Miller ROBOT FLOPPY DISK DR INTERFACE Owner's manual

cover 5/94 − ST-152 592-A PRINTED IN USA

 1995 MILLER Electric Mfg. Co.

2DD/2HD Floppy Disk Drive Interface For C2 Or α Robot Control

(Cannot Use With C1)

File Data Storage And Transfer For CPU Memory

Requires 3-1/2 in Floppy Disk Either 2DD Or 2HD

2DD Floppy Disk Format Is IBM Compatible

(2HD Format Is Not IBM Compatible)

Uses 100/115 Volts AC Single-Phase Input Power

Fuse Overload Protection

Read and follow these instructions and all

safety blocks carefully.

Have only trained and qualified persons

install, operate, or service this unit.

Call your distributor if you do not understand

the directions.

Give this manual to the operator.

For help, call your distributor

or: MILLER Electric Mfg. Co., P.O. Box 1079,

Appleton, WI 54912 414-734-9821

OWNER’S

MANUAL

June 1995 Form: OM-169 760B

Robot Floppy Disk Drive

And Robot Floppy Disk

Drive Interface Kit

Effective January 1, 1998

(Equipment with a serial number preface of “KJ” or newer)

This limited warranty supersedes all previous Miller warranties and is exclusive with no other

guarantees or warranties expressed or implied.

LIMITED WARRANTY − Subject to the terms and conditions

below, Miller Electric Mfg. Co., Appleton, Wisconsin,

warrants to its original retail purchaser that new Miller

equipment sold after the effective date of this limited warranty

is free of defects in material and workmanship at the time it is

shipped by Miller. THIS WARRANTY IS EXPRESSLY IN

LIEU OF ALL OTHER WARRANTIES, EXPRESS OR

IMPLIED, INCLUDING THE WARRANTIES OF

MERCHANTABILITY AND FITNESS.

Within the warranty periods listed below, Miller will repair or

replace any warranted parts or components that fail due to

such defects in material or workmanship. Miller must be

notified in writing within thirty (30) days of such defect or

failure, at which time Miller will provide instructions on the

warranty claim 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. All warranty time periods start on the date that

the equipment was delivered to the original retail purchaser,

or one year after the equipment is sent to a North American

distributor or eighteen months after the equipment is sent to

an International distributor.

1. 5 Years Parts − 3 Years Labor

* Original main power rectifiers

* Inverters (input and output rectifiers only)

2. 3 Years — Parts and Labor

* Transformer/Rectifier Power Sources

* Plasma Arc Cutting Power Sources

* Semi-Automatic and Automatic Wire Feeders

* Inverter Power Supplies

* Intellitig

* Engine Driven Welding Generators

(NOTE: Engines are warranted separately by the

engine manufacturer.)

3. 1 Year — Parts and Labor

* Motor Driven Guns (w/exception of Spoolmate 185)

* Process Controllers

* Positioners and Controllers

* Automatic Motion Devices

* Robots

* IHPS Power Sources

* Water Coolant Systems

* HF Units

* Grids

* Spot Welders

* Load Banks

* SDX Transformers

* Miller Cyclomatic Equipment

* Running Gear/Trailers

* Plasma Cutting Torches (except APT, ZIPCUT &

PLAZCUT Models)

* Deutz Engines (outside North America)

* Field Options

(NOTE: Field options are covered under True Blue

for the remaining warranty period of the product they

are installed in, or for a minimum of one year —

whichever is greater.)

4. 6 Months — Batteries

5. 90 Days — Parts and Labor

* MIG Guns/TIG Torches

* APT, ZIPCUT & PLAZCUT Model Plasma Cutting

Torches

* Remote Controls

* Accessory Kits

* Replacement Parts (No labor)

* Spoolmate 185

Miller’s True Blue Limited Warranty shall not apply to:

1. Items furnished 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, cutting

nozzles, contactors, brushes, slip rings, relays or parts

that fail due to normal wear.

3. Equipment that has been modified by any party other

than Miller, or equipment that has been improperly

installed, improperly operated or misused based upon

industry standards, or equipment which has not had

reasonable and necessary maintenance, or equipment

which has been used for operation outside of the

specifications for the equipment.

MILLER PRODUCTS ARE INTENDED FOR PURCHASE

AND USE BY COMMERCIAL/INDUSTRIAL USERS AND

PERSONS TRAINED AND EXPERIENCED IN THE USE

AND MAINTENANCE OF WELDING EQUIPMENT.

In the event of a warranty 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 repair or

replacement at an authorized Miller service station; or (4)

payment of or credit for the purchase price (less reasonable

depreciation based upon actual use) upon return of the

goods at customer’s risk and expense. Miller’s option of

repair or replacement will be F.O.B., Factory at Appleton,

Wisconsin, or F.O.B. at a Miller authorized service facility as

determined by Miller. Therefore no compensation or

reimbursement for transportation costs of any kind will be

allowed.

TO THE EXTENT PERMITTED BY LAW, THE REMEDIES

PROVIDED HEREIN ARE THE SOLE AND EXCLUSIVE

REMEDIES. IN NO EVENT SHALL MILLER BE LIABLE

FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL OR

CONSEQUENTIAL DAMAGES (INCLUDING LOSS OF

PROFIT), WHETHER BASED ON CONTRACT, TORT OR

ANY OTHER LEGAL THEORY.

ANY EXPRESS WARRANTY NOT PROVIDED HEREIN

AND ANY IMPLIED WARRANTY, GUARANTY OR

REPRESENTATION AS TO PERFORMANCE, AND ANY

REMEDY FOR BREACH OF CONTRACT TORT OR ANY

OTHER LEGAL THEORY WHICH, BUT FOR THIS

PROVISION, MIGHT ARISE BY IMPLICATION,

OPERATION OF LAW, CUSTOM OF TRADE OR COURSE

OF DEALING, INCLUDING ANY IMPLIED WARRANTY OF

MERCHANTABILITY OR FITNESS FOR PARTICULAR

PURPOSE, WITH RESPECT TO ANY AND ALL

EQUIPMENT FURNISHED BY MILLER IS EXCLUDED

AND DISCLAIMED BY MILLER.

Some states in the U.S.A. do not allow limitations of how long

an implied warranty lasts, or the exclusion of incidental,

indirect, special or consequential damages, so the above

limitation or exclusion may not apply to you. This warranty

provides specific legal rights, and other rights may be

available, but may vary from state to state.

In Canada, legislation in some provinces provides for certain

additional warranties or remedies other than as stated

herein, and to the extent that they may not be waived, the

limitations and exclusions set out above may not apply. This

Limited Warranty provides specific legal rights, and other

rights may be available, but may vary from province to

province.

Warranty Questions?

Call

1-800-4-A-

MILLER

for your local

Miller distribu-

tor.

miller_warr 1/98

OM-169 760B − 6/95

TABLE OF CONTENTS

SECTION 1 − SAFETY PRECAUTIONS AND SIGNAL WORDS 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1. General Information And Safety 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2. Safety Alert Symbol And Signal Words 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2 − SPECIFICATIONS 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1. Description 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3 − INSTALLATION 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1. Installation Procedure For C2 Robot Control 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2. Installation Procedure For α Robot Control 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4 − OPERATION 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1. Floppy Disk Write Protection 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2. Inserting Floppy Disk Into Floppy Disk Drive 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3. Ejecting Floppy Disk From Floppy Disk Drive 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4. Procedure For Using Floppy Disk Drive 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5. Precautions For Using Floppy Disk Drive 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6. Initialization Of Floppy Disk 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7. Saving Data To Floppy Disk 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8. Loading Data From Floppy Disk 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9. Verification Of Transfer Data 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-10. Deleting Data From Floppy Disk 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11. Listing Files On Floppy Disk 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 5 − TROUBLESHOOTING 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 6 − ELECTRICAL DIAGRAMS 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 7 − PARTS LIST 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Figure 7-1. Floppy Disk Drive 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

OM-169 760 Page 1

SECTION 1 − SAFETY PRECAUTIONS AND SIGNAL WORDS

1-1. GENERAL INFORMATION AND SAFETY

A. General

Information presented in this manual and on various labels, tags, and plates on the unit pertains to equipment design,

installation, operation, maintenance, and troubleshooting which should be read, understood, and followed for the safe

and effective use of this equipment.

B. Safety

The installation, operation, maintenance, and troubleshooting of robotic equipment requires practices and procedures

which ensure personal safety and the safety of others. Therefore, this equipment is to be installed, operated, and

maintained only by qualified persons in accordance with this manual and all applicable codes such as, but not limited

to, those listed in Section 1 − Safety of the robot Owner’s Manual.

1-2. SAFETY ALERT SYMBOL AND SIGNAL WORDS

The following safety alert symbol and signal words are used throughout this manual to call attention to and identify

different levels of hazard and special instructions.

This safety alert symbol is used with the signal words WARNING and CAUTION to call attention to the safety

statements.

WARNING statements identify procedures or practices which must be followed to avoid serious personal

injury or loss of life.

CAUTION statements identify procedures or practices which must be followed to avoid minor personal injury

or damage to this equipment.

IMPORTANT statements identify special instructions necessary for the most efficient operation of this equipment.

SECTION 2 − SPECIFICATIONS

Table 2-1. Optional Floppy Disk Drive

Item Specification

Input Power Requirement 100/115 Volts AC (Input Power Supply Available From

Interface Kit Receptacle Installed On Robot Control)

Memory Element 3-1/2 in. Floppy Disk, Either 2DD Or 2HD Format*

Operating Temperature Range 41° To 95° F (5° To 35° C)

Temperature Range For Data Retention On

Floppy Disk

−4° To 140° F (−20° To 60° C)

Humidity Range 20% To 80% (Without Condensation)

* 2DD floppy disk format is IBM compatible, but 2HD format is non-IBM compatible.

2-1. DESCRIPTION

The floppy disk drive provides a data storage function for the Robot Control memory by saving or loading and verifying

all files. The floppy disk drive and interface kit together make a dedicated system for use with the Robot Control.

OM-169 760 Page 2

ST-152 592-A

7 in.

(178 mm)

*12-5/16 in.

(313 mm)

*Add 13/16 in. (21 mm) for fuse holder at rear of unit.

2-5/8 in.

(67 mm)

Figure 2-1. Floppy Disk Drive Dimensions

Front View

Rear View

Power Light

Power Switch

Eject Button

Operation Light

Floppy Disk

Slot

Fuse

Power Supply

Cord

Centronics Connector

S-0685

Figure 2-2. Floppy Disk Drive Components

OM-169 760 Page 3

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. KB129527, contact the nearest Factory Authorized Service Station for CPU

board update.

3-1. INSTALLATION PROCEDURE FOR C2 ROBOT CONTROL

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-

ginning 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.

A. Installation Of Floppy Disk Drive Interface Kit

1. Install Interface board onto mounting plate as shown in Figure 3-1.

2. Remove and retain hardware securing rectangular cover plate, located in the upper left-hand portion of cabinet

door, on Robot Control.

IMPORTANT: Position Interface circuit board so that connector FC2 is at right side of circuit board when installed on

inside of Robot Control cabinet door.

OM-169 760 Page 4

ST-161 118

Screw (4)

Lock Washer (4)

Stand-Off (4)

Lock Washer (4)

Screw (4)

Lock Washer (4)

Screw (4)

Flat Connector FC2

Interface

Circuit Board

Mounting Plate Flat Connector FC1

Figure 3-1. Installation Of Interface Board Onto Mounting Plate

ST-161 116

Flat Connector

Interface

Circuit Board

Flat Connector

Robot Control

Centronics

Receptacle

Flat Ribbon

Cable

Multi-Lead Cord

CPU Board

Flat Connector

FC1

FC3

FC2

Figure 3-2. Floppy Disk Drive Interface Kit Installation

3. Open cabinet door, and install mounting plate/Interface board to inside of cabinet door, just to left of rectangular

opening where cover plate was removed in Step 2. Use supplied screws to secure mounting plate to cabinet

door (see Figure 3-2).

OM-169 760 Page 5

4. 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 3-2).

5. Connect remaining end of cord to flat connector FC1 on Interface board installed in Step 3.

6. 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 3-3).

ST-161 114

Flat Connector

Interface

Circuit Board

Centronics

Receptacle

Flat Ribbon

Cable

Screw (2)

From Cover Plate

Dust Cover

Bail Lock

Cabinet

Door

Rear Of

Cabinet Door

FC2

Figure 3-3. Centronics Receptacle Installation

7. Connect remaining end of flat ribbon cable to flat connector FC2 on Interface board (see Figure 3-3).

8. Insert flat ribbon cable through rectangular opening from outside of cabinet door, and use hardware removed in

Step 2 to secure mounting plate to side panel.

9. Remove a cover plate from one of the openings in the lower portion of left side panel.

10. Locate supplied single receptacle, circuit breaker, and mounting plate (see Figure 3-4), and install supplied

cord as follows:

a. Connect friction terminal on black lead to terminal on circuit breaker.

b. Connect friction terminals on supplied jumper lead to remaining terminal on circuit breaker and to brass termi-

nal on receptacle.

c. Connect friction terminal on white lead to silver terminal on receptacle.

d. Connect ring terminal on green lead to green ground screw on receptacle.

11. Insert leads with attached ring terminals on end of cord through square opening from outside cabinet, and use

hardware removed in Step 9 to secure mounting plate to side panel (see Figure 3-4).

12. Connect ring terminals at end of leads as follow:

a. Remove clear plastic cover from terminal block TF1, located just below Constant Voltage Power Supply Unit

Ps1, on rear panel inside Robot Control (see Figure 3-4).

IMPORTANT: Be sure that existing leads are connected to original terminals on terminal block TF1 and ground bus

after connecting leads from receptacle cord.

b. Connect ring terminal on end of black lead to 100 V terminal on TF1 (empty side of jumper link where existing

lead 10 is connected).

c. Connect ring terminal on end of white lead to 0 V terminal on TF1 (empty side of jumper link where existing

lead 11 is connected).

d. Connect ring terminal on end of green grounding lead to ground bus on base of cabinet at rear main input

power transformer.

13. Close and secure Robot Control cabinet door.

OM-169 760 Page 6

ST-800 902

Screw (2) And

Washers From

Cover Plate

Power Supply

Leads

TF1

Ground Bus

Behind Main

Input Transformer

Main Input

Robot Control

Left Side Panel

Cord

Green

Grounding Lead Transformer

Single Receptacle,

Circuit Breaker, And

Mounting Plate

Jumper

Lead

Figure 3-4. 100 Volts AC Receptacle Installation On C2 Robot Control

B. Connections For Floppy Disk Drive (Figure 3-5)

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

cabinet door, and connect plug at one end of cord to receptacle. Use bail locks on receptacle to secure plug (see

Figure 3-5).

IMPORTANT: Whenever Centronics connector is removed from receptacle on Robot Control, 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 3-5).

3. Connect plug on end of power cord to 100 volts ac receptacle installed in lower portion of left side panel.

An optional mounting bracket is supplied with the floppy disk drive to allow securing the unit on top of the cabinet.

1. Install mounting bracket onto bottom of floppy disk drive case (see Figure 3-6). 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-169 760 Page 7

ST-161 115

Centronics

Connector

Floppy

Disk Drive

Input

Power Cord

Interconnecting

Cord

Centronics

Connector

Plug And

Single

Receptacle

Robot

Control

Left Side

Panel

Figure 3-5. Floppy Disk Drive Connections

Floppy Disk

Drive

Bolt Or

Lifting Eye

Mounting

Bracket

Screw (2) And

Lockwasher (2)

Hole In Right

Front Corner Of

Robot Control

Top Cover

ST-152 591-B

Figure 3-6. Optional Mounting Bracket Installation

OM-169 760 Page 8

Cover

Plate

Robot

Control

Interface

Mounting

Plate

Receptacle

Cord

Robot

Control

Ref. ST-801 226

Figure 3-7. Installation Of Interface Mounting Plate

3-2. INSTALLATION PROCEDURE FOR α ROBOT CONTROL

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-

ginning 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.

A. Installation Of Floppy Disk Drive Interface Kit

1. Remove and retain hardware securing rectangular cover plate, located in the upper left-hand portion of cabinet

left side panel, on Robot Control.

2. Install mounting plate/Interface board to left side panel where cover plate was removed in Step 1. Insert recep-

tacle cord through opening and Use supplied screws to secure mounting plate to cabinet side panel (see

Figure 3-7).

3. Locate supplied multi-lead cord with flat connector plugs at each end.

OM-169 760 Page 9

TB16

AC200V

OUTPUT

AC100V

INPUT

T

S

R

AC200V

INPUT

E

Ref. ST-801 226 / Ref. ZU2721

Terminal

Block TB16

Terminal 11

Terminal 10

Ground

Terminal

Multi-Lead

Cord

Flat

Connector

FC1

Robot

Control Flat

Connector

FC3

Figure 3-8. Multi-Lead Cord And 100 Volts AC Receptacle Cord Connections

OM-169 760 Page 10

4. Open cabinet door, and connect one end to flat connector FC3 on CPU board (see Figure 3-8).

5. Connect remaining end of cord to flat connector FC1 on Interface board installed in Step 2.

6. Route receptacle cord to Constant Voltage Power Supply Unit Ps1, and connect ring terminals at end of leads

as follow:

IMPORTANT: Be sure that existing leads are connected to original terminals on terminal block TB16 and ground ter-

minal after connecting leads from receptacle cord.

a. Remove clear plastic cover from terminal block TB16.

b. Connect ring terminal on end of black lead to 100 V terminal 11 on TB16.

c. Connect ring terminal on end of white lead to 0 V terminal 10 on TB16.

d. Connect ring terminal on end of green grounding lead to ground terminal on inside of right side panel above the

breaker switch.

e. Reinstall clear plastic cover on terminal block TB16.

7. Close and secure Robot Control cabinet door.

B. Connections For Floppy Disk Drive

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

interface mounting plate, and connect plug at one end of cord to receptacle. Use bail locks on receptacle to

secure plug (see Figure 3-9).

IMPORTANT: Whenever Centronics connector is removed from receptacle on Robot Control, 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 3-9).

3. Connect plug on end of power cord to 100 volts ac receptacle on interface mounting plate.

Ref. ST-801 266

Interconnecting

Cord

Centronics

Connector

Input Power

Cord

Centronics

Connector

Robot

Control

Floppy Disk

Drive

Figure 3-9. Floppy Disk Drive Connections

OM-169 760 Page 11

SECTION 4 − OPERATION

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.

Top View Bottom View

Write Enable

Write Disable

S-0682

Figure 4-1. Write Protection On Floppy Disk

4-2. INSERTING FLOPPY DISK INTO FLOPPY DISK DRIVE

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.

4-3. EJECTING FLOPPY DISK FROM FLOPPY DISK DRIVE

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.

OM-169 760 Page 12

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.

4-4. PROCEDURE FOR USING FLOPPY DISK DRIVE

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 Teach Pendant keypad during a data transfer operation or a data error may occur.

7. Verify data.

8. If an error message appears on the Teach Pendant display, see Section 5 − Troubleshooting to check the error

code before continuing operation.

OM-169 760 Page 13

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 Teach Pendant 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 transfer operation with a blank

floppy disk.

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 EMERGENC

Y

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 illumin

a-

tion at the servo power warning light(s) on manipulator and the SERVO ON button on the Operation Modu

le

is not illuminated before entering the robot work envelope.

IMPORTANT: See Section 3 − Installation for information about installing and preparing floppy disk drive. A floppy disk

should NOT be inserted into the floppy disk slot prior to energizing floppy disk drive and Robot Control.

To prepare the robot system for floppy disk initialization, proceed as follows:

1. Install floppy disk drive according to instructions in Section 3 − Installation.

2. Place floppy disk drive power switch in the ON position.

OM-169 760 Page 14

3. Place the power switch handle on the Robot Control door in the ON position. The automatic self-diagnosis

mode will appear on the Teach Pendant display, and all the keypad LED’s will illuminate momentarily.

DIAGNOSIS

’92-10-31

11:51

WELCOME TO

MILLER ROBOT CONTROL

MI LLER ELECTRIC Mf g . Co .

START DIAGNOSIS

1,2,3,4,5,

4. Once automatic self-diagnosis is completed, the EPROM software version numbers may appear on the display

if the optional user parameter is set to ON in PARMTER/SYSTEM/DISPLAY VERSION; otherwise, the display

will appear as shown after Step 5.

DIAGNOSIS

’92-10-31

11:51

CONT I NU

WELCOME TO

MILLER ROBOT CONTROL

MAIN : 130 PRM : 010A

I /O : 120 WELD : 013

MCON : 130 LINE : 000

T.B : 040

ROLL UP

5. Press the

F1

key for the CONTINUE function to change to the Teach mode display.

TEACH

SERVO OFF

TEACH EDITFILE ALLOTLOCK >

OM-169 760 Page 15

If the optional user parameter is set to AUTO in PARMTER/SYSTEM/INITIAL MODE, an error code message will

appear on the display indicating servo power is off.

AXIS ML4

AUTO.

SERVO OFF

IMPOSSIBLE TO AUTA50501−0001

SERVO OFF

→ SERVO ON

Press the SERVO ON button on the Operation Module or Teach Pendant and operation begins in Automatic mode.

AUTO.

SERVO ON

TEACH EDI

AUTO. START READY

PUSH START PB .

TFILE ALLOTLOCK >

Press the TEACH button on the Operation Module and the display will appear as shown after Step 6.

6. After completion of the automatic self-diagnosis mode, press the SERVO ON button on the Operation Module

or Teach Pendant and operation can begin in the Teach mode.

AXIS ML4

TEACH

SERVO ON

TEACH EDITFILE ALLOTLOCK >

7. Press the FUNCTION APPLICATION key for additional functions to appear on the display.

PARMTER CHECK MANAGE SYS .SET MEMORY >

OM-169 760 Page 16

8. Press the

F1

key for the PARMTER function.

AXIS ML4

TEACH

SERVO ON

SYSTEM SWI

SELECT TYPE OF PARAMETER

BY FUNCT ION KEY.

TC H WE L D I / O A U T O >

9. Press the

F1

key for the SYSTEM function.

AXIS ML4

TEACH

SERVO ON

EDI T

SYSTEM 1 / 6

>INITIAL MODE TEACH AUTO

AUTO LOCK ON OFF

TEACH LOCK ON OFF

CONTROL METHOD LOCAL REMOT

APPL I CAT ION WELD HANDL

PRG. L IST DISP. NUMBER DATE

ROLL DN ROLL UP >

10. Press the ROLL DN

F4

key or ROLL UP

F5

key to view page 4/6 on the display.

AXIS ML4

TEACH

SERVO ON

EDI T

SYSTEM 4 / 6

>FUNC OF ABSO DATA CHECK

SELECTED UNI TS Met r e I nch

BLOCK OP . HOLD ON OFF

FD FORMAT TYPE 2DD 2HD

D I SPLAY VERS I ON ON OFF

EXT .MEMORY PC FDD

ROLL DN ROLL UP >

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