDS FOR MULTI-CONTROL
H
GROUP AND INDEPENDENT HEADING AND TEXT
CONTROL FUNCTIONS, 80 CONFIGURATION, 27
COMMANDS FOR THE INDEPENDENT HLOCK, 69
CONTROL FUNCTION, 81 HOLD, 67
COMMUNICATION BASICS, 1 HOST COMPUTER TO MRC, 53
COMMUNICATION CONTROL HOST CONTROL FUNCTION, 51
CHARACTERS, 23
COMMUNICATION CONTROL I
MONITORING TIMERS, 28 IMOV, 73
COMMUNICATION CONTROL INSTALLATION SAFETY, 14
RESENDING SEQUENCE, 28 INTERLOCK FOR HOST CONTROL
COMMUNICATION PARAMETERS, 28 COMMANDS, 56
CONCURRENT TASKS FROM INTERPRETER MESSAGES, 83
MULTIPLE JOBS, 39 INTRODUCTION, 1
CTASK (OPTIONAL), 70
CVTRJ, 75 J
CVTSJ, 76 JOB SELECTION SYSTEM
CYCLE, 68 COMMANDS, 79
JOB TRANSMISSION, 40
D JSEQ, 79
D-SUB CONNECTOR PIN JWAIT, 61
CONNECTION, 30
DATA COMMUNICATION, 53 L
DATA COMMUNICATIONS, 17 LIST OF FIGURES, IV
DATA MANAGEMENT, 31 LIST OF TABLES, V
DATA TRANSMISSION, 6 LOADING CONDITION FILES/UNIVERSAL
DCI ALARM CODES, 45 DATA, 49
DCI FUNCTION, 33 LOADING JOBS, 49
DCI PARALLEL EXECUTION, 39 LOADJ (LOAD JOB) OPERATION, 33
MRC Data Communications Manual MOTOMAN

INDEX
L - continued
LOADJ INSTRUCTIONS, 34 RPOS, 58
LOADV (LOAD VARIABLE) RPOSC, 60
OPERATION, 37 RPOSJ, 59
LOADV INSTRUCTIONS, 37 RSTATS, 59
LOADV, 77 RUFRAME, 64
M S
MAINTENANCE SAFETY, 16 SAFETY, 11
MDSP, 69 SAVEJ (SAVE JOB) OPERATION, 35
MECHANICAL SAFETY DEVICES, 13 SAVEJ INSTRUCTIONS, 35
MODE, 68 SAVEV (SAVE VARIABLES)
MODIFICATIONS TO MY-BASIC, 8 OPERATION, 38
MOVJ, 71 SAVEV INSTRUCTIONS, 38
MOVL, 72 SAVEV, 65
MRC TO HOST COMPUTER, 54 SAVING A JOB, 48
MRC VS. ERC DATA SAVING CONDITION FILES/UNIVERSAL
COMMUNICATIONS, 21 DATA, 48
SAVING SYSTEM INFORMATION, 48
O SELECTING FILES, 31
OPERATION SAFETY, 15 SERIAL INTERFACE MULTIPORT, 20
OPERATION SYSTEM COMMANDS, 67 SERIAL VS. PARALLEL INTERFACE, 5
OPERATION, 47 SETMJ, 79
STAND-ALONE FUNCTIO, 47
P STANDARD CONVENTIONS, 12
PARALLEL EXECUTION USING START, 71
PSTART (OPTIONAL), 40 START-UP SYSTEM COMMANDS, 71
PARALLEL OPERATION, 21 SVON, 68
PMOVJ, 74 SWAIT (SEND WAIT) OPERATION, 37
PMOVL, 74 SWAIT INSTRUCTIONS, 37
PROGRAMMING SAFETY, 14
T
R TRANSMISSION FORMAT, 25
RALARM, 58 TRANSMISSION SEQUENCE, 40
READ/MONITOR SYSTEM
COMMANDS, 58 V
REFERENCE TO OTHER VARIABLE TRANSMISSION, 42
DOCUMENTATION, 9 VERIFYING CONDITION
REMOTE MODE SETUP, 17 FILES/UNIVERSAL DATA, 50
REMOTE MODE, 17 VERIFYING JOBS, 49
RESET, 67
RESPONSES TO MOV-TYPE W
COMMANDS, 57 WUFRAME, 76
RGROUP, 62
RJDIR, 63
RJSEQ, 60
ROBOT CONTROL, 54
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April 30, 1997

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PROGRAMMING SERVO POWER

Figure 1-1 Data Communications Using a Host Computer

1.1 Communication Basics

MRC Data Communications Manual Page 1 MOTOMAN

MRC Data Communications Manual Page 2 MOTOMAN

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MRC Data Communications Manual Page 4 MOTOMAN

The connection medium between computing devices provides the interface

1.1.2 Serial vs. Parallel Interface

MRC Data Communications Manual Page 5 MOTOMAN

TRANSMITTER DATA FLOW RECEIVER

TRANSMITTER DATA FLOW TRANSMITTER

Figure 1-2 Data Transmission Modes

1.1.3 Data Transmission

Within the asynchronous data stream, each character of data is transported as a

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ASYNCHRONOUS WORD LENGTH

Figure 1-3 Asynchronous Bit Frame

Table 1-2 Parity Bit Description

The first parameter is the rate of transmission. Serial data transmission is

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ENQ/ACK is a block-oriented protocol, i.e., a protocol that sends a fixed amount

In synchronous data transmission, special characters synchronize the transmitting

BSC, which is short for Binary Synchronous Communication (or Bisynchronous),

The MRC controller utilizes asynchronous data transmission. Therefore, in order

1.2 Modifications to MY-BASIC

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Table 1-3 Modified File Names

1.3 Reference to Other Documentation

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This safety section addresses the following:

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2.3 Mechanical Safety Devices

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2.5 Programming Safety

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2.6 Operation Safety

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3.1 Remote Mode

Table 3-1 Submodes for Remote Mode

3.1.1 REMOTE Mode Setup

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INITIALIZE RELATED FILES

Figure 3-1 Customer Option Screen

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Selecting USED for PP/PBOX control enables operation from the

Table 3-4 Command Remote Screen Settings

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3.2 Serial Interface Multiport

Table 3-5 Parameter Settings

NOTE: Multi-port processing is serial. Parallel processing is unavailable in these ports.

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3.4 MRC vs. ERC Data Communications

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