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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~
OWNERS
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
592A
PRINTED
P4
U
S
A.
~.1
LIMITED
WARRANTY
EFFECTIVE:
AUGUST
6,
1990
This
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
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.
MILLERs
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
MILLERs
breach
of
warranty
or
any
other
duty
with
respect
to
the
quality
of
any
goods,
the
exclusive
remedies
therefore
shall
be.
at
MILLERs
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
Customers
risk
and
expense.
MILLERs
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.
MILLERS
WARRANTIES
DO
NOT
EXTEND
TO,
AND
NO
RESELLER
IS
AUTHORIZED
TO
EXTEND
MILLERS
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
________________________________
ers
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
4OPERATION
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
5TROUBLESHOOTING
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
Owners
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
SO68~3
*12.5/16
in.
(313
mm)
__
o~
________
H
REAR
VIEW
OM-150
577
Page
2
a
SECTION
3
INSTALLATION
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
591A
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
5Troubleshooting
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
3Installation
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
LEDs
will
illuminate
during
the
display
time:
I
HANK
YOU
WAK
E
U
P
WELCOME
TO
M
ILL
ER!
3.
The
next
display
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
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
010010010010010
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
0
0
DEALING
W
I
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
3Installation
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
LEDs
will
illuminate
during
the
display
time:
I
HANK
YOU
WA
K
E
U
P
!
WELCOME
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
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
01001001001
0ol
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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