Miller ROBOT FLOPPY DISK DR INTERFACE (C1, C2) Owner's manual

Miller
Brand
Miller
Model
ROBOT FLOPPY DISK DR INTERFACE (C1, C2)
Category
Robotics
Type
Owner's manual

This manual is also suitable for

Millerfi
August
1992
FORM:
OM-150
577A
Eff
ective
With
Serial
N
0.
KC283858
MODEL:
Robot
Floppy
Disk
y
Drive
And
Robot
Floppy
Disk
Drive
Interface
Kit
OWNERS
MANUAL
IMPORTANT:
Read
and
understand
the
entire
contents
of
both
this
manual
and
the
robot
manual
used
with
this
unit,
with
special
emphasis
on
the
safety
material
throughout
both
manuals,
before
installing,
operating,
or
maintain
ing
this
equipment.
This
unit
and
these
instructions
are
for
use
only
by
per
sons
trained
and
experienced
in
the
safe
operation
of
robotic
equipment.
Do
not
allow
untrained
persons
to
install,
operate,
or
maintain
this
unit.
Contact
your
distributor
if
you
do
not
fully
understand
these
instructions.
MILLER
ELECTRIC
Mfg.
Co.
A
Miller
Group
Ltd..
Company
P.O.
Box
1079
Appleton,
WI
54912
USA
Tel.
414-734-9821
ST.152
592-A
PRINTED
IN
U.S
A.
(a
MILLERS
TRUE
BLUETM
LIMITED
WARRANTY
Effective
Januery
1,
1992
(Equipment
with
a
serial
number
preface
of
ICC
or
newer)
This
limited
warranty
supersedes
all
previous
MILLER
warranties
and
is
exclusive
with
no
other
guarantees
or
warranties
expressed
or
implied.
I.
ii
LIMITED
WARRANTY
Subject
to
the
terms
and
conditions
below,
MILLER
Electric
Mtg
Co..
Aopleton.
Wisconsin.
warrants
to
its
original
retail
purchaser
that
new
MILLER
equipment
sold
aher
the
effective
date
01
this
limited
warranty
is
tree
01
de
tects
in
material
and
workmanship
at
the
time
it
is
shipped
by
MILLER
THIS
WAR
RANtY
IS
EXPRESSLY
IN
LIEU
OF
ALL
OTHER
WARRANTIES.
EXPRESS
OR
IMPLIED,
INCLUDING
THE
WARRANTIES
OF
MERCHANTABILITY
AND
FIT
NESS.
WIthin
the
warranty
periods
listed
below.
MILLER
wilt
repair
or
replace
any
war
ranted
parts
or
components
that
tail
due
to
such
detects
in
material
or
workmanship.
MILLER
must
be
notified
in
writing
within
thirty
(30)
days
ot
such
detect
or
failure,
at
which
time
MILLER
will
provide
instructions
on
the
warranty
cleim
procedures
to
be
followed.
MILLER
shall
honor
warranty
claims
on
warranted
equipment
listed
below
in
the
event
of
such
a
failure
within
the
warranty
time
periods.
Alt
warranty
time
periods
start
on
the
date
that
the
equipment
was
delivered
to
the
original
retail
purchaser,
and
are
as
tollows:
t.
5
Years
Psrts
3
Years
Labor
Original
main
power
rectifiers
2.
3
Years
Parts
and
Labor
Transtormer/Rectifier
Power
Sources
Plasma
Arc
Cusing
Power
Sources
Semi-Automatic
and
Automatic
Wire
Feeders
Robots
3.
2
Years
Pans
and
Labor
*
Engine
Driven
Welding
Generstors
(NOTE
Engines
are
warranted
separately
by
the
engine
manufacturer)
4.
1
Year
Pans
and
Labor
Motor
Driven
Guns
Procesa
Controllers
Water
Coolant
Systems
HF
Units
Grids
Spot
Welders
Load
Banks
SDX
Transformers
Running
Gear/Trailers
Field
Options
(NOTE:
Field
options
are
covered
under
True Blue
tor
the
remaining
warranty
period
of
the
product
they
are
instafted
in,
or
for
a
minimum
ot
one
year
whichever
is
greater.)
5.
6
Months
Baneries
go
Osys
Pans
and
Labor
MIG
GunsITtG
Torches
Plasma
Cusing
Torches
Remote
Controls
*
Accessory
Kits
Replacement
Pans
MILLERS
True
Blueru
Limited
Warranty
shall
not
apply
to:
I
Items
turnisfred
by
MILLER,
but
manufactured
by
others,
such
as
engines
or
trade
accessories.
These
items
are
covered
by
the
manufacturers
warranty,
if
any.
2.
Consumable
components;
such
as
contact
tips,
cuning
nozzles,
contactors
and
relays.
3.
Equipment
that
has
been
modified
by
any
party
other
than
MtLLER.
or
equip
ment
that
h55
been
improperly
installed,
impropetly
operated
or
misused
based
upon
industry
standards,
or
equipment
which
has
not
had
reasonable
and
necessary
maintenence,
or
equipment
which
has
been
used
for
operation
outside
of
the
specifications
for
the
equipment.
MILLER
PRODUCTS
ARE
INTENDED
FOR
PURCHASE
AND
USE
BY
COMMER
CIAL/INDUSTRIAL
USERS
AND
PERSONS
TRAINED
AND
EXPERIENCED
IN
THE
USE
AND
MAINTENANCE
OF
WELDfNG
EOUIPMENT
In
the
event
of
a
wsrranty
claim
covered
by
this
warranty,
the
exclusive
remedies
shall
be.
at
MILLERS
option
(1)
repair:
or
(2)
replacement:
or.
where
authorized
in
writing
by
MILLER
in
appropriate
cases.
(3)
the
reasonable
cost
of
repait
or
reptace
ment
at
an
authorized
MILLER
service
station,
or
(4)
payment
of
or
credit
for
the
pur
chase
price
(less
reasonable
depreciation
based
upon
actual
use)
upon
retum
of
the
goods
at
customers
risk
and
expense.
MtLLERS
option
of
repair
or
reptecement
will
be
F
0
B..
Factory
at
Appleton.
Wisconsin.
or
F
O.B
at
a
MILLER
authorized
ser
vice
facility
as
determined
by
MILLER.
Therefore
no
compensation
or
reimburse
ment
for
transportation
coats
of
any
kind
will
be
allowed.
TO
THE
EXTENT
PERMITTED
BY
LAW,
THE
REMEDIES
PROVtDED
HEREtN
ARE
THE
SOLE
AND
EXCLUSIVE
REMEDIES,
fN
NO
EVENT
SHALL
MtLLEA
BE
LIABLE
FOR
DIRECt
INDIRECt
SPECIAL.
INCt
DENTAL
OR
CONSEQUENTIAL
DAMAGES
(INCLUDING
LOSS
OF
PROFIT),
WHETHER
BASED
ON
CON
TRACT,
TORT
OR
ANY
OTHER
LEGAL
THEORY
ANY
EXPRESS
WARRANTS
NOT
PROVIDED
HEREIN
AND
ANY
IMPLIED
WAR
RANTS,
GUARANTY
OR
REPRESENTATtON
AS
TO
PERFORMANCE,
AND
ANY
REMEDY
FOR
BREACH
OF
CONTRACT
TORT
OR
ANY
OTHER
LEGAL
THEORY
WHICH,
BUT
FOR
THIS
PRO
VtStON,
MtGHT
ARISE
BY
tMPLICATtON.
OPERATION
OF
LAW.
CUSTOM
OF
TRADE
OR
COURSE
OF
DEALING.
IN
CLUDING
ANY
IMPLIED
WARRANTY
OF
MERCHANTABILITY
OR
FtTNESS
FOR
PARTICULAR
PURPOSE.
WtTH
RESPECT
TO
ANY
AND
ALL
EGUIPMENT
FURNISHED
BY
MILLER
IS
EXCLUDED
AND
DtSCLAIMED
BY
MtLLER.
Some
states
in
the
U.S.A.
do
not
sttow
limitations
of
how
long
an
implied
werrecrty
Iaats.
or
the
exclusion
of
incidental,
indirect,
special
or
consequentlet
damages,
so
the
above
limitation
or
exctueion
may
not
apply
to
you.
This
warrsnly
provides
spe
cihc
legal
rights,
and
other
righta
may
be
available,
but
may
vary
from
state
to
state.
In
Canada.
Iegrslstion
in
some
provinces
provides
for
certain
additionat
werranbes
or
remedies
other
than
as
stated
herein,
and
to
the
eatent
that
they
may
not
be
waived.
the
limitations
and
eactusions
set
out
above
may
not
appty.
This
Limited
Warranty
provides
specific
legat
rights,
and
other
rights
may
be
avsitabte.
but
may
vary
trom
province
to
province.
{u
RECEIVING-HANDLING
Before
unpacking
equipment,
Check
carton
for
any
damage
that
may
have
occurred
dur(ng
Shipment.
File
any
claims
for
loss
or
damage
with
the
delivering
carrier.
Assistance
for
filing
or
settling
claims
may
be
obtained
from
distributor
and/or
equipment
manufacturers
Transportation
Department.
When
requesting
information
about
this
equipment,
always
provide
Model
Designation
and
Serial
or
Style
Number.
Use
the
fo)lowing
spaces
to
record
Model
Designation
and
Serial
or
Style
Number
of
your
unit.
The
information
is
located
on
the
rating
label
or
nameplate.
Model
_________
Serial
or
Style
No,
Date
of
Purchase
miller
5/92
ERRATA
SHEET
March
23,
1994
FORM:
OM-150
577A
Use
above
FORM
number
when
ordering
extra
manuals.
After
this
manual
was
printed,
refinements
in
equipment
design
a
ccurred.
This
sheet
lists
exceptions
to
data
appearing
later
in
this
manual.
CHANGES
TO
SECTION
7
PARTS
LIST
Change
Parts
List
as
follows:
''~f
~mm~
Part
Replaced
**
No.
With
Description
Quantity
21-
Added
+159
082
..
PANEL,
mtg
floppy
disk
1
21-
Added
+073
756
..
STAND-OFF,
6-32
x
.625
Ig
4
**First
digit
represents
page
no
digits
following
dash
represent
item
no.
+Part
of
042 752
Floppy
Disk
Drive
Interface.
BE
SURE
TO
PROVIDE
MODEL
AND
SERIAL
NUMBER
WHEN
ORDERING
REPLACEMENT
PARTS.
1
OM~5O
577A
-
8/92
TABLE
OF
CONTENTS
Section
No
Page
No.
SECTION
1
SAFETY
PRECAUTIONS
AND
SIGNAL
WORDS
1-1.
General
Information
And
Safety
1
1-2.
Safety
Alert
Symbol
And
Signal
Words
1
SECTION
2
SPECIFICATIONS
2-1.
Description
2
SECTION
3-INSTALLATION
3-1.
Installation
Of
Floppy
Disk
Drive
Interface
Kit
3
3-2.
Connections
For
Floppy
Disk
Drive
5
SECTION
4-OPERATION
4-1.
Floppy
Disk
Write
Protection
7
4-2.
Inserting
Floppy
Disk
Into
Floppy
Disk
Drive
7
4-3.
Ejecting
Floppy
Disk
From
Floppy
Disk
Drive
7
4-4.
Procedure
For
Using
Floppy
Disk
Drive
8
4-5.
Precautions
For
Using Floppy
Disk
Drive
8
4-6.
Initialization
Of
Floppy
Disk
8
4-7.
Saving
Data
To
Floppy
Disk
11
4-8.
Loading
Data
From
Floppy
Disk
13
4-9.
Verification
Of
Transfer
Data
16
SECTION
5-
TROUBLESHOOTING
17
SECTION
6
ELECTRICAL
DIAGRAMS
18
SECTION
7
PARTS
LIST
Figure
7-1.
Floppy
Disk
Drive
20
LIST
OF
CHARTS
AND
TABLES
Table
5-1.
Error
Codes
Prior
To
Or
After
Data
Transfer
17
Table
5-2.
Error
Codes
During
Data
Transfer
17
2-1.
DESCRIPTION
The
floppy
disk
drive
provides
a
data
storage
function
for
the
Robot
Control
memory
by
saving
or
loading
and
verifying
all
programs
and
jobs.
A
standard
3-1/2
in.,
2HD
floppy
disk
is
capable
of
storing
the
entire
contents
of
Robot
Control
memory.
The
floppy
disk
drive
and
interface
kit
together
make
a
dedicated
system
for
use
with
the
Robot
Control.
Firmware
for
the
floppy
disk
drive
is
a
proprietary
protocol
type
not
compatible
for
use
with
a
PC
or
PC
Data
Storage
software.
Figure
2-1.
Floppy
Disk
Drive
Dimensions
FRONT
ViEW
ST.152
592-A
Floppy
Disk
Slot
Operation
Light
_~
Eject
Button
Power
Ught
Power
Switch
Power
Supply
Cord
Figure
2-2.
Floppy
Disk
Drive
Components
Connector
S.0685
*12.5/16
In.
(313
mm)
*Add
13/16
in.
(21
mm)
for
fuse
holder
at
rear
of
unit.
___
o~
-~
Fuss
REAR
VIEW
OM-150
577
Page
2
SECTION
3
INSTALLATION
IMPORTANT:
If
installing
a
floppy
disk
drive
interface
kit
in
an
MRH
Robot
Control
prior
to
Serial
No.
KB136982
or
MRV-6
Robot
Control
prior
to
Serial
No.
KB
129527,
contact
the
nearest
Factory
Authorized
Service
Station
for
CPU
board
update.
3-1.
INSTALLATION
OF FLOPPY
DISK
DRIVE
INTERFACE
KIT
(Figure
3-1)
a
WARNING:
ELECTRIC
SHOCK
can
kill.
Do
not
touch
live
electrical
parts.
Shut
down
Robot
Control,
and
disconnect
input
power
employing
lockout/tagging
procedures
before
be
gin-
fling
this
installation.
Lockout/tagging
procedures
consist
of
padlocking
line
disconnect
switch
in
open
position,
removing
fuses
from
fuse
box,
or
shutting
off
and
red-tagging
circuit
breaker
or
other
disconnecting
device.
ELECTROSTATIC
DISCHARGE
(ESD)
can
damage
circuit
boards.
Put
on
properly
grounded
wrist
strap
BEFORE
handling
circuit
boards.
Transport
circuit
boards
in
proper
static-shielding
carriers
or
packages.
Perform
work
only
at
a
safe
static-safe
work
area.
INCORRECT
INSTALLATION
or
misaligned
plugs
can
damage
circuit
boards.
Be
sure
that
plugs
are
properly
installed
and
aligned.
EXCESSIVE
PRESSURE
can
break
circuit
board.
Use
only
minimal
pressure
and
gentle
movement
when
disconnecting
or
connecting
board
plugs
and
re
moving
or
installing
board.
Cpu
Board
Flat
Connector
FC3
ST152
588
Centronics
Connector
Flat
Ribbon
Cable
Interface
Circuit
Board
Robot
Control
Multi-Lead
Cord
Figure
3-1.
Floppy
Disk
Drive
Interface
Kit
InstallatIon
OM-150
577
Page
3
1.
Remove
and
retain
hardware
securing
rectangular
cover
plate,
located
on
left
side
panel
in
the
upper
right-hand
corner,
on
Robot
Control.
IMPORTANT:
Position
Interface
circuit
board
so
that
connector
FC2
is
at
top
of
circuit
board
when
installed
inside
Robot
Control.
2.
Open
cabinet
door,
and
install
supplied
Interface
circuit
board
to
left
side
panel
inside
cabinet,
just
below
rectan
gular
opening
where
cover
plate
was
removed
in
Step
1.
Use
supplied
screws
to
secure
Circuit
board
to
side
panel
(see
Figure
3-1).
3.
Locate
supplied
multi-lead
cord
with
flat
connector
plugs
at
each
end,
and
connect
one
end
to
flat
connector
FC3
on
CPU
board
(see
Figure
3-1).
4.
Connect
remaining
end
of
cord
to
flat
connector
FC1
on
Interface
board
installed
in
Step
2.
5.
Locate
supplied
flat
ribbon
cable
with
Centronics
connector
on
one
end.
Insert
Centronics
Connector
through
rectangular
opening
in
supplied
mounting
plate,
and
use
supplied
screws
to
secure
connector
to
mounting
plate
(see
Figure
3-2).
6.
Insert
flat
ribbon
cable
through
rectangular
opening
from
outside
cabinet,
and
use
hardware
removed
in
Step
1
to
secure
mounting
plate
to
side
panel.
7.
Connect
remaining
end
of
flat
ribbon
cable
to
flat
connector
FC2
on
Interface
board
(see
Figure
3-1).
8.
Remove
a
cover
plate
from
one
of
the
openings
in
the
lower
portion
of
left
side
panel.
SI-
152
589-A
Flat
Ribbon
Cable
Centronics
Connector
And
Mounting
Plate
Bail
Flat
Connector
FC2
Interface
Circuit
Board
Dust
Cover
Robot
Control
Left
Side
Panel
Figure
3-2.
Centronlcs
Receptacle
InstallatIon
OM-150
577
Page
4
Fuses
Duplex
Receptacle
On
Rear
Panel
inside
Robot
Control
ST-152
593-A
9.
Locate
supplied
single
receptacle
and
mounting
plate
(see
Figure
3-3),
and
install
supplied
cord
to
receptacle
as
follows:
a.
Connect
friction
terminal
on
black
lead
to
brass
terminal
on
receptacle.
b.
Connect
friction
terminal
on
white
lead
to
silver
terminal
on
receptacle.
c.
Connect
spade
terminal
on
green
lead
to
green
grounding
screw
on
receptacle.
10.
Insert
plug
on
end
of
cord
through
square
opening
from
outside
cabinet,
and
use
hardware
removed
in
Step
8
to
secure
mounting
plate
to
side
panel
(see
Figure
3-3).
11.
Connect
plug
to
100
volts
ac
receptacle
in
lower
portion
inside
cabinet
on
rear
panel
(see
Figure
3-3).
12.
Close
and
secure
Robot
Control
cabinet
door.
3-2.
CONNECTIONS
FOR
FLOPPY
DISK
DRIVE
(FIgure
3-4)
a
CAUTION:
IMPROPER
VOLTAGE
can
damage
auxilIary
equipment.
Do
not
use
100
VAC
receptacle
for
equipment
designed
to
operate
at
a
different
voltage.
1.
Locate
supplied
cord
with
Centronics
connectors
at
each
end
of
cord.
Remove
dust
cover
from
receptacle
on
left
side
panel
of
cabinet,
and
connect
plug
at
one
end
of
cord
to
receptacle.
Use
bail
locks
on
receptacle
to
secure
plug
(see
Figure
3-4).
IMPORTANT:
Whenever
Centronics
connector
is
removed
from
receptacle
on
left
side
panel
of
cabinet,
be
sure
to
place
dust
cover
over
the
receptacle.
2.
Connect
plug
at
remaining
end
of
cord
to
receptacle
on
rear
of
floppy
disk
drive
(see
Figure
3-4).
3.
Connect
plug
on
end
of
power
cord
to
100
volts
ac
receptacle
installed
in
lower
portion
of
left
side
panel.
OM-150
577
Page
5
Screw
(2)
And
Washers
From
Cover
Plate
Plug
Robot
Control
Left
Side
Panel
Cord
FIgure
3-3.
100
Volts
AC
Receptacle
Installation
Robot
Control
Left
Side
Panel
Centronics
Connector
ST-I
52
591-8
FIgure
3-5.
OptIonal
Mounting
Bracket
Installation
An
optional
mounting
bracket
is
supplied
with
the
floppy
disk
drive
to
allow
hanging
the
unit
from
the
cabinet
door
or
securing
the
unit
on
top
of
the
cabinet.
1.
Install
mounting
bracket
onto
bottom
of
floppy
disk
drive
case
(see
Figure
3-5).
Use
supplied
screws
to
secure
mounting
bracket
to
case.
2.
Remove
lifting
eye
or
bolt
from
right
front
corner
of
Robot
Control
top
cover.
3.
Align
hole
in
mounting
bracket
with
hole
in
top
cover,
and
reinstall
lifting
eye
or
bolt.
OM-150
577
Page
6
~nterconnectlng
Cord
Centronics
Connector
Plug
And
single
R~eceptacle
Figure
3-4.
Floppy
Disk
Drive
Connections
ST.152
590
Screw
(2)
And
Lockwasher
(2)
Hole
In
Right
Front
Corner
01
Robot
Control
Top
Cover
SECTION
4
OPERATION
a
CAUTION:
INCORRECT
HANDLING
can
damage
floppy
disk
and
cause
loss
of
stored
data.
Keep
ferromagnetic
substances
such
as
magnets
away
from
floppy
disk.
Keep
magnetic
field
generating
devices
such
as
TV
sets
and
radios
away
from
floppy
disk.
Do
not
touch
magnetic
disk.
Do
not
drop
floppy
disk.
Protect
floppy
disk
from
extreme
changes
in
temperature
and
humidity.
Avoid
using
floppy
disk
in
dusty
or
dirty
environment.
Use
proper
case
to
store
floppy
disk.
Store
floppy
disk
with
write
protection
applied.
4-1.
FLOPPY
DISK
WRITE
PROTECTION
(Figure
4-1)
A
slide
type
key
is
provided
for
write
protection
to
prevent
unexpected
erasure
of
stored
data.
Always
store
floppy
disk
with
key
set
for
write
protection,
and
place
floppy
disk
in
a
proper
storage
case.
$
o
Write
Enable
_____________________
Write
Disable
Top
View
Botton
View
S~O6,82
Figure
4-1.
WrIte
Protection
On
Floppy
Disk
4-2.
INSERTING
FLOPPY
DISK
INTO
FLOPPY
DISK
DRIVE
a
CAUTION:
IMPROPER
POWER-UP
PROCEDURES
can
damage
floppy
disk
and
cause
loss
of
stored
data.
Turn
off
Robot
Control
input
power
before
connecting
and
disconnecting
floppy
disk
drive.
Place
floppy
disk
drive
power
switch
in
the
ON
position
before
turning
on
Robot
Control
input
power.
1.
Open
case
cover
on
floppy
disk
drive.
2.
Place
floppy
disk
drive
power
switch
in
ON
position.
3.
Turn
on
Robot
Control
input
power.
4.
Remove
floppy
disk
from
storage
case,
check
position
of
write
protection
key
(the
write
enable
position
is
for
transfer
of
data
to
the
floppy
disk,
see
Figure
4-1),
and
insert
floppy
disk
fully
into
floppy
disk
slot
on
drive
unit
(see
Figure
2-2)
until
disk
clicks
into
slot
and
eject
button
pops
out.
5.
The
floppy
disk
is
operative
once
it
is
properly
inserted
into
the
floppy
disk
slot.
43.
EJECTING
FLOPPY
DISK
FROM
FLOPPY
DISK
DRIVE
a
CAUTION:
IMPROPER
EJECTING
PROCEDURE
can
cause
loss
of
data
being
transferred
to
or
from
floppy
disk.
Be
sure
that
operation
light
on
floppy
disk
drive
is
NOT
illuminated
before
ejecting
floppy
disk.
1.
If
case
cover
is
closed
on
disk
drive,
open
cover.
2.
Check
that
operation
light
is
not
illuminated
and
press
the
eject
button
on
the
floppy
disk
drive
(see
Figure
2.2).
The
floppy
disk
should
pop
out
one-half
to
two-thirds
of
the
way
from
inside
the
floppy
disk
slot.
3.
Remove
floppy
disk
from
slot,
place
write
protection
key
in
the
write
disable
position
(see
Figure
4-1),
and
place
floppy
disk
in
a
proper
storage
case.
OM.150
577
Page
7
4-4.
PROCEDURE
FOR
USING
FLOPPY
DISK
DRIVE
a
CAUTION:
IMPROPER
POWER-UP
PROCEDURES
can
damage
floppy
disk
and
cause
loss
of
stored
data.
Turn
off
Robot
Control
input
power
before
connecting
and
disconnecting
floppy
disk
drive.
Place
floppy
disk
drive
power
switch
in
the
ON
position
before
turning
on
Robot
Control
input
power.
1.
Connect
floppy
disk
drive
to
Robot
Control.
2.
Place
floppy
disk
drive
power
switch
in
ON
position.
3.
Turn
on
Robot
Control
input
power.
4.
Insert
floppy
disk
into
floppy
disk
drive.
IMPORTANT:
See
Sections
4-6
through
4-8
for
instructions
to
perform
Steps
5
through
7.
5.
Initialize
new
floppy
disk.
6.
Transfer
data.
IMPORTANT:
Do
not
touch
Program
Module
keypad
during
a
data
transfer
operation
or
a
data
error
may
occur.
7.
Verify
data.
8.
If
an
error
message
appears
on
the
Program
Module
display,
see
Section
5--
Troubleshooting
to
check
the
error
code
before
continuing
operation.
4-5.
PRECAUTIONS
FOR
USING
FLOPPY
DISK
DRIVE
1.
Make
sure
Robot
Control
input
power
is
OFF
before
connecting
or
disconnecting
cable
between
floppy
disk
drive
and
Robot
Control.
Damage
to
the
floppy
disk
drive
may
result
from
connecting
or
disconnecting
cable
when
Robot
Control
input
power
is
ON.
2.
Place
floppy
disk
drive
power
switch
in
the
ON
position
before
placing
the
Robot
Control
power
switch
in
the
ON
position.
This
sequence
for
energizing
the
floppy
disk
drive
and
Robot
Control
sets
the
operational
timing
for
data
transfer
between
the
two
units.
3.
Insert
a
floppy
disk
into
the
floppy
disk
slot
only
after
energizing
the
floppy
disk
drive
and
Robot
Control.
4.
Immediately
after
transferring
data
between
the
Robot
Control
memory
and
a
floppy
disk,
the
verify
function
should
be
used
to
check
if
transferred
data
matches
the
stored
data.
IMPORTANT:
The
verify
function
must
be
performed
immediately
after
a
transfer
operation.
If
other
operations
are
performed
using
the
Program
Module
keys
to
change
any
transferred
data before
the
verify
function,
an
error
will
result
during
data
verification.
Some
possible
causes
for
an
error
during
a
transfer
operation
or
in
verifying
data
are
as
follows:
1.
The
verify
function
was
not
performed
immediately
after
the
transfer
of
data
and
stored
data
was
changed
caus
ing
a
mismatch
during
verification.
2.
The
cable
connection
between
the
floppy
disk
drive
and
Robot
Control
is
not
secure.
3.
The
floppy
disk
write
protection
key
is
in
the
write
disable
position
preventing
data
from
being
transferred
to
the
floppy
disk.
Additional
error
code
information
is
provided
in
Section
5
Troubleshooting.
4-6.
INITIALIZATION
OF
FLOPPY
DISK
IMPORTANT:
Whenever
the
transfer
operation
is
to
be
done
using
a
new
floppy
disk
or
a
floppy
disk
that
contains
old
data
no
longer
necessary,
initialize
the
floppy
disk
to
erase
all
stored
data
and
begin
the
transferoperation
with
a
blank
floppy
disk.
a
WARNING:
ELECTRIC
SHOCK
can
kIll;
ROBOT
ARM
MOVEMENT
can
cause
serIous
injury
and
death;
INCORRECT
PROCEDURE
can
cause
serIous
personal
Injury.
Do
not
touch.
live
electrical
parts.
Press
an
EMERGENCY
STOP
button
before
entering
robot
work
envelope.
Do
not
enter
robot
work
envelope
with
servo
power
on
unless
a
watchperson,
with
an
EMERGENCY
STOP
button
in
hand,
is
nearby
and
ready.
Press
and
reset
an
EMERGENCY
STOP
button
to
turn
off
servo
power,
and
check
that
there
is
no
illumina
tion
at
the
servo
power
warning
light(s)
on
manipulator
and
the
SERVO
ON
button
on
the
Operation
Mod
ule
is
not
illuminated
before
entering
the
robot
work
envelope.
OM-150
577
Page
8
6.
Press
the
E)(TERNAL
MEMORY
key,
and
the
display
will
appear
as
shown:
P000
S000
PREPARE
MT
OPERATION
7.
Insert
floppy
disk
into
floppy
disk
slot.
8.
Press
PROGRAM
NO.
key
and
START
NO.
key
at
the
same
time,
and
the
display
will
appear
as
shown:
P000
S000
INITtALIZE?
Y:1
N:0
If
floppy
disk
drive
is
not
connected
to
the
Robot
Control,
the
display
will
remain
as
shown
in
Step
6.
Pressing
the
RE.
SET
key
after
Step
8
will
cause
the
robot
system
to
return
to
the
point
of
selecting
Edit
mode,
and
the
display
will
appear
as
shown
in
Step
5.
IMPORTANT:
A
new
floppy
disk
must
be
initialized
before
transferring
data
to
it.
When
initialization
is
assigned
(Y:
1),
all
data
currently
stored
on
floppy
disk
is
erased,
and
the
transfer
operation
begins
with
the
floppy
disk
blank.
When
initialization
is
not
assigned
(NO),
all
data
currently
stored
on
floppy
disk
is
retained,
and
the
transfer
data
is
saved
after
the
last
data
stored
on
the
floppy
disk.
When
using
the
data
loading
operation
(see
Section
4-8),
al/data
on
the
floppy
disk
is
transferred
to
Robot
Control
memory.
9.
To
select
initialization
of
floppy
disk,
press
the
numerical
1
key
and
RECORD
key,
and
the
display
will
appear
as
shown:
P
0 0 0
S
0
0 0
DEALING
W
I
T
H
DA
T
A
To
retain
data
currently
stored
on
floppy
disk,
initialization
is
not
assigned
by
pressing
the
numerical
0
key
and
RE
CORD
key.
If
initialization
is
assigned
and
successfully
completed
or
if
initialization
is
not
assigned
the
display
will
appear
as
shown:
P000
S000
PROGRAM
SAVING
If
initialization
is
assigned,
but
the
erasing
operation
is
not
completed
successfully,
the
display
will
appear
as
shown:
P000
S000
SAVING
ERROR
IMPORTANT:
If
SAVING
ERROR
appears
on
the
display,
press
the
MODIFY
key,
and
initialization
selection
display
willappearas
shown
in
Step
8.
Assign
the
initialization
again
according
to
Step
9.
If
initialization
is
completed
success
fully
PROGRAM
SAVING
will
appear
on
the
display;
otherwise,
SAVING
ERROR
will
again
appear
on
the
display,
and
pressing
the
MODIFYkey
will
cause
the
display
to
change
to
the
one
that
appeared
at
the
moment
of
selecting
the
Edit
mode.
Begin
the
procedure
again
starting
at
Step
6,
and
if
initialization
is
unsuccessful,
COPY
ERROR:
1
will
appear
on
the
display.
Press
the
RESET
key,
check
connections
between
Robot
Control
and
floppy
disk
drive,
and
follow
instruc
tions
again
starting
at
Step
6.
OM-150
577
Page
10
10.
Press
the
RESET
key,
and
the
display
will
appear
as
shown:
P000
3000
4-7.
SAVING
DATA
TO
FLOPPY
DISK
IMPORTANT:
See
Section
3
Installation
for
in
formation
about
installing
the
floppy
disk
drive.
A
floppy
disk
should
IVOT
be
inserted
into
the
floppy
disk
slot
prior
to
energizing
floppy
disk
drive
and
Robot
Control.
If
using
a
new
floppy
disk
or
a
floppy
disk
with
old
data
no
longer
necessary,
follow
instructions
in
Section
4.6
to
initialize
the
floppy
disk.
1.
The
robot
system
will
already
be
in
Edit
mode
afterfioppy
disk
initialization,
and
the
display
will
appear
as
shown:
P000
S000
Proceed
to
Step
2
for
instructions
to
begin
saving
data
on
the
floppy
disk
once
the
robot
system
is
in
Edit
mode.
To
prepare
the
robot
system
for
selecting
the
Edit
mode
and
begin
the
data
saving
operation,
proceed
as
follows:
a.
Install
floppy
disk
drive
according
to
instructions
in
Section
3
Installation.
b.
Turn
on
input
power
for
the
Robot
Control
by
placing
the
power
switch
handle
in
the
ON
position.
The
Program
Module
display
will
appear
as
shown
momentarily,
and
all
the
key
pad
LEDs
will
illuminate
during
the
display
time:
THANK,
YOU
WA
K
E
U
P
!WE
LCOME
TO
M
ILL
ER!
c.
The
next
display
will
be
for
automatic
self-diagnosis
of
the
Robot
Control
functions
and
connections.
The
dis
play
during
self-diagnosis
will
appear
as
shown:
Main
CPU
Software
Version
Number
SELF
DI
AGNOSIS
VOl
0
1
t
Step
Number
S
E
L
F
DIAGNOSIS
VO
1
0
10
IMPORTANT:
After
first
turning
on
power
to
the
Robot
Control,
automatic
self-diagnosis
will
follow
the
sequence
of
steps
from
1
to
10.
Do
the
absolute
offset
adjustment
if
any
one
of
the
following
alarm
or
error
code
messages
appear
on
the
Program
Module
display
before
continuing
the
operation
mode
selection:
1)
Error2
100000
2)Alarm2
110000
3)
Error
628
00 00
4)
Error
629
0000
If
the
DIAGNOSIS
button
is
pressed
on
the
Operation
Module,
the
sequence
of
steps
will
be
from
0
to
8 because
no
OM-150
577
Page
11
checking
is
done
for
absolute
offset
adjustment.
Checking
absolute
offset
adjustment
is
only
performed
in
automatic
self-diagnosis
after
turning
on
power
to
the
Robot
Control.
d.
Once
automatic
self-diagnosis
is
completed,
the
display
will
appear
as
shown:
SERVO
POWER
I
S
OFF
010010010010o10
e.
Press
TEACH-EDIT
key
on
the
Program
Module
to
select
the
Edit
mode,
check
appropriate
key
LED
for
illumi
nation,
and
the
display
will
appear
as
shown:
P000
S000
2.
Press
the
EXT.
MEMORY
key,
and
the
display
will
appear
as
shown:
P000
S000
PREPARE
MT
OPERATION
3.
If
a
floppy
disk
was
already
inserted
into
the
floppy
disk
slot
for
initialization,
proceed
to
Step
4;
otherwise,
insert
a
floppy
disk
into
the
floppy
disk
slot.
4.
Press
the
forward
DISPLAY
SELECT
key
once
to
select
the
SAVE
mode,
and
the
display
will
appear
as
shown:
P000
S000
SAVE
5.
Press
the
RECORD
key,
and
the
display
will
appear
as
shown:
P000
S000
SAVE
NOl
6.
After
the
entire
data
saving
operation
is
completed,
the
display
will
appear
as
shown:
P000
S000
SAVE
COMPLETED
7.
Press
the
RESET
key
to
return
robot
system
to
the
point
of
selecting
Edit
mode,
and
the
display
will
appear
as
shown:
P000
S000
8.
Press
the
EXT.
MEMORY
key,
and
the
display
will
appear
as
shown:
P000
S000
PREPARE
MT
OPERAT
ION
QM-150
577
Page
12
9.
Press
the
forward
DISPLAY
SELECT
key
three
times
to
select
the
VERIFY
mode,
and
the
display
will
appear
as
shown:
P000
S000
VERIFY
10.
Press
the
BLOCK
FORW.
key,
and
the
display
will
appear
as
shown:
P000
S000
VERIFY
NOl
11.
After
the
entire
data
verification
operation
is
completed,
the
display
will
appear
as
shown:
P000
S000
VERIFY
COMPLETED
12.
Press
the
RESET
key
to
return
robot
system
to
the
point
of
selecting
Edit
mode,
and
the
display
will
appear
as
shown:
P000 S000
13.
Remove
floppy
disk
from
floppy
disk
slot
by
pressing
the
Eject
button.
Place
floppy
disk
removed
from
floppy
disk
drive
in
a
proper
storage
case.
4-8.
LOADING
DATA
FROM
FLOPPY
DISK
a
CAUTION:
DO NOT
TRANSFER
DATA
FROM
ONE
ROBOT
CONTROL
TO
ANOTHER
ROBOT
CON
TROL
as
this
causes
System
Data
to
change
and
all
original
program
and
job
data
Is
erased.
System
Data
from
source
Robot
Control
will
transfer
with
other
data
to
target
Robot
Control
during
the
loading
operation,
and
the
load
operation
overwrites
all
original
program
and
job
data
in
the
memoryof
the
target
Robot
Control.
IMPORTANT:
See
Section
3
Installation
for
information
about
installing
the
floppy
disk
drive.
A
floppy
disk
should
NOT
be
inserted
into
the
floppy
disk
slot
prior
to
energizing
floppy
disk
drive
and
Robot
Control.
1.
To
prepare
the
robot
system
for
selecting
the
Edit
mode
and
begin
the
data
loading
operation,
proceed
as
fol
lows:
a.
Install
floppy
disk
drive
according
to
instructions
in
Section
3
installation.
b.
Turn
on
input
power
for
the
Robot
Control
by
placing
the
power
switch
handle
in
the
ON
position.
The
Program
Module
display
will
appear
as
shown
momentarily,
and
all
the
key
pad
LEDs
will
illuminate
during
the
display
time:
T
HANK
YOU
WA
K
E
U
P
IWE
LCOME
TO
M
ILL
ERI
OM-150
577
Page
13
c.
The
next
display
will
be
for
automatic
self-diagnosis
of
the
Robot
Control
functions
and
connections.
The
dis
play
during
self-diagnosis
will
appear
as
shown:
Main
CPU
Software
Version
Number
dl
SELF
DIAGNOSIS
VOl
0
1
1~
t
Step
Number
SELF
DIAGNOSIS
VOl
0
10
IMPORTANT:
After
first
turning
on
power
to
the
Robot
Control,
automatic
self-diagnosis
will
follow
the
sequence
of
steps
from
1
to
10.
Do
the
absolute
offset
adjustment
if
any
one
of
the
following
alarm
or
error
code
messages
appear
on
the
Program
Module
display
before
continuing
the
operation
mode
selection:
1)
Error2
100000
2)Alarm2
110000
3)
Error
6280000
4)
Error
6290000
If
the
DIAGNOSIS
button~
is
pressed
on
the
Operation
Module,
the
sequence
of
steps
will
be
from
0
to
8
because
no
checking
is
done
for
absolute
offset
adjustment.
Checking
absolute
offset
adjustment
is
only
performed
in
automatic
self-diagnosis
after
turning
on
power
to
the
Robot
Control.
d.
Once
automatic
self-diagnosis
is
completed,
the
display
will
appear
as
shown:
SERVO
POWER
IS
OFF
010010010010010
e.
Press
TEACH-EDIT
key
on
the
Program
Module
to
select
the
Edit
mode,
check
appropriate
key
LED
for
illumi
nation,
and
the
display
will
appear
as
shown:
P000
S000
2.
Press
the
EXt
MEMORY
key,
and
the
display
will
appear
as
shown:
P000
S000
PREPARE
MT
OPERATION
3.
Insert
a
floppy
disk
into
the
floppy
disk
slot.
4.
Press
the
forward
DISPLAY
SELECT
key
twice
to
select
the
LOAD
mode,
and
the
display
will
appear
as
shown:
P000
S000
LOAD
OM-150
577
Page
14
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Miller ROBOT FLOPPY DISK DR INTERFACE (C1, C2) Owner's manual

Miller
Brand
Miller
Model
ROBOT FLOPPY DISK DR INTERFACE (C1, C2)
Category
Robotics
Type
Owner's manual
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