Miller ROBOT FLOPPY DISK DRIVE (C1, C2 CONTROL) Owner's manual

Miller

March

1992

FORM:

OM-150

577

E

ifective

With

Serial

No.

KC199957

MODEL:

Robot

Floppy

Disk

Drive

And

Robot

Floppy

Disk

Drive

Interface

Kit

flLE

COPY

PETURN

TO

FOLD~T~

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

MUIar

Group

Ltd..

Company

P.O.

Box

1079

Appleton,

WI

54912

USA

Tel.

414.734-9821

ST-152

592A

PRINTED

P4

U

S

A.

~.1

LIMITED

WARRANTY

EFFECTIVE:

AUGUST

6,

1990

This

warranty

supersedes

all

warranties

and

is

exclusive

with

no

other

guarantees

or

warranties

expressed

or

implied.

LIMITED

WARRANTY



Subject

to

the

terms

and

conditions

hereof.

MILLER

Electric

Mfg.

Co.,

Appleton.

Wisconsin

war

rants

to

its

Distributor/Dealer

that

all

new

and

unused

Equipment

furnished

by

MILLER

is

free

from

defect

in

workmanship

and

material

as

of

the

time

and

place

of

delivery

by

MILLER.

No

warranty

is

made

by

MILLER

with

respect

to

engines,

trade

accessories

or

other

items

manufactured

by

others.

Such

engines,

trade

accessories

and

other

items

are

sold

subject

to

the

warranties

of

their

respective

manufacturers,

if

any.

All

engines

are

warrantied

by

their

manufacturer

for

two

years

from

date

of

original

purchase,

except

Deutz

engines

which

have

a

one

year,

2000

hour

warranty.

Except

as

specified

below.

MILLERs

warranty

does

not

apply

to

components

having

normal

useful

life

of

less

than

one

(1)

year,

such

as

spot

welder

tips,

relay

and

contactor

points.

MILLERMATIC

parts

that

come

in

contact

with

the

welding

wire

including

nozzles

and

nozzle

insulators

where

failure

does

not

result

from

defect

in

workmanship

or

material.

MILLER

shall

be

required

to

honor

warranty

claims

on

war

ranted

Equipment

in

the

event

of

failure

resulting

from

a

defect

within

the

following

periods

from

the

date

of

delivery

of

Equipment

to

the

original

user:

1.

Arc

welders,

power

sources,

robots,

and

1

year

components

2.

Load

banks

1

year

3.

Original

main

power

rectifiers

3

years

(labor



1

year

only)

4.

All

welding

guns.

feeder/guns

and

torches

.

90

days

5.

All

other

MILLERMATIC

Feeders

1

year

6.

Replacement

or

repair

parts,

exclusive

of

labor

60

days

7.

Batteries

6

months

_-I

provided

that

MILLER

is

notified

in

writing

within

thirty

(30)

days

of

the

date

of

such

failure.

As

a

matter

of

general

policy

only,

MILLER

may

honor

claims

submitted

by

the

original

user

within

the

foregoing

periods.

In

the

case

of

MILLERs

breach

of

warranty

or

any

other

duty

with

respect

to

the

quality

of

any

goods,

the

exclusive

remedies

therefore

shall

be.

at

MILLERs

option

(1)

repair

or

(2)

replace

ment

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

FOB.

at

a

MILLER

authorized

service

facility,

therefore,

no

compensation

for

transportation

costs

of

any

kind

will

be

allowed.

Upon

receipt

of

notice

of

apparent

defect

or

failure,

MILLER

shall

instruct

the

claimant

on

the

warranty

claim

procedures

to

be

followed.

ANY

EXPRESS

WARRANTY

NOT

PROVIDED

HEREiN

AND

ANY

IMPLIED

WARRANTY,

GUARANTY OR

REPRE

SENTATION

AS

TO

PERFORMANCE,

AND

ANY

REMEDY

FOR

BREACH

OF

CONTRACT

WHICH,

BUT

FOR

THIS

PROVISION,

MIGHT

ARISE

BY

IMPLICATION,

OPERATION

OF

LAW,

CUSTOM

OF

TRADE

OR

COURSE

OF

DEALING,

INCLUDING

ANY

IMPLIED

WARRANTY

OF

MERCHAN

TABILITY

OR

OF

FITNESS

FOR

PARTICULAR

PURPOSE.

WITH

RESPECT

TO

ANY

AND

ALL

EQUIPMENT

FURNISHED

BY

MILLER

IS

EXCLUDED

AND

DISCLAIMED

BY

MILLER.

EXCEPT

AS

EXPRESSLY

PROVIDED

BY

MILLER

IN

WRITING,

MILLER

PRODUCTS

ARE

INTENDED

FOR

ULTIMATE

PURCHASE

BY

COMMERCIAL/INDUSTRIAL

USERS

AND

FOR

OPERATION

BY

PERSONS

TRAINED

AND

EXPERIENCED

IN

THE

USE

AND

MAINTENANCE

OF

WELDING

EQUIPMENT

AND

NOT

FOR

CONSUMERS

OR

CONSUMER

USE.

MILLERS

WARRANTIES

DO

NOT

EXTEND

TO,

AND

NO

RESELLER

IS

AUTHORIZED

TO

EXTEND

MILLERS

WARRANTIES

TO,

ANY

CONSUMER.

I

I

ERRATA

SHEET

May

14,

1992

FORM:

OM-150

577

After

this

manual

was

printed,

refinements

in

equipment

design

occurred.

This

sheet

lists

exceptions

to

data

appearing

later

in

this

manual.

AMEN

DMEN

T

TO

SECTION

7

PARTS

LIST

Amend

Parts

List

as

follows:

Part

Replaced

No.

With

Description

Quantity

23-

.

. .

148

576

..

. .

154

634

. .

CABLE,

floppy

drive

board

to

CPU

1

~First

digit

represents

page

no



digits

following

dash

represent

item

no.

BE

SURE

TO

PROVIDE

MODEL

AND

SERIAL

NUMBER

WHEN

ORDERING

REPLACEMENT

PARTS.

ERRATA

SHEET

May

14,

1992

FORM:

OM-150

577

After

this

manua

was

printed,

refinements

in

equipment

design

occurred.

This

sheet

lists

exceptions

to

data

appearing

later

in

this

manual.

AMEND

Amend

MEN

Parts

T

TO

SECTION

List

as

follows:

7

PARTS

LIST

,~

~

.o~,

Part

Replaced

No.

With

Description

Quantity



23-



..

148

576

..

.

154

634



CABLE,

floppy

drive

board

to

CPU

1

~First

digit

represents

page

no



digits

following

dash

represent

item

no.

BE

SURE

TO

PROVIDE

MODEL

AND

SERIAL

NUMBER

WHEN

ORDERING

REPLACEMENT

PARTS.

OM.150

577.3/92

RECEIVING-HANDLING

Before

unpacking

equipment,

check

carton

for

any

dam-

Use

the

following

spaces

to

record

the

Model

Designa

age

that

may

have

occurred

during

shipment.

File

any

tion

and

Serial

or

Style

Number

of

your

unit.

The

infor

claims

for

loss

or

damage

with

the

delivering

carrier.

mation

is

located

on

the

rating

label

or

nameplate.

Assistance

for

filing

or

settling

claims

may

be

obtained

from

the

distributor

and/or

the

equipment

manufactur-

Model

________________________________

ers

Transportation

Department.

Serial

or

Style

No.

____________________

When

requesting

information

about

this

equipment,

al

ways

provide

the

Model

Designation

and

Serial

or

Style

Date

of

Purchase

_____________________

Number.

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

1

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

(Not

Applicable

For

Individual

Program

Data

Transfer

Operation)

16

4-10.

Individual

Program

Data

Transfer

Operation

(Verification

Procedure

Not

Possible)

16

SECTION

5TROUBLESHOOTING

19

SECTION

6

ELECTRICAL

DIAGRAMS

21

SECTION

7

PARTS

LIST

Figure

7-1.

Floppy

Disk

Drive

22

LIST

OF

CHARTS

AND

TABLES

Table

5-1.

Error

Codes

Prior

To

Or

After

Data

Transfer

19

Table

5-2.

Error

Codes

During

Data

Transfer

20

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

main

tained

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.

a

This

safety

alert

symbol

is

used

with

the

signal

words

WARNING

and

CAUTION

to

call

attention

to

the

safety

statements.

a

WARNING

statements

identify

procedures

or

practices

which

must

be

followed

to

avoid

serious

personal

injury

or

loss

of

life.

a

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

2H0*

Operating

Temperature

Range

410

To

95

F

(5

To

350

C)

Temperature

Range

For

Data

Retention

On

Floppy

Disk

4

To

140

F

(20

To

60

C)

Humidity

Range

20%

To

80%

(Without

Condensation)

Operation

Time

.

Operation

Standard

Memory

Extended

Memory

Save

Data

26sec.

52sec.

Load

Data

26sec.

52sec.

Verify

Data

26

sec.

52

sec.

lnitialization~

102

sec.

102

sec.

*

Save

function

of

entire

memory

data

from

only

one

Robot

Control

is

permitted

on

a

single

floppy

disk.

~

Initialization

is

necessary

before

using

a

new

floppy

disk;

however,

once

initialization

is

performed

on

a

floppy

disk,

it

is

not

necessary

again

unless

using

the

program

copy

function.

CM-i

50 577

Page

1

7

in.

(178

mm)

*Add

13/16

in.

(21

mm)

forfuse

holder

at

rear

of

unit.

Figure

2-1.

Floppy

Disk

Drive

Dimensions

FRONT

VIEW

ST-t52

592-A

Floppy

Disk

Slot

Operation

Light

____.__~

Eject

Button

Power

Light

Power

Switch

Fuse

Power

Supply

Cord

Figure

2-2.

Floppy

Disk

Drive

Components

SO68~3

*12.5/16

in.

(313

mm)

__

o~

________

H

REAR

VIEW

OM-150

577

Page

2

a

SECTION

3

INSTALLATION

OF

FLOPPY

DISK

DRIVE

INTERFACE

KIT

(Figure

3-1)

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

ning

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.

Flat

Connector.

FC2

Interface

Circuit

Board

Flat

Connector

FCI

Multi-Lead

Cord

FIgure

3-1.

Floppy

Disk

Drive

Interface

KIt

InstallatIon

Cpu

Board

Fiat

Connector

FC3

ST.152

588

Flat

Ribbon

Cable

Centronics

Connector

Robot

Control

OM-1

50

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

PC2

is

at

top

of

circuit

board

when

installed

insided

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

panei

(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

I

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.

ST-152

589-A

Flat

Ribbon

Cable

Centronics

Connector

And

Mounting

Plate

Flat

Connector

FC2

Interface

Circuft

Board

Dust

Cover

Robot

Control

Left

Sid.

Panel

Figure

3.2.

Centronlcs

Receptacle

Installation

OM-150

577

Page

4

Single

Receptacle

And

Mounting

Plate

Robot

Control

Left

Side

Panel

Duplex

Receptacle

On

Rear

Panel

Inside

Robot

Control

ST-152

593-A

Figure

3-3.

100

Volts

AC

Receptacle

Installation

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)

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

pane!

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

CentroniCs

Connector

Interconnecting

Cord

ST.152

590

Figure

3-4.

Floppy

Disk

Drive

Connections

Install

Bracket

In

This

Position

To

Hang

Unit

From

Cabinet

Door

Screw

(2)

And

Lockwasher

(2)

Install

Bracket

In

Thls~~~

Unit

Screw

Ar

Door

Opening

ST.152

591A

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.

Install

mounting

bracket

onto

bottom

of

floppy

disk

drive

case

(see

Figure

3-5).

Use

supplied

screws

to

secure

mounting

bracket

to

case.

2.

Either

hang

unit

from

cabinet

door

or

open

door,

place

unit

on

top

of

cabinet

so

that

bracket

sets

on

channel

of

door

opening,

and

close

door.

OM.1

50

577

Page

8

Input

Power

Cord

Centronics

Connector

Plug

And

Single

Receptacle

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.

Write

Enable

_____________________________

Write

Disable

Top

View

Botton

View

S-0682

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.

4-3.

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.

3

P.

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

al/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

IMPORTANT:

See

Section

3Installation

for

in

formation

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.

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:

I

HANK



YOU

WAK

E

U

P

WELCOME

TO

M

ILL

ER!

3.

The

will

be

for

automatic

self-diagnosis

of

the

Robot

Control

functions

and

connections.

The

display

during

self-diagnosis

will

appear

as

shown:

Main

CPU

Software

Version

Number

/

S

E

L

F

DI

AGNOSIS

VO

1

0

1

t

Step

Number

S

E

L

F

D

IAGNOSIS

VO

1

0

10

IMPORTANT:

After

first

turning

on

power

to

the

Robot

Control,

automatic

self-diagnosis

will

follow

the

sequence

of

steps

from

I

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

629

00

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.

4.

Once

automatic

self-diagnosis

is

completed,

the

display

will

appear

as

shown:

SERVO

POWER

IS

OFF

010010010010010

5.

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

CM-I

50

577

Page

9

6.

Press

the

EXTERNAL

MEMORY

key,

and

the

display

will

appear

as

shown:

P000

S000

PREPARE

MT

OPERAT

ION

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

INITIALIZE?

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

(V.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

(N:O),

al/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

DEALING

W

I

H

DA

I

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

IMPORTANT:

If

the

individual

program

transfer

operation

is

to

be

performed,

proceed

to

Section

4-10.

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

will

appear

as

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

displa)~~

and

pressing

the

MODIFY

key

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,

COPYERROR:

I

will

appear

on

the

display.

Press

the

RESETkey,

check

connections

beh,veen

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:

P0~oo

5000

4-7.

SAVING

DATA

TO

FLOPPY

DISK

IMPORTANT:

See

Section

3Installation

for

in

formation

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.

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

after

floppy

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:

I

HANK

YOU

WA

K

E

U

P

!

WELCOME

TO

M

ILL

ER!

c.

The

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

S

E

L

E

DIAGNOSIS

VU

1

0

1

l~

t

Step

Number

S

E

L

F

DIAGNOSIS

VU

1

0

10

IMPORTANT:

After

first

turning

on

power

to

the

Robot

Control,

automatic

seff

-diagnosis

will

follow

the

sequence

of

steps

from

ito

10.

Do

the

absolute

offset

adjustment

if

any

one

of

the

following

alarm

or

error

code

messages

appear

r~n

the

Program

Module

display

before

continuing

the

operation

mode

selection:

1)

Error2

100000

2)Alarm2ll

0000

3)

Error

6280000

4)

Error

62900

00

OM-150

577

Page

11

If

the

DIAGNOSIS

button

is

pressed

on

the

Operation

Module,

the

sequence

of

steps

will

be

from

0

to

&

because

rio

checking

is

done

for

absolute

offset

adjustment.

Checking

absolute

offset

adjustment

is

only

performed

in

automatiO

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

OF

F

01001001001

0ol

0

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

5000

PREPARE

MT

OPERATION

OM-1

50

577

Page

12

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Miller ROBOT FLOPPY DISK DRIVE (C1, C2 CONTROL) Owner's manual

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