Tcfen-154-001 CFD Startup PDF

1309, TCFEN-154-001, 001
CFD CONTROLLER
INSTRUCTION MANUAL
START UP
1st edition
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
Table of Contents
Table of Contents
Chapter 1 Installation and connection

1.1 Basic configuration of robot................................................................................................. 1-1
1.2 Installation of this controller................................................................................................. 1-2

1.2.1 Environment.................................................................................................................... 1-2
1.2.2 Install dimensions of robot controller .............................................................................. 1-2
1.3 Manipulator connection ....................................................................................................... 1-3
1.3.1 Transport and Installation ............................................................................................... 1-3
1.3.2 Connection of CNR01 and CNR04................................................................................. 1-4
1.3.3 Connection of CNR10 (option) ....................................................................................... 1-4
1.4 Teach pendant (TP) connection .......................................................................................... 1-5
1.5 External equipment connection........................................................................................... 1-6
1.6 Primary power and the grounding connection .................................................................... 1-7

1.6.1 Prior to Primary power supply connections .................................................................... 1-7
1.6.2 Assembling the Primary power supply cable.................................................................. 1-7
1.6.3 Connecting the Primary power supply cable .................................................................. 1-8
1.6.4 Grounding ....................................................................................................................... 1-8
1.7 Safety-related signal connections ....................................................................................... 1-9
1.7.1 Sequence board ............................................................................................................. 1-9
1.7.2 Terminal block TBEX1 and TBEX2 ............................................................................... 1-10
1.7.3 Pin layout of the terminal block TBEX1 and TBEX2..................................................... 1-11
1.7.4 Electrical specification of input terminal block .............................................................. 1-14
1.7.5 Electrical specifications of output terminal block .......................................................... 1-14
1.7.6 Connection procedures on input terminal block ........................................................... 1-15
1.7.7 Emergency stop output connection (TBEX2 : 1-2, 3-4)................................................ 1-18
Chapter 2 For robot beginners

2.1 Precautions for safety ......................................................................................................... 2-1
2.2 Two types of teach pendant ................................................................................................ 2-2
2.3 Functions of buttons and switches...................................................................................... 2-3

2.3.1 Operation panel .............................................................................................................. 2-3
2.3.2 Smart TP (Teach Pendant) ............................................................................................. 2-3
2.3.3 Compact TP (Teach Pendant) ........................................................................................ 2-4
Chapter 3 Initial setting with Compact TP (SETUP)

3.1 Setup of the robot................................................................................................................ 3-2
3.1.1 Encoder reset and encoder correction ........................................................................... 3-2
3.2 Setup of the controller ......................................................................................................... 3-6
3.2.1 Display language ............................................................................................................ 3-6
3.2.2 Ethernet (TCP/IP) ........................................................................................................... 3-6
3.2.3 Teach pendant setting (LCD Contrast) ........................................................................... 3-8
1
Table of Contents
Chapter 4 Basic operations using Compact TP (from teaching to playback)

4.1 Power ON/OFF and the manual operation ......................................................................... 4-2
4.1.1 Turning ON the controller power .................................................................................... 4-2
4.1.2 Selecting the mode ......................................................................................................... 4-2
4.1.3 Turning ON the MOTORS .............................................................................................. 4-3
4.1.4 Moving the robot with manual operation ........................................................................ 4-5
4.1.5 Turning OFF the MOTORS............................................................................................. 4-7
4.1.6 Turning OFF the controller power................................................................................... 4-7
4.2 Teaching (programming) ..................................................................................................... 4-8
4.2.1 Basics of the teaching operation .................................................................................... 4-8
4.2.2 How to select a work-program number ........................................................................ 4-12
4.2.3 Try teaching .................................................................................................................. 4-13
4.2.4 Check the content of the teaching (Work program)...................................................... 4-17
4.2.5 Modifying the work-program ......................................................................................... 4-20
4.3 Playback............................................................................................................................ 4-24
4.3.1 Basics of the playback operation.................................................................................. 4-24
4.3.2 How to select the playback mode................................................................................. 4-27
4.3.3 How to slow down the playback speed (Playback speed override) ............................. 4-27
4.3.4 How to playback a work-program (Intenal mode) ........................................................ 4-28
4.3.5 How to playback (External mode)................................................................................. 4-29
Chapter5 Other operations using Compact TP

5.1 File operations ........................................................................................................................... 5-2
5.1.1 Inserting USB memory ...................................................................................................... 5-2
5.1.2 Back up files ...................................................................................................................... 5-3
5.1.3 Restoring all files from backup .......................................................................................... 5-4
5.2 Useful functions ......................................................................................................................... 5-6
5.2.1 Using short-cuts (R code).................................................................................................. 5-6
5.2.2 Manual ON/OFF of general output signal (F1 key) ........................................................... 5-8
5.2.3 Canceling of input signal waiting (F2 key)......................................................................... 5-9
5.2.4 Monitoring various conditions of robot .............................................................................. 5-9
5.2.5 Selecting the operating target (UNIT and MECHANISM) ............................................... 5-12
5.3 Editing POSE file ..................................................................................................................... 5-13
5.3.1 What is POSE file? .......................................................................................................... 5-13
5.3.2 Creating POSE file .......................................................................................................... 5-14
5.3.3 Modifying POSE file......................................................................................................... 5-16
5.3.4 (Reference) Modifying POSE file by numeric input (Smart TP / FD on DESK） ............ 5-16
5.3.5 (Reference) Utilizing POSE variable in robot language .................................................. 5-17
5.3.6 (Reference) Utilizing POSE variable in normal program................................................. 5-17
2
Chapter 1 Installation and connection / 1.1 Basic configuration of robot
Chapter 1 Installation and connection
1.1 Basic configuration of robot

Generally, a "Robot" is a system that includes 1 robot (manipulator) and 1 robot controller. This system is
connected to the customer's peripheral equipments to construct a production system.
A typical configuration and names of the main components of a robot system are shown in the following
picture.
"1.6 Primary power and the grounding connection"

"1.7 Safety-related signal connections"
"1.5 External equipment connection"
Teach pendant (TP)

"1.3 Manipulator connection"
"1.4 Teach pendant
(TP) connection"
Teach pendant is option

Robot body
part. (2 types of teach
Controller pendant and short plug)
"1.2 Installation of this controller"
Basic configuration of a robot
Gear Box
Wrist 1
Arm
Wrist 2
Frame
Base
This figure shows MZ07 series.
Name of each part of a robot body
1-1
Chapter 1 Installation and connection / 1.2 Installation of this controller
1.2 Installation of this controller
1.2.1 Environment
Install the robot controller in a location that satisfies all the following conditions.
(1) A location not exposed to direct sunlight, with an ambient temperature of 0 to 45 degrees Celsius
throughout the year.
(2) A location with an ambient relative humidity of 20 to 80% and no condensation.
(3) A location with minimal amounts of dust, dirt, oily vapors, water, etc.
(4) A location with no flammable or corrosive liquids or gases, etc.
(5) A location where the maximum shock or vibration transmitted to the controller by the operation of other
machines in the area is 0.5 G (4.9 m/sec2) or less.
(6) A location with no major sources of electrical noise (plasma, high frequency power sources, etc.).
1.2.2 Install dimensions of robot controller

(1) When installing the controller, leave a clearance of at least 200 mm between the controller and the wall
behind it in order to ensure proper ventilation inside the robot controller.
(2) Install the controller so that the height from the working floor to the main power switch is between 0.6 m and
1.9 m.
(3) CFD controller itself is not dust-proof and splash-proof structure. To use this controller in the environment of
dusts or mist environment, please add the controller protection box option (CFD-OP133-A).
vent
vent vent
vent
Installation of this controller
1-2
Chapter 1 Installation and connection / 1.3 Manipulator connection
1.3 Manipulator connection
Electric shock may cause serious injury or death.

Wiring work should be done after turning off the primary power supply and circuit breaker
on the controller.
WARNING
1.3.1 Transport and Installation
For the transportation and the installation of the robot,

refer to the instruction manual "MANIPULATOR" for the
concerned robot.
For the transportation, the installation, connection of

primary power supply, the wireharness, and the safety
related signals refer to the following pages.
This manipulator type in just an example.
1-3
Chapter 1 Installation and connection / 1.3 Manipulator connection
1.3.2 Connection of CNR01 and CNR04

Connect each connector and harness correctly with the connectors/harnesses of the same name. Its structure
can prevent from wrong connection, so forcing connectors together will cause damage. Be careful when making
connections.
5 kinds of motor/emcoder harness

(selectable option)
Length Parts No.
2m Z101C-J1-02-A
5m Z101C-J1-05-A
10m Z101C-J1-10-A
15m Z101C-J1-15-A
ENC2 MOTOR2
CNR01 MOTOR1
CNR04 ENC1
Connection of CNR01 and CNR04
1.3.3 Connection of CNR10 (option)

The connector CNR010 on the backside panel of the robot is for application signals.
Connect this referring to the following figure.
I/Oハーネス
I/O harness
Connection of CNR010
For details, refer to the instruction manual "MANIPULATOR"

IMPORTANT
1-4
Chapter 1 Installation and connection / 1.4 Teach pendant (TP) connection
1.4 Teach pendant (TP) connection

Connect the teach pendant (the Compact TP or the Smart TP) to the connector TEACH PENDANT on the
front panel and lock the connector with the screws on the connector.
Compact TP
Smart TP
TP shorting plug
Teach pendant (TP) connection
1-5
Chapter 1 Installation and connection / 1.5 External equipment connection
1.5 External equipment connection

Connect the cable that come out from the CFD controller to the external PLC or the robot etc.
(The number of the cables or the connection destination differs from the specification or the system
configuration etc.)
I/Oハーネス
I/O harness
外部PLCなど
External PLC etc.
Connection to the external devices
1-6
Chapter 1 Installation and connection / 1.6 Primary power and the grounding connection
1.6 Primary power and the grounding connection
1.6.1 Prior to Primary power supply connections
1. Electric shock may cause serious injury or death.

Wiring work should be done after turning off the primary power supply and circuit
breaker on the controller.
WARNING 2. Check that the voltage of the primary power supply tallies with the voltage
specification of the robot controller. The voltage of the robot controller is indicated
near the circuit breaker.
The primary power supply specifications of the robot systems are as follows.
Rating of primary power

Power-handling
Manipulator used in combination Rated voltage
capacity (Note)
3-phase AC200V-230V
MZ07-01 / MZ07P-01 Single-phase AC200V-230V
0.4 kVA
MZ07L-01 / MZ07LP-01 (+10%, -10%)
50/60 Hz
(Note) Varies according to the application and operation pattern.
For the specifications of other manipulators, refer to each standard specification sheet.
When multiple manipulators or external axes are combined, a power capacity equivalent to
the total power of all the machines is required.
IMPORTANT
1.6.2 Assembling the Primary power supply cable

By referring to the following figure, solder the power supply cable to the power supply connector.
Connector pin layout

Seeing from the soldering side
Connection
PIN
No. 3 - phase Single - phase
AC200V AC200V
1 AC200V R-phase (Red) AC200V R-phase (Red)
2 AC200V S-phase (White) -
3 AC200V T-phase (Black) AC200V T-phase (Black)
Applicable cable diameter:
10 – 12.5 [mm] 4 Ground (Green/Yellow) Ground (Green/Yellow)
Connector type
Nanaboshi Electric Mfg.Co.,Ltd.
NJC-204-PF
Primary power supply cable connection
Primary power supply cable specification

Cross-section of Cross-section of
Manipulator used in combination
power cable grounding cable
1.25 mm2 2
MZ07-01 / MZ07P-01 1.25 mm
MZ07L-01 / MZ07LP-01 AWG16 AWG16
1-7
Chapter 1 Installation and connection / 1.6 Primary power and the grounding connection
1.6.3 Connecting the Primary power supply cable

1. Electric shock may cause serious injury or death.
Wiring work should be done after turning OFF the power switch of the robot controller.
And the power distributer (PRIMARY SIDE) panel also should be turned OFF.
WARNING 2. Check that the voltage of the primary power supply tallies with the voltage
specification of the robot controller. The voltage of the robot controller is indicated
near the circuit breaker.
1. An inverter circuit for controlling the AC servo motor is used in this robot controller.In
order to prevent the earth leakage circuit breaker from being tripped in error by the
high-frequency leakage current generated from the inverter circuit, the earth leakage
CAUTION circuit breaker must be designated for inverter use when one is to be used.
2. When installing the earth leakage circuit breaker, use one with rated current 30A or
more and a medium current sensitivity(100 mA or more).
Turn OFF the power of the controller and connect the power supply cable to the connector AC INPUT.
AC200 – 230V
PRIMARY SIDE
Earth leakage circuit

breaker (rated current 30A
or more)
Power connector AC INPUT

POWER SWITCH
Connecting the primary power supply cable
1.6.4 Grounding
To ensure safety, use the grounding method (type D ground)
(The customer is responsible for providing the grounding wires.)
2
Ensure that the robot controller power cable is larger than 1.25 mm , and ground cable is larger than 1.25
2
mm .
Set the ground resistance to less than 100 ohms.
1-8
Chapter 1 Installation and connection / 1.7 Safety-related signal connections
1.7 Safety-related signal connections

In this section, such safety-related signals as the emergency stop signal and safety plug signal will be
connected. Be sure to connect these signals as a safety measure for operators who perform teaching work and
as an emergency stop measure when a fault has occurred.
This controller comes with safety redundancy circuits as a standard feature. Connect a separate pair of signals
each for the external emergency stop input, safety plug input and enable switch input. The controller will not work
properly if any of the separate pairs of signal inputs are mismatched in the safety redundancy circuits.
A safety plug or enable switch is required to perform the teaching work inside the guard
fence. These connections must be performed without fail. If a safety plug is not going to
be used, install a “switch that permits automatic start” outside the guard fence, ensure that
CAUTION it is constructed in such a way that it cannot easily be set to ON in case operators are
working inside the guard fence, and connect its signal to the safety plug input.
1.7.1 Sequence board

The terminals for the safety-related signals are located on TBEX1, TBEX2 on “Sequence board”.
Loosen the screws on the top panel and the front Remove the top panel and the front side cable
side cable drawing panel. drawing panel.
Sequence board
TBEX1 TBEX2
Position of the Sequence board
1-9
1.7.2 Terminal block TBEX1 and TBEX2
TBEX1, TBEX2 on the sequence board
For the signal wire that will be connected to the terminal block, use a bar terminal (end thickness of 1.5 mm
or less) or a PVC wire (thickness 28AWG to 16AWG) with approximately 7 mm of the end peeled off.
1.5 mm or less
Use
先端が a terminal with an end
1.5mm以下の端子を
thickness of 1.5 mm or less.
使用してください。
<棒状端子で接続する場合
<When connecting with a bar>terminal>
Peel back approx. 7 mm from

先端の被覆を約
the end 7mmむくことビニール線
PVC wire
（太さ :28AWG
(Thickness: ～16AWG
28AWG to 16AWG)
）
<ビニール線を接続する場合
<When connecting a PVC wire> >
Signal wires to connect to TBEX1 and TBEX2
1-10
1.7.3 Pin layout of the terminal block TBEX1 and TBEX2
TBEX1 TBEX2
Pin layout of TBEX1 and TBEX2
Terminal block TBEX1 of Sequence board

Pin No Signal name Function Description
16 Teaching enable switch input 2- This is a teach enable switch input terminal.
MATSW2 When not using this terminal, connect jumper
15 Teaching enable switch input 2+
wires as shown below.
14 Teaching enable switch input 1- Connect 13 and 14
MATSW1
13 Teaching enable switch input 1+ Connect 15 and 16
12 Safety plug input 2-
SFP2 This is a safety plug input terminal.
11 Safety plug input 2+
Connect always.
10 Safety plug input 1-
SFP1 Refer to the section 1.7.6.3.
9 Safety plug input 1+
8 G-STOP input 2－ This is G-STOP input terminal.
G_EMG2 When not using this terminal, connect jumper
7 G-STOP input 2＋
wires as shown below.
6 G-STOP input 1－ Connect 5 and 6
G_EMG1
5 G-STOP input 1＋ Connect 7 and 8
4 External emergency stop input 2- This is an external emergency stop input
EX_EMG2 terminal.
3 External emergency stop input 2+ When not using this terminal, connect jumper
2 External emergency stop input 1- wires as shown below.
EX_EMG1 Connect 3 and 4
1 External emergency stop input 1+ Connect 1 and2
When using an external emergency stop button, G-STOP input, safety plug or teach
enable switch, always double-up on connection points.
(E.g.: When an external emergency stop button is used: Pin 1-2 and Pin 3-4)
CAUTION
INFO. “G-STOP” is a function known as a “protective stop” that protects from dangers occurring
in the environment outside of the system when the robot is operating normally.
For details, refer to the section 1.7.6.2.
1-11
Terminal block TBEX2 of Sequence board

Signal
Pin No Function Description
name
10 By supplying external power (DC24V) between the

EX24V and M1 terminals, the emergency stop circuit
M1 Ground can be operated even if the robot controller power is
cut, and ESOUT1 and ESOUT2 can be turned
9 ON/OFF by the status of the emergency stop button.
Switching between internal power use (factory
setting) and external power supply use is done using
8 EX24V External power 24V input a J1 jumper pin.
For details on J1 settings, see the following page.
Terminal for DC24V – 0V power inside the robot

controller. Do not use this terminal outside the robot
7 P1 Internal DC24V controller since this is for the internal use only. Also,
do not use this terminal when other devices are to be
installed.
CPU error output –
6 Dry contact A output terminal to indicate the status of
(dry contact)
CPUERR CPU in the robot controller. It turns ON (the contact is
CPU error output +
5 closed) when the CPU error occurs.
(dry contact)
Emergency stop output 2- Dry contact A output terminal to indicate the status of
4
(dry contact) the emergency stop signal.
ESOUT2
Emergency stop output 2+ When the [EMERGENCY STOP BUTTON] on the
3
(dry contact) operation panel of the controller or the teach pendant
Emergency stop output 1- is pressed, this signal turns OFF (the contact is
2
(dry contact) open).
ESOUT1
Emergency stop output 1+ This output has been designed dual. (The dry contact
1 output has been provided in two individual systems.)
(dry contact)
1-12
Connection example of TBEX1,2 Connection example of TBEX1,2

(DC24V internal power) (DC24V external power)
Do not use the P1 terminal outside the robot controller since this is for the internal use
only.
CAUTION
1-13
1.7.4 Electrical specification of input terminal block
This table shows the power specifications for 1 input signal point.
Electrical specifications of input terminal block

Items Specifications
Input impedance Approx. 3 kΩ
Input voltage DC+24V ±10%
Input current 8mA (typ.)
The following shows the input load (customer prepared) specifications.

Specifications of the load for input circuit (prepared by customer)
Input load (Customer prepared) Specifications Remarks
Minimum applicable load should be
Relay contact The input signals needs
DC24V, 5 mA
to be closed for 150 ms or
Leakage current should be 1 mA or
Open collector device longer.
less.
CFD
Specifications of the load for input circuit (prepared by customer)
1.7.5 Electrical specifications of output terminal block
The following shows the power specifications for 1 output signal point.
Prepare the output load that conforms to these specifications.
Electrical specifications of output terminal block

Items Specifications
Output method Relay contact
Rated voltage AC 100 V or DC 30 V
Rated current 1A
Minimum applicable load DC24V 5mA
5
Min. 10 times (1A,100 V AC, 1A,30 V DC, resistive load, at 20
Electrical expected life
times/min.)
(1) Be absolutely sure to use a surge killer for the load.

(2) Since the value of minimum applicable load depends on the switching frequency,
environment conditions, and expected reliable level, be sure to check with the actual
CAUTION load condition before operation.
(3) Electrical expected value is a reference value in case of using under the conditions
described in parentheses. The value depends on the environmental conditions.
1-14
1.7.6 Connection procedures on input terminal block

1.7.6.1 External emergency stop input (TBEX1: 1-2, 3-4)
As soon as the external emergency stop input signal becomes open under any circumstances whatsoever,
the brake is quickly applied to the robot, and the motor power (servo power) is cut off by the hardware circuits.
Input the emergency stop command from the emergency stop button or host controller. The separate pairs of
signal inputs must perform the same operations. Connect single normally closed contact between terminals 1
and 2 and another one between terminals 3 and 4. Bear in mind that the connections given in following figure
(right side) cannot be performed.
Connection diagram of external emergency stop Example where the external emergency stop
inputs input cannot be performed
1.7.6.2 G-STOP input (TBEX1: 5-6, 7-8)

If the G-STOP input signal becomes open in any situation, the robot immediately brakes, and the magnetic
switch is disconnected. However, unlike with the external emergency stop input, the motor power is not cut.
When the "G-STOP Reset" (input signal) of the assigned signal is switched ON and G-STOP signal closed,
the magnetic switch is automatically closed, and operation restarts.
2 independent input signals are required to do the same operation. Connect both 5-6 and 7-8 terminals to
independent normal close contacts. Please note that connections such as shown in following figure (right side)
cannot be made.
Connections to the light curtain are an ideal example of use. If the worker has interrupted the light curtain,
the robot (only) is stopped with the motor power ON. When the robot has returned to outside of the light curtain,
the servo switches ON automatically, and playback can be continued.
Connection diagram of G-STOP inputs Example where G-STOP input cannot be

performed
1-15
1.7.6.3 Safety plug input (TBEX1: 9-10, 11-12)

The guard fence must have a door for allowing the operators to move in and out. Provide a safety plug to
ensure that the robot will be stopped automatically when the door is opened to ensure that operators will not
enter inside the guard fence without due reason while the robot is operating, and connect the signals of the
plug to the safety plug input on the robot controller. The separate pairs of signal inputs must perform the same
operations.
Bear in mind that the connections given in following figure cannot be performed.
If the safety plug input signal is left open during auto operation, the brake is quickly applied to the robot as
for emergency stop, and the motor power (servo power) is cut off by the hardware circuits. In this case, by
switching to teach mode, operation preparation (servo power) can be supplied once again in safety plug input
signal open status. However, the operation speed is limited to low speed (speed of 250mm/sec or below at tool
end).
Guarding fence
This picture shows an
image of the guarding
fence. The robot and the
controller differ from that
of actual ones.
Manipulator
Limit switch for turning

off the servo power
when the door in the
Welding guard fence is opened
power
source Robot control unit
Safety plug installed on Guard fence door
In playback mode, the servo power cannot be switched ON unless the safety plug input is
ON. Always connect the safety plug.
CAUTION
[Condition of the safety plug input signals that is required for turning ON the motors power]
TEACH mode: When both in opened and closed, motor ON is available.
(The speed is limited to 250 mm/s.)
(If the opened/closed status changes, the motors are turned OFF for the present.)
PLAYBACK mode: Available only in closed state. (The limit of 250 mm/s is not applied.)
Connection diagram of the safety plug inputs Example where the safety plug input cannot be
connected
1-16
1.7.6.4 Teach enable switch input (TBEX1: 13-14, 15-16)

For the enable switch inputs, input a condition allowing robot operation in the teach mode. A mat switch can
be connected, for instance. Short-circuit the terminal block when the enable switch is not going to be used.
Connection diagram of teach enable switch inputs
1.7.6.5 Connections when the robot controller is used by itself

When the robot controller is not going to be connected to an external device but used by itself, perform the
connections shown below. The external emergency stop, G-STOP and teach enable switches are shorted, but
connect the safety plug for detecting that the door of the guard fence has been opened to the safety plug
inputs.
Diagram of connections when the robot controller is to be used by itself
Jumper setting (Initial setting)

Terminal No. to be
Terminal block Remarks
short-circuited
15-16 Enable switch input 2
13-14 Enable switch input 1
7-8 G-STOP input 2
TBEX1
5-6 G-STOP input 1
3-4 External emergency stop input 2
1-2 External emergency stop input 1
1-17
1.7.7 Emergency stop output connection (TBEX2 : 1-2, 3-4)
Internal electrical circuit of Emergency stop output is shown in following figure.
Internal electrical circuit of Emergency stop output
The emergency stop output circuit uses internal power supply of the controller, and when the power supply
of the controller becomes OFF, the emergency stop button output signal becomes OFF too. In the case to use
the emergency stop output even when the power supply of the controller is OFF, supply external power supply
from TBEX2, and change the setting of the above jumper (J1)
In case that emergency stop circuit is used by internal DC24 V (Initial setting)
In case that emergency stop circuit is used by external DC24 V
1-18
Chapter 2 For robot beginners / 2.1 Precautions for safety
Chapter 2 For robot beginners
2.1 Precautions for safety

At first, please read the "Chapter 1 Point on Safety" in the "FD ONCTROLLER INSTRUCTION MANUAL /
SETUP MANUAL" carefully to master the minimum knowledge of the general safety precautions and the
procedures for handling a robot system.
Chapter 1 Point on Safety

Chapter 2 Transportation and Installation
Chapter 3 Connections
Chapter 4 Setup
Chapter 5 Spot welding setup
Chapter 6 Arc welding setup
Chapter 7 Precautions for automatic operation
Chapter 8 Connection to Ethernet
And, robot beginners must read the "Chapter 1 Introduction" in the "FD ONCTROLLER INSTRUCTION
MANUAL / BASIC OPERATIONS MANUAL" carefully to master the basic knowledge e.g. the outline of the robot
operations and the terminologies etc.
Chapter 1 Introduction
Chapter 2 Names and functions of the operation switches and keys
Chapter 3 Turning the power on/off and manual operation
Chapter 4 Teaching
Chapter 5 Auto operation (playback)
Chapter 6 File operations
Chapter 7 Useful functions
Chapter 8 Basic spot welding operations
Chapter 9 Basic arc welding operations
Manipulator operators must only be those who have completed specified training and are
fully aware of safety and functions of the manipulators. Accidents may occur due to
mishandling of the manipulator during operation by those who do not know the correct
CAUTION procedures well.
2-1
Chapter 2 For robot beginners / 2.2 Two types of teach pendant
2.2 Two types of teach pendant

For this robot controller, two teach pendants (Smart TP and the Compact TP) are available as an option and
only either 1 of them can be connected (selecable option). (These 2 teach pendants cannot be used at the same
time.)
2 teach pendants that are available for this robot controller

External view Characteristics
The "Smart TP" can use the all functions of this robot controller.
Smart TP (NOTE: The teach pendant of the FD controller and the Smart TP are not
the same completely.)
The "Compact TP" can perform the basic operation from the teaching to
the playback (automatic operation). However, there are some functions that
are not available on this teach pendant. (e.g. Software PLC edit function
etc.)
And, this teach pendant does not support a part of mandantory operations
like initial setting operations etc. For those operations, please use the PC
software "FD on DESK Light"(for free) instead. If the PC(FD on DESK
Light) is connected to this robot controller, a screen that is the same with
Compact TP that of the Smart TP is displayed on the PC and it becomes possible to
perform the same operations with Smart TP using the PC.
For details of the "FD on DESK Light", refer to its instruction manual.
This is a "TP shorting plug". If a teach pendant is not connected to this

robot controller, this shorting plug must be connected instead of that.
INFO. To connect a PC to this robot controlller using the Ethernet, it is necessary to make
a setting of TCP/IP. For details, refer to "3.2.2 Ethernet (TCP/IP)".
2-2
Chapter 2 For robot beginners / 2.3 Functions of buttons and switches
2.3 Functions of buttons and switches

In this chapter, the functions of the operation panel and the teach pendant buttons/switches/keys are
described. Becasue there are 2 different teach pendants, please read the respective descriptions according to
the teach pendant that is connected to the controller.
2.3.1 Operation panel

On the operation panel, there are [EMERGENCY STOP BUTTON] and [MODE SELECT SWITCH].
[EMERGENCY STOP BUTTON] [MODE SELECT SWITCH]

When this is pressed, the robot is set This is a switch to select the TEACH
to emergency stop. The mode or the PLAYBACK mode.
[EMERGENCY STOP BUTTON] on
the teach pendant has the same (TEACH) (PLAYBACK)
function. To release emergency stop,
turn the button in the direction of the
arrow. (The button will then return to
its original position.)
Operation panel of this robot controller
2.3.2 Smart TP (Teach Pendant)

This teach pendant is almost the same with that of the FD controller excluding the jog dial and the connector
shape. For details, refer to the "Chapter 2 Names and functions of the operation switches and keys" in the "FD
CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
The jog dial click operation can be replaced to [Enter] key.

The jog dial Up/Down scroll operation can be replaced to
cursor key operation (Up/Down).
2-3
2.3.3 Compact TP (Teach Pendant)

On the Compact TP, the operation keys, buttons, switches to create work-programs or to make various
settings are equipped with.
110mm
Sheet keys
Display
Emergency stop
button LED
218.3mm
ENABLE Switch
(Back side)
Operation
keys
Sheet keys
Compact teach pendant (FRONT VIEW)
■LEDs
ON : MOTORS ON and SERVO ON ON : The robot is running.

OFF : MOTORS OFF OFF : The robot is while
BRINK : MOTORS ON but SERVO OFF stopping
ON : Automatic mode ON : A fault happens.

OFF : TEACH MODE OFF : Normal
■Buttons and switches

Functions of the buttons and the switches
External view Name in this document Functions
When this is pressed, the robot is set to emergency
[EMERGENCY STOP stop. To release emergency stop, turn the button in
BUTTON] the direction of the arrow. (The button will then return
to its original position.)
Used to manually operate the robot in teach mode.
Normally, it is provided on the left side only.
When the enable switch is grasped, power is
supplied to the robot (Motor power ON (servo ON)).
[ENABLE SWITCH] The robot can be operated manually only while the
switch is grasped. If an impending danger is sensed,
either release the enable switch or grasp it tightly
until a clicking sound is heard. The robot is set to
emergency stop.
2-4
■Functions of operation keys

Functions of operation keys
The functions are executed by pressing this key
Enable [Enable]
together with other keys.
The motor power is set to ON by pressing this key

M.ON [M.ON]
together with the [Enable] key.
WITH [Enable] key
F1 [F1] The general output signals that are assigned in

advance can be turned ON / OFF by this key.
WITH [Enable] key
F2 [F2] This key is used to perform an "Input signal cancel

operation".
PRESSED ON ITS OWN
MENU DISPLAY
START When this key is pressed, setting menu is displayed.
[START/MENU] WITH [Enable] key
START THE PLAYBACK
MENU
When this key is pressed, the playback operation of
the work program will start.
PRESSED ON ITS OWN
COORDINATE SYSTEM SELECTION
During manual operation, the operating coordinate
system can be selected by this key. Each time this key
INTERP is pressed, the joint coordinates, robot coordinates (or
[INTERP/COORD] user coordinates) or tool coordinates are selected and
COORD
displayed on the LCD screen.
WITH [Enable] key
INTERPOLATION TYPE SELECTION
This key changes the interpolation type of the
recording status.
PRESSED ON ITS OWN

CONTINUOUS / NON-CONTINUOUS
Continuous or non-continuous during a check go or
STOP check back operation is selected. When continuous
[STOP/CONT] operation is selected, the operation of the robot does
CONT. not stop at each step.
WITH [Enable] key
PLAYBACK STOP
The program being played back is stopped.
PRESSED ON ITS OWN

X- X+ RX- RX+
No function
WITH [ENABLE SWITCH]
Y- Y+ RY- RY+ [AXIS OPERATION] AXIS OPERATION
The robot is moved manually. If an auxiliary axis to be
Z- Z+ RZ- RZ+ moved, the operation target is selected ahead of time.
PRESSED ON ITS OWN
No function
WITH [ENABLE SWITCH]
CHECK GO / CHECK BACK
Check When these are pressed together with the [ENABLE
GO [Check GO] SWITCH], the check go or check back operation is
[Check BACK] performed.
Check Normally, the robot is stopped at each recorded
BACK position (step). It is also possible to move the robot
continuously.
Use [STOP / CONT.] to select step or continuous.
PRESSED ON ITS OWN
RECORDING A MOVEMENT COMMAND
During teaching, the movement command is recorded.
This can be used only when the last step in the work
program has been selected.
WITH [Enable] key
OVERWRITING THE MOVEMENT COMMAND
O.W. [O.W./REC] The already recorded movement command is
overwritten by the current recording statuses (position,
REC speed, interpolation type, and accuracy).
O.W. = OVER WRITE
However, the command can be overwritten only when
changes are made to what is recorded for the
movement commands. A movement command cannot
be overwritten by a function command; neither can a
function command be overwritten by another function
command.
2-5
Functions of operation keys

PRESSED ON ITS OWN
INPUT CLEAR or R-CODE INPUT
This clears the input or returns the setting screen to its
original status. It also enables R codes (short-cut
DEL codes) to be input. The function that is to be used can
[DEL/R]
R be called immediately by inputting an R code.
WITH [Enable] key
STEP DELETION
The step now selected (movement command or
function command) is deleted.
PRESSED ON ITS OWN
STEP SELECTION
PROG This is used to select a step specified in the program.
[PROG/STEP]
STEP WITH [Enable] key
WORK PROGRAM SELECTION
This is used to open a specified work-program.
ENTER [ENTER] This enters the menu or numerical input contents.
← → When these keys are pressed, the cursor moves.

[CURSOR]
↓
PRESSED ON ITS OWN

Numerical input ("0"-"9", ",")
Numbers (0 to 9, decimal point) are input.
WITH [Enable] key
[9] INSERTION OF A MOVEMENT COMMAND
The movement command is inserted “Before” the
current step.
WITH [Enable] key
MECHA T.SPD INS [8] MANUAL SPEED CHANGE
7 8 9 The operating speed of the robot during manual
UNIT ACC MOD operation is selected. Each time this key is pressed,
4 5 6 one of the 1 to 5 operating speeds is selected (the
FN BS higher the number, the faster the speed). And the
1 2 3 check go/back speed is changed also.
[Numeric keys] WITH [Enable] key
+(ON) -(OFF) [7] MECHANISM SELECTION
0 . ←
[INS/9] When a multiple number of mechanisms are
[T.SPD/8] connected to the system, the mechanism to be
[MECHA/7] operated manually is selected.
WITH [Enable] key
[MOD/6] [6] STEP POSITION MODIFICATION
[ACC/5] The position stored in the movement command now
[UNIT/4] selected is changed to the current robot position.
[BS/3] WITH [Enable] key
[5] ACCURACY SELECTION
[2]
This is used to change the accuracy setting in the
[FN/1]
recording status.
[+/0] WITH [Enable] key
[-/・] [4] UNIT SELECTION
When a multiple number of units are defined in the
system, the unit to be operated is selected.
WITH [Enable] key
[3] BACK SPACE
The number or character before the cursor position is
deleted.
WITH [Enable] key
[1] FUNCTION
This is used when inputting the function commands.
WITH [Enable] key
[0] "+" input
“+” is input.
WITH [Enable] key
[.] "-" input
“-” is input.
2-6
■The layout of the screen
Current work program and various setting contents are displayed on the LCD screen.
An example of teach mode screen

P 9 9 9 9 U 1 M 1 J S 1 C 1
S 0 0 0 1 1 0 0 0 L N A 1 P T 3 2
^ ^ ^ ^ ^ m m / s
>
1st line: Manual operation related information

Display Description Smart TP / FD on DESK
P9999 Program No. = 9999
U1 UNIT No. = 1
M1 MECHANISM No. = 1
J
Manual operation
coordinate system
LR
J : Joint coordinate system
J
LR: Robot coordinate system LT
LT: Tool coordinate system
Lw: World coordinate system Lw
U*: User coordinate system
U*
Manual operation speed = 1

S1
(Check go/back speed = 1)
Interpolation method of
the "Record status"
JT : JOINT
C1
LN : LIN
C1 : CIR1 CIR1 and CIR2 is displayed as "CIR"
C2 : CIR2
2nd line: Current step data (1st)

S0001 Step No. = 0001
1000 SPEED = 1000 mm/s

Interpolation type of the step
JT:JOINT
LN LN:LIN
C1:CIR1
C2:CIR2 Current step = green
A1 Accuracy = 1
P Pause = ON
T32 Tool No. = 32
2-7
3rd line: Current step data (2nd)

Step position reached

^^^^^ (The all axes has reached their
recorded positions in the step)
The current step cursor turns to yellow
mm/s Speed = 1000 mm/s
4th line: Prompt / Error No.
An example of the axis data monitor

* M E N U * A X I S M O N Ｖ 3 . 0 7
J 1 0 8 0 0 0 0 J 4 0 8 0 0 0 0
J 2 0 8 0 0 0 0 J 5 0 8 0 0 0 0
J 3 0 8 0 0 0 0 J 6 0 8 0 0 0 0
INFO.
For details, refer to "4.2 Teaching".
2-8
Chapter 3 Initial setting with Compact TP / 3.1 Setup of the robot
Chapter 3 Initial setting with Compact TP (SETUP)
"Setup operation" is a preparation work to make the teaching operation becomes possible. This is the
mandatory work for the robot (e.g. the settings of the tool length and the tool mass, I/O connections
and assignment operation to connect the peripheral devices etc.). The operations are described in the
"Chapter 4 Setup" in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL".
Chapter 1 Point on Safety

Chapter 2 Transportation and Installation
Chapter 3 Connections
Chapter 4Setup
Chapter 5 Spot welding setup
Chapter 6 Arc welding setup
Chapter 7 Precautions for automatic operation
Chapter 8 Connection to Ethernet
IMPORTANT
The operation differs from each other depending on the teach pendant that is being used.
There are some operations / functions that are not available on the Compact TP. (Those functions
should be used from the "FD on DESK Light" instead of the teach pendant). For operations that are
described only in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL", please
consider that those functions are not available on the Compact TP.
For Compact TP users

Perform the setup procedures using the Compact TP and the "FD on DESK Light" (PC
application software) by referring to the "Chapter 4 Setup" in the "FD CONTROLLER
INSTRUCTION MANUAL / SETUP MANUAL". Some operations are available also on
the Compact TP. (Those operations are described in this chapter)
For Smart TP users

Perform the setup procedures referring to the "Chapter 4 Setup" in the
"FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL".
3-1
3.1 Setup of the robot
3.1.1 Encoder reset and encoder correction

In the following cases, the encoder reset and the encoder correction is required.
- The robot was replaced with other one.

- The encoder battery in the robot was replaced.
- Encoder related error occurs
- The encoder reference position is incorrect
For other cases, it is not necessary to execute the encoder reset and the encoder correction. If those
operations are performed carelessly or in wrong way, the work programs in the robot controller may not be
able to run correctly because the each axis's reference position changes.
The encoder reset is an operation to initialize the encoder unit itself. And the encoder correction is an
operation to determine the reference position of each axis. Both of these operations are very important
operations to make the robot work correctly.
When performing the encoder correction, these 2 points are important.
(1) This operation must be done with the actual all loads (tools and additional
loads on the arm) must be installed in advance.
(2) This operation must be done before starting the teaching operations
(programming).
IMPORTANT
If the encoder correction is performed after making the teaching programs, it may become
impossible to run the work programs correctly because the reference position of each axis
may shift.
This work includes some jobs that should be conducted with the motors ON. Consequently,
be sure to conduct the work at least by a pair of two persons. One person must stay on
guard to press an Emergency Stop button at any time, while the other person must
promptly finish the work with thorough attention paid to the robot operating area.
WARNING Furthermore, prior to starting the work, check for safe corridors. If this procedure is omitted,
operator may be caught or sandwiched by the robot parts, possibly resulting in death or
serious injury.
3-2
Chapter 3 Initial setting with Compact TP ／ 3.1Setup of the robot
Encoder reset
1 Select the TEACH mode.
And lock the [EMERGENCY STOP BUTTON].
START 2 Open the [START / MENU] - <ROBOT> menu.

In this screen, the encoder correction and the encoder reset can be selected.
MENU * M E N U * Ｖ 3 . 0 7
< E N C R E S E T >
ENTER E N C C O R R E
＞
3 Set the cursor to "ENCRESET" and press [ENTER].

ENTER >> "ENCRESET" setting screen is displayed.
↑ ↓ * M E N U * E N C R E S E T Ｖ 3 . 0 7
J C U R P O S o R E S E T
< 1 0 8 0 0 0 0 >
>
+(ON) 4 Select the target axis with cursor keys (up/down) and press [Enable] + [+ / 0].
Enable ＋ 0 >> "o" mark is attatched to the selected axis.
* M E N U * E N C R E S E T Ｖ 3 . 0 7
-(OFF) < 3 0 8 0 0 0 0 > o
Enable ＋ . >
To detach the "o" mark, press [Enable] + [- / .]
5 After confirming the axis name that is to be resetted, press [ENTER].

ENTER >> A confirmation messge is displayed.
* M E N U * E N C R E S E T Ｖ 3 . 0 7
< 3 0 8 0 0 0 0 > o
> [ 1 ] E X E C U T E [ R ] C A N C E L
FN 6 If the [FN / 1] is pressed, the encoder reset will be executed.

1 >>If the encoder reset is executed successfully, the screen will return to prompt
display.
After completing the encoder reset, proceed with the encoder correction.
INFO. When executing the encoder reset, the error status bits and the multi rotation number
memory in the encoder will be cleared.
3-3
Encoder correction (Position record)

There are 2 ways for the encoder correction operation. The 1st one is "Position record" and
the 2nd one is "Data input". In the Compact TP, only the "Position record" operation is
available.
If the encoder correction operation based on the "Data input" is necessary, Smart TP is
necessary.
IMPORTANT Position The current mechical position is regarded as the encoder reference position
record (0 degree position) and the encoder correction value will be re-calculated
(adjusted) by the robot controller.
Data input The encoder correction values are to be inputted manually by the operator.
1 Turn the MOTORS ON in the TEACH mode.

2 Move the target axis to its mechanical reference position (center position) with
manual operation.
(Manual speed 2 or 3 is recommended)
To make the mechanical reference position, zeroing pins and zeroing blocks are necessary.
The mechanical reference positions differ from each other depending on the robot type.
For details, refer to the respective instruction manuals of the robot.
IMPORTANT
In this picture, the all axes

are in their own mechanical
reference positions.
Mechanical reference position (in case of MZ07 series)
3 Press the [EMERGENCY STOP BUTTON].
4 Set the cursor to "ENCCORRE" and press [ENTER].

ENTER * M E N U * Ｖ 3 . 0 7
↑ ↓ E N C R E S E T
< E N C C O R R E >
＞
>> "ENCCORRE" setting menu is displayed.
* M E N U * E N C C O R R E Ｖ 3 . 0 7
J C O R R V A L C U R P O S
< 1 0 7 F 8 3 0 > 0 7 F F 9 C
>
(This is just an example screen.)
3-4
Chapter 3 Initial setting with Compact TP ／ 3.1Setup of the robot
5 After checking that the axis is in the mechianical reference position (using the
ENTER zeroing pin and the zeroing block), set the cursor to the concerned axis and
↑ ↓ press [ENTER].
>> The encoder correction value is re-calculated so that the current position turns to
the encoder reference position.
* M E N U * E N C C O R R E Ｖ 3 . 0 7
< 1 0 7 F 8 9 4 > 0 7 F F 9 C
>
6 Press the [ENTER] key.

ENTER >>The prompt display changes like the following picture.
* M E N U * E N C C O R R E Ｖ 3 . 0 7
< 1 0 7 F 8 9 4 > 0 7 F F 9 C
> [ 1 ] E X E C U T E [ R ] C A N C E L
FN 7 Press [FN / 1]. The new encoder correction value will be saved to the internal
1 memory.
>> If the save operation has been finished successfully, the screen will return to prompt
display.
As for the robot using “Zeroing pin and block”, check to be sure that the zeroing pin has
been removed and then operate the robot. Note that operating the robot with the zeroing
pin inserted may bend the pin or deform the hole for this pin, thus disabling proper
CAUTION positioning of the zeroing pin.
- When executing the encoder correction, the current mechanical position is registered as
the encoder reference position (that means the encoder correction value for the axis is
re-calculated so that the position becomes the encoder center position).
INFO. - If the encoder correction is executed at the position except for the mechanical reference
position (that is determined via the zeroing pin or zeroing block), the robot cannot move
correctly. For example, even if the robot tries to move to the following position, it will move to
the incorrect position when the encoder reference position is incorrect.
(J1, J2, J3, J4, J5, J6) = (0, 90, 0, 0, 0, 0)
現在値現在値
CURRENT POSITION CURRENT POSITION
80000 HEX
7FF9C HEX エンコーダ補正値 7FF9C HEX エンコーダ補正値
ENCODER CORRECTION VALUE ENCODER CORRECTION VALUE
= 7F830 HEX = 7F894 HEX
0076C HEX 0076C HEX
エンコーダ値エンコーダ値
ENCODER ENCODER
- 機械基準位置
MECHANICAL
+ VALUE
- 機械基準位置
MECHANICAL
+ VALUE
REFERENCE POINT REFERENCE POINT

0076C + 7F830 = 7FF9C [HEX]
0076C + 7F830 = 7FF9C [HEX] 0076C + 7F894 = 80000 [HEX]
エンコーダ補正前エンコーダ補正後
BEFORE THE ENCODER CORRECTION AFTER THE ENCODER CORRECTION
* M E N U * E N C C O R R E Ｖ 3 . 0 7 * M E N U * E N C C O R R E Ｖ 3 . 0 7
J C O R R V A L C U R P O S J C O R R V A L C U R P O S
< 1 0 7 F 8 3 0 > 0 7 F F 9 C < 1 0 7 F 8 9 4 > 0 8 0 0 0 0
> >
3-5
Chapter 3 Initial setting with Compact TP ／ 3.2Setup of the
3.2 Setup of the controller
3.2.1 Display language

START 1 Open [START / MENU] - <SETTINGS> - <LANGUAGE> menu.
* M E N U * Ｖ 3 . 0 7
MENU T C P / I P F I L E
↑ ↓ ← → ＜ L A N G U A G E ＞ T P
＞
ENTER
>> "LANGUAGE" setting screen is displayed.
* M E N U * L A N G U A G E Ｖ 3 . 0 7
＜ E n g l i s h ＞ J a p a n e s e
G e r m a n I t a l i a n
> ［ 1 ］ W r i t e ［ R ］ R E T U R N
↑ ↓ ← → 2 Set the cursor to the desired language and press [ENTER].

>> The selected language is surrounded by < >.
ENTER English → Japanese → German → Italian → Chinese →
Spanish → Korean (7 languages)
* M E N U * L A N G U A G E Ｖ 3 . 0 7
＜ C h i n e s e ＞ S p a n i s h
K o r e a n
> ［ 1 ］ W r i t e ［ R ］ R E T U R N
Japanese is displayed in KATAKANA.

Chinese is displayed in Pin-yin.
And the other all languages are displayed in English.
FN 3 When [FN / 1] key is pressed, the language is determined.

1 >> The screen returns to prompt display.
3.2.2 Ethernet (TCP/IP)
Ethernet cable
(Cross cable)
When using "FD on DESK Light", make the settings for the TCP/IP.
For details, please refer to "Chapter 8 Connection to Ethernet" in the "FD CONTROLLER INSTRUCTION
MANUAL / SETUP MANUAL".
3-6
START 1 Open [START / MENU] - <SETTINGS> - <TCP/IP> menu.

>> "TCP/IP" setting screen is displayed.
MENU * M E N U * T C P / I P Ｖ 3 . 0 7
↑ ↓ ← → ＜ I P A d d r e s ＞ 0 0 0 . 0 0 0 . 0
S u b M a s k 0 0 0 . 0 0 0 . 0
ENTER > ［ 1 ］ E X E C U T E [ 2 ] R E T U R N
2 Set the cursor to "IP Address" and press [ENTER].

ENTER >> "I1" is displayed at the prompt.
↑ ↓ * M E N U * T C P / I P Ｖ 3 . 0 7
＜ I P A d d r e s ＞ 0 0 0 . 0 0 0 . 0
S u b M a s k 0 0 0 . 0 0 0 . 0
> I 1
3 Input the 1st byte of the IP address (0-255) using the numeric keys and press
[ENTER]. (Now, "192" is inputted)
>> "I1 192" is displayed at the prompt.
* M E N U * T C P / I P Ｖ 3 . 0 7
＜ I P A d d r e s ＞ 0 0 0 . 0 0 0 . 0
S u b M a s k 0 0 0 . 0 0 0 . 0
> I 1 1 9 2
4 Press [ENTER].
* M E N U * T C P / I P Ｖ 3 . 0 7
＜ I P A d d r e s ＞ 0 0 0 . 0 0 0 . 0
S u b M a s k 0 0 0 . 0 0 0 . 0
> I 2
5 Repeat 3 and 4 to input to the 4th byte and press [ENTER].

ENTER >> The inputted address is displayed as "IPAddress".
* M E N U * T C P / I P Ｖ 3 . 0 7
＜ I P A d d r e s ＞ 1 9 2 . 0 3 1 . 0
S u b M a s k 0 0 0 . 0 0 0 . 0
> ［ 1 ］ E X E C U T E [ 2 ] R E T U R N
6 Set the cursor to the "SubMask(Sub net mask)" and press [ENTER].
↑ ↓ * M E N U * T C P / I P Ｖ 3 . 0 7
I P A d d r e s 1 9 2 . 0 3 1 . 0
＜ S u b M a s k ＞ 0 0 0 . 0 0 0 . 0
> I 1
7 Input the 1st – 4th byte in the same way with the IP address and press [ENTER].
ENTER >> The inputted values are displayed at the "SubMask".
* M E N U * T C P / I P Ｖ 3 . 0 7
I P A d d r e s 1 9 2 . 0 3 1 . 0
＜ S u b M a s k ＞ 2 5 5 . 2 5 5 . 2
> ［ 1 ］ E X E C U T E [ 2 ] R E T U R N
→ 8 Press right cursor key.

>> The setting value of the cursor position is displayed in scroll.
* M E N U * T C P / I P Ｖ 3 . 0 7
I P A d d r e s 1 9 2 . 0 3 1 . 0
＜ S u b M a s k ＞ 5 . 2 5 5 . 0 0 0
> ［ 1 ］ E X E C U T E [ 2 ] R E T U R N
FN 9 Press [FN / 1]. A message like the following screen will be displayed.
1 * M E N U * T C P / I P Ｖ 3 . 0 7
I P A d d r e s 1 9 2 . 0 3 1 . 0
＜ S u b M a s k ＞ 5 . 2 5 5 . 0 0 0
> P l e a s e P o w e r O f f
To enable the settings, turn OFF the controller main power.
3-7
A setting example is shown below.
PC side settings
IP Address 192 168 1 1
SubMask 255 255 255 0
INFO.
CFD side settings
Input prompt name I1 I2 I3 I4
IP Address 192 168 1 2
SubMask 255 255 255 0
In this example, both the PC and the CFD belong to the identical network (address =
192.168.1.0）.
3.2.3 Teach pendant setting (LCD Contrast)

It is possible to change the Compact TP's LCD contrast. Normally, it is not necessary to change the factory
setting.
START 1 Open [START / MENU] - <SETTINGS> - <TP> menu.

>> "TP" setting screen is displayed.
MENU * M E N U * T P Ｖ 3 . 0 7
↑ ↓ ← → < C O N T R A S T > 0 4
ENTER >
2 Set the cursor to "CONTRAST" and press [ENTER].

>> "C" is displayed at the prompt.
* M E N U * T P Ｖ 3 . 0 7
< C O N T R A S T > 0 4
> C
3 Input the desired contrast using the numeric keys (from 0:Dark to 7:Light) and
press [ENTER]
>> The contrast setting is changed.
* M E N U * T P Ｖ 3 . 0 7
< C O N T R A S T > 0 2
>
3-8
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.1 Power ON/OFF and the manual operation
Chapter 4 Basic operations using Compact TP

(from teaching to playback)
"Basic operation" refers to the basic operations related to the teaching (manual operation and
programming) and the playback (automatic operation). And those operations are described in the Chapter
3, 4, and 5 in the "FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
Chapter 4 Teaching
IMPORTANT
The operation differs from each other depending on the teach pendant that is being used.
There are some operations / functions that are not available on the Compact TP. (Those functions should
be used from the "FD on DESK Light" instead of the teach pendant). For operations that are described only
in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL", please consider that those
functions are not available on the Compact TP.

Refer to this chapter.
And, when using this Compact TP and the "FD on DESK Light" (PC application software)
together, it is possible to perform the same operation with the Smart TP.
For those operations, referr to the Chapter 3, 4, and 5 in the
"FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
For Smart TP users

Perform the operations referring to the Chapter 3, 4, and 5 in the
"FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
4-1
4.1 Power ON/OFF and the manual operation

To use the robot, turn the controller power ON at first.
Before turning ON the controller power, do not forget t close the cover of the controller.
When touching the power supply parts and an electric shock occurs, death or serious
injury may occur.
DANGER
4.1.1 Turning ON the controller power

1 Turn the power switch ON.
Power switch
ON
>> The software version will be displayed on the Compact TP.

Ｖ 3 . 0 7
S T A R T I N G
>> After completing the initial diagnosis, the following screen will be displayed.
(This is an example of TEACH mode.)
P 0 0 0 1 U 1 M 1 J S 1 L N
S 0 0 0 0 [ S T A R T ]
>
4.1.2 Selecting the mode

In this robot controller, there are TEACH mode to make work-programs and the PLAYBACK mode to run the
work-programs automatically. The mode selection can be done using the [MODE SELECTOR SWITCH] on
the operation panel of the controller front side.
Mode Switch LED on the TP
TEACH
AUTO lamp : OFF
PLAYBACK
AUTO lamp: ON
Because the explanations for the manual operations and the teaching operation will start from the next page,
please select the TEACH mode now.
POINT If the key in the switch is pulled out, it becomes impossible to change the mode.
4-2
4.1.3 Turning ON the MOTORS

To move the robot, it is necessary to turn the MOTORS ON. If the robot does not need to move, it is not
necessary to turn the MOTORS ON.
Before turning ON the MOTORS, please be sure to confirm that there are no persons
around the robot. If the robot moves suddenly and those persons are hit or sandwiched, it
may cause death or serious injury.
DANGER
How to turn the MOTORS ON (TEACH mode)

2 Press [Enable] + [M.ON].

Enable ＋ M.ON >> The LED of the [M.ON] key will lit to show that the MOTORS are ON. (But the
servo power is still OFF)
M.ON
3 Grasp the [ENABLE SWITCH] on the backside of the teach pendant.

>> The [M.ON] lamp on the TEACH pendant will lit to show that the servo power is
ON. While grasping the [ENABLE SWITCH], the servo power is supplied to the
motors and it is possible to move the robot using the axis operation keys.
Now it is ready to move the robot.
About the [ENABLE SWITCH] operation

- In the TEACH mode, the [ENABLE SWITCH] must be grasped to move the robot. (In the
PLAYBACK mode, the [ENABLE SWITCH] is not used)
- If the [ENABLE SWITCH] is released, the servo power is turned OFF and the robot will
stop immediately. When grasping the [ENABLE SWITCH], the servo power will be turned
ON again.
POINT - Also when grasping the [ENABLE SWITCH] strongly, the servo power will be turned OFF
and the robot will stop immediately.
- If the [EMERGENCY STOP BUTTON] is pressed or the "External emergency stop signal"
is inputted while the robot is being operated, the servo ON/OFF operation using the
[ENABLE SWITCH] will become impossible. In this case, perform the operations of 2 to 3
again after releasing the [EMERGENCY STOP BUTTON] and the "External emergency
stop signal".
When the robot cannot be operated (I2103 is displayed)
- The [EMERGENCY STOP BUTTON] is locked.

-> Turn the [EMERGENCY STOP BUTTON] right to release.
INFO.
- The [Emergency Stop] of the fixed input signal (Normal Close) is OFF.
-> The external devices that are connected to the TBEX1 EX_EMG terminals on the
sequence board are not ready yet. Turn the signal ON by completing the preparation of
them. And, if this signal is not used, please jumper the signals.
(See "1.7 Safety-related signal connections")
4-3
How to turn the MOTORS ON (PLAYBACK mode)

1 Select the PLAYBACK mode.

Enable ＋ M.ON >> The LED of the [M.ON] key and the [M.ON] lamp on the TEACH pendant will lit to
show that the MOTORS (and the servo power) are ON. Now it is ready to start
(playback) the selected work-program anytime.
M.ON
[ENABLE SWITCH] operation is not necessary

POINT In the PLAYBACK mode, when executing the MOTRS ON operation, the servo power is
automatically turned ON. The [ENABLE SWITCH] (the switch on the backside of the teach
pendant) is not used.
When the robot cannot be operated (I2111 is displayed)

INFO. - The "Motors ON/START selection source" is "External".
-> To turn the Motors ON or to start the work-program using the teach pendant, this
setting must be "Internal". Set this setting parameter to "Internal" by entering the shortcut
command of [R] [5] [Enter] [0] [Enter].
4-4
4.1.4 Moving the robot with manual operation

In this section, let's move the robot actually.
Before the operation, please select the "Manual operation speed" and the "Manual operation
coordinate system".
How to select the manual operation speed

INTERP
COORD
By this key, it is possible to select the manual operation speed. 1 is the slowest, and 5 is the fastest.
S 1 L N S 2 L N S 5 L N S 1 L N
→ → ..... → →
- Speed 1 is very slow. Please be sure that it is difficult to see the robot is moving.
- Even in case of the fastest speed (5), the TCP speed is limited to 250 mm/s at maximum.
POINT - By this operation, the manual operation speed and the check go/back speed are
changed at the same time. If the robot speed is slow while performing the check go / back
operation, please try to select "5" for the manual operation speed.
How to select the manual operation coordinate system

INTERP
COORD
By this key, it is possible to select the manual operation coordinate system (direction of the robot movement).
U 1 M 1 J U 1 M 1 L R U 1 M 1 L T
[ S T A R T ] [ S T A R T ] [ S T A R T ]
→ → → ....
Coordinate system Compact TP Smart TP How the robot moves

Each axis (joint) of the robot will move independently.
Joint coordinate system J
This is a rectangular coordinate system based on the

Machine coordinate system robot's base unit. X is forward / backward, Y is left /
LR
(Robot coordinate system) right, and the Z is up / down.
Tool coordinate system LT robot's current tool number (TCP: Tool Center Point).

World coordinate system Lw ground (floor) where the robot is installed. Normally,
this is the same with the machine coordinate system
This is a ractangular coordinate system defined by
User coordinate system U* customer. (* is the user coordinate system No.)
- When using the "LT", the robot will move based on the current tool number (1- 32). To
change the current tool number, please use the shortcut command R29.
- To use the User coordinate system, it is necessary to define the coordinate system by
POINT making 3 points (movement commands) in a work-program in advance. To define a user
coordinate system, the Smart TP or the FD on DESK Light is necessary. (The menu is
<Service Utilities> - [10 User Coord. Definition]) The Compact TP cannot be used for the
User Coordinate system definition.
How to select the UNIT and the MECHANISM

In a normal robot system, it is not necessary to select the UNIT number and the MECCHANISM number for
the manual operation.
For details, refer to "5.2.5 Selecting the operating target (UNIT and MECHANISM)".
4-5
Movement direction in the "Joint coordinate system(J)"
Z+
The robot arm will go up/down

(J3 axis motion)
U 1 M 1 J
The robot arm will go forward /
backward (J2 axis motion)
Y+
Z- Y-
The robot frame will rotate

left / right (J1 axis motion)
X+ X-
The wrist unit will rotate from

its root (J4 axis motion)
RX-
The wrist will go up/down

(J5 axis motion) RY+
The wrist flange will rotate RZ-

(J6 axis motion) RX+
RZ+ RY-
Movement direction in the "Machine coordinate system (Robot coordinate system) (LR)"
The TCP will move along the Z axis of

the Machine coordinate system.
Z+
The TCP will move along X- U 1 M 1 L R

the Y axis of the Machine Y-
coordinate system.
The TCP will move along

the X axis of the Machine X+ Y+
coordinate system.
Z- +Z
Machine coordinate system
+X +Y
The robot will rotate along the Z

axis keeping the TCP position. RZ-
RZ+
RX-
The robot will rotate along the X axis RY-

keeping the TCP position. RX+ The robot will rotate along the Y
RY+
axis keeping the TCP position.
4-6
Manual operation
2 Press the [Enable] + [M.ON].

Enable ＋ M.ON >> The MOTORS get ready to move the robot.
3 Press [Enable] + [T.SPD / 8] to change the manual operation speed.

T.SPD
Enable ＋ 8 P 0 0 0 1 U 1 M 1 J S 5 L N
S 0 0 0 0 [ S T A R T ]
>
INTERP 4 Press [INTERP / COORD] to change the manual operation coordinate system.
COORD
P 0 0 0 1 U 1 M 1 J S 5 L N
S 0 0 0 0 [ S T A R T ]
>
5 Grasp the [ENABLE SWITCH].

>> While grasping the [ENABLE SWITCH], the servo power is supplied to the motors
and it is possible to move the robot using the axis operation keys.
X- X+ RX- RX+ 6 Press the [AXIS OPERATION KEYS].

>> The robot will move based on the selected coordinate system.
Y- Y+ RY- RY+
Z- Z+ RZ- RZ+
4.1.5 Turning OFF the MOTORS

To turn OFF the MOTORS (Servo powers) in spite of the operation mode (TEACH or PLAYBACK), press the
[EMERGENCY STOP BUTTON].
1 Press the [EMERGENCY STOP BUTTON] on the teach pendant or the
controller's operation panel.
>> The MOTORS (and the servo powers) are turned OFF. If the robot is moving, it will
stop immediately.
2 The [EMERGENCY STOP BUTTON] will be locked. To turn the MOTORS ON,
please release the button. To release the button, please turn it right (arrow
direction).
4.1.6 Turning OFF the controller power

To stop using the robot, turn OFF the controller power.
1 Check that the robot is not moving.
2 Turn OFF the controller power.
Power switch OFF
4-7
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.2 Teaching
4.2 Teaching (programming)
4.2.1 Basics of the teaching operation

■ Teaching procedure
Preparations prior to Teaching is performed in the TEACH mode.
teaching
2 Input the number of the work-program.
4.2.2 How to select a Input the number of the work-program to be created.
work-program number Any number from 0 to 9999 can be input.
Record the movement commands (positions to which the robot is to

3
move and postures).
- Move the robot to the record position and posture by manual
operation.
- Press [O.W / REC] to record the step (movement command).
- Record the steps (movement commands) in sequence by
repeating this process.
Teaching
4 If necessary, record the function commands.
4.2.3 Try teaching Record the function commands in the appropriate steps. If
function commands are recorded, signals can be output to an
external device (FN105) or the robot can be made to stand by
(FN525).
Record the end command (function command END <FN92>) that

5
shows the program end.
Checking of contents 6 Check the teaching contents.

Move in numerical order through the recorded steps and check
4.2.4 Check the the recorded positions and postures.
content of the teaching
Modify 7 Revise the teaching contents if necessary

Change the recorded points, add or delete steps, etc.
4.2.5 Modifying the
work-program
■ "Work-program" and "Step"

"Work-program" is a unit of one work. And in this controller, it is possible to record plural work-programs in the
internal memory. The work-programs are managed using the program number and those numbers can be set
freely. By switching the work-program number, the robot can do various work.
"Step" is one command. And plural steps will be recorded in a work-program. The steps are managed using
the step number and the step number increases automatically every time a new step is recorded in the program.
There 2 types of the "Step". The 1st one is "Movement command" and the 2nd one is "Function command".
The "Movement command" is a command to move the robot. Not only position information, but also speed,
interpolation type, accuracy, etc. that are necessary to move the robot are recorded in a step.
P 9 9 9 9 U 1 M 1 J S 5 L N
S 0 0 0 1 1 2 0 0 L N A 1 T 1
m m / s
> Step 1 is a movement command with 1200mm/s speed.
The "Function command" is a command to make the robot execute various functions. For example, output
signal can be turned ON/OFF to drive the gripper hand etc. Function commands do not include position data like
the movement command.
P 9 9 9 9 U 1 M 1 L R S 4 L N
S 0 0 1 1 S E T [ O 1 0 0 ]
> Step 11 is a function command "SET".
When running (playing back) a work-program, the robot will execute the steps one by one from the current step.
It is also possible to change the order of steps to be executed freely by using the function commands.
4-8
■ Screen display and the content of a MOVEMENT command
Compact TP display example

3 4 5 6 7
1
Ｐ 9 9 9 9 U 1 M 1 J S 1 J T
S 0 0 0 2 5 0 0 J T A 4 P T 3 2
2 m m / s D 3 S 3
>
8 9
1: This is the current work-program number.
2: This is the current step number.
3: This is the speed of this step. 4 types of units can be selected. (The example is "500mm/sec")
Unit Description
mm/s This is the TCP movement speed.
If the interpolation type is "LN", "C1", or "C2", this unit should be used.
% This is the percentage compared to the robot's maximum performance (100%).
If the interpolation type is "JT", this unit should be used.
The speed of the current step (selected step) can be changed using the shortcut command R12.
(Input range)
In case of [mm/s] 1 to 5000 [mm/s]
In case of [%] 1 to 100 [%]
4: The interpolation type (shape of the TCP motion path) towards this step. There are 3 types.
Interpolation
Display Path of tool tip movement
type
JT
Since each axis moves
Joint
JT independently, the path of the tool JT
interpolation JT
tip is not a straight line.
If the next step (target step) LN
Linear involves linear interpolation, the tool
LN JT
interpolation tip moves in a straight line that TCPは直線で動きます
TCP will move linearly. JT
connects the steps.
JT
If the target step and the step that C2
C2
C1 follows involve circular
Circular
interpolation, the tool tip moves
interpolation C2 along an arc. (The C1 is the middle C2
point and the C2 is the end point) C1
5: This is the positioning accuracy at this step. (A1～A8)
This refers to the degree to which the path along which 内回り距離記録点
the tool moves as it passes through the recorded point Shortcut distance Recorded point
of each step describes an arc on the inside of the A1 小
Small
recorded point. A1 to A8 can be specified as this
degree. When A1 is specified, the tool tip will pass :
through the recorded point. When A2 or above is
specified, the time required for playback is reduced
A8 大
depending on how far the tool passes along an arc on Large
the inside of the recorded points. Select a stringent
(lower) accuracy level at the points that requires high
accuracy and a lax (higher) level in the air cutting areas.
The accuracy of the current step (selected step) can be changed using the shortcut command R136.
(Input range) 1 to 8
4-9
6: This is the pause ON/OFF switch. " "(Non-display) stands for "Continue(Pause OFF)" and "P" stands for
"Pause(Pause ON)".
With the “Continue” method, the robot tool passes smoothly along the inside of the tool path with no
reduction in its speed.
With the “Pause” method, which is also referred to as “in-position check,” each time the command
position inside the robot reaches a step, the actual robot arrival is awaited before advancing to the next
step. This method is used at steps which require a high level of positioning accuracy.
The Pause ON/OFF setting of the current step (selected step) can be changed using the shortcut
command R135.
(Input range) 0 (= Continue) / 1 (= Pause)
7: This is the tool number of this step. (from T1 to T32)
If the interpolation type is LN, C1, or C2, the TCP (Tool Center Point) defined in this tool number draws
linear line or circular line. In case of JT (Joint interpolation), this parameter is not used.
8: This is the acceleration of this step. (From D0 to D3; D0 is not displayed)

9: This is the smoothness of this step. (From S0 to S3; S0 is not displayed)
The “Acceleration” is a function which adjusts the acceleration of the robot operation.
The “Smoothness” is a function which adjusts the smoothness of the edge of the acceleration curve
of the robot operation.
When vibration arises due to a factor such as the rigidity of the tool or work, the robot can be moved
gently by using these functions in the movement command concerned. As a result, the amount of
vibration is reduced.
The “Acceleration”and the "Smoothness" can be specified for each movement command
independently, and one of four different settings (0, 1, 2 or 3) can be selected. At a setting of 0 (D0), the
robot accelerates or decelerates at its maximum capacity, and the higher the setting used, the more
smoothly (that is to say, the lower the acceleration) the robot moves.
When these parametrs are set higer, it always takes longer for the robot to move. Since this will
adversely affect the cycle (tact) time, do not record these functions in movement commands
unnecessarily.
Acceleration Smoothness
D0 D1 D2 D3 S0 S1 S2 S3
Speed
Speed
Time Time
In the Compact TP, the comment in a movement command cannot be displayed / edited.
POINT And, if a step which was created in the Smart TP with comment is selected in the Compact
TP and the movement command step was over written, the comment is still held in the step
data.
4-10
■ Menu configuration
Menu Sub menu Functions

ROBOT ENCRESET In case of robot replacement etc., a reference position
(Encoder reset) adjustment is necessary. In this menu, encoder reset and
ENCCORRE encoder correction can be done.
(Encoder correction) "3.1.1 Encoder reset and encoder correction"
SETTINGS F-KEY Function of F1-key and the F2-key can be set.
"5.2.2 Manual ON/OFF of general output signal (F1
key)"
REC STS The recording status of a movement command can be
(Recording status) set. This menu is used often for teaching operation.
"How to record a movement command" in the
"4.2.3 Try teaching"
TCP/IP Ethernet settings (e.g. IP address etc.)
"3.2.2 Ethernet (TCP/IP)"
FILE Data backup and data restore using USB memory
"5.1 File operations"
LANGUAGE Language selection (JP / EN / CN (Pin-yin))
"3.2.1 Display Language"
TP The contrast of the LCD can be changed.
(Teach pendant) Normally, it is not necesary to change this setting.
"3.2.3 Teach pendant setting (LCD Contrast)"
MONITOR AXISMON Monitoring function for robot position, I/O signals, etc.
OUTPUT "5.2.4 Monitoring various conditions of robot"
INPUT
ALM REC
4-11
4.2.2 How to select a work-program number

When starting a new teaching, it is necessary to put a number to the work-program. The range of a
work-program number is from 0 to 9999.
PROG 2 Press [Enable] + [PROG / STEP].

Enable ＋ STEP >> "P" is displayed at the prompt.
P 0 0 0 1 U 1 M 1 L R S 5 L N
S 0 0 0 0 [ S T A R T ]
> P
3 Enter the work-program number using the numeric keys.

For example, if "9999" is used for the work-program number, press [9] 4 times.
P 0 0 0 1 U 1 M 1 L R S 5 L N
S 0 0 0 0 [ S T A R T ]
> P 9 9 9 9
4 Press [ENTER].
ENTER >> A new work-program "9999" will be opened.
P 9 9 9 9 U 1 M 1 L R S 5 L N
S 0 0 0 0 [ N o d a t a ]
>
Now it is ready to start the teaching operation.
POINT When opening an empty work-program that does not contain any steps, "[No data]" is
displayed at the step 0. And when recording a step 1, this display will dissappear.
4-12
4.2.3 Try teaching

Let's try to teach (make) a work-program. In this section, the program shown below will be created.
As shown in the figure, from First position
step 1 to step 15 will be created Step 1
Step 14 Step 15
Movement command
in the work-program. There are Movement command Function command
(FN32 END)
13 movement commands and 2
function commands.
At the step 11, output signal is
Step 2
turned ON to move a gripper Movement command
Step 13
etc. for example. Step 11 Function command Movement command
・・・ (Turning ON an output signal)
Step 10 Step 12
Movement command Movement command
(1) How to set a recording status

First, setup the speed, interpolation type, etc. for the movement command that is to be recorded from now.
These setting data for the movement command recording is called as "Recording status".
START 1 Open the [START / MENU] - <SETTING> <REC STS> menu.
>>" REC STS" menu is displayed.
MENU At first, the cursor is on the position of the "Interpolation type".
↑ ↓ ← → P 9 9 9 9 U 1 M 1 L R S 5 L N
R E C 1 2 0 0 L N A 1 T 1
ENTER S T S m m / s
>
T.SPD 2 To set the speed, press [Enable] + [T.SPD / 6] several times.

Enable ＋ 8 >> The record speed (and the manual operation speed) is changed.
P 9 9 9 9 U 1 M 1 L R S 1 L N
R E C 1 0 . 0 L N A 1 T 1
S T S m m / s
>
P 9 9 9 9 U 1 M 1 L R S 2 L N
R E C 1 0 0 L N A 1 T 1
S T S m m / s
>
(NOTE) The speed unit for the LN, C1, and C2 is [mm/s]. And the speed unit for the
JT is [%].
↑ ↓ ← → 3 Set the recording status to the desired condition.
Number Refer to the descriptions on the next page.
(For the parameters for which numerical input operation are available, set the cursor
ENTER and then enter the desired number using the numeric keys.)
START 4 After setting the recording status, press [START / MENU] to exit.
Now, the recording status is set.
MENU
4-13
How to change the recording status

P 9 9 9 9 U 1 M 1 J S 5 L N
R E C 1 2 0 0 L N A 1 P T 3 2
S T S m m / s
>
P 9 9 9 9 U 1 M 1 J S 1 L N
R E C (1) (2) (4) (5) (6)
S T S (3) (7) (8)
>
No. Name How to set Description
The recording speed is changed by changing the manual
operation speed. (5 levels)
T.SPD In case of "JT"

1 Speed Enable 8 5, 10, 20, 50, 100 [%]
+
In case of LN, C1, and C2
10, 100, 300, 500, 1200 [mm/s]
The interpolation type can be changed.

INTERP
Enable 0: JT (Joint interpolation)
COORD 1: LN (Linear interpolation)
2 Interpolation type +
2: C1 (Circular interpolation : middle point)
or
3: C2 (Circular interpolation : end point)
Numerical input (0-3)
This setting is automatically changed when the
interpolation type is changed.
3 Speed unit -
JT : [%]
LNl, C1, C2 : [mm/s]
ACC The accuracy level of the step can be changed.

Enable 5
4 Accuracy +
or
Numerical input (1-8)
0: Continue (Pause OFF)
5 Pause ON/OFF Numerical input (0 or 1)
1: Pause
6 Tool number Numerical input (1-32) Tool number for the step can be set.
Acceleration can be changed. (D0 – D3)
7 Acceleration Numerical input (0-3)
In case of 0, the setting is not displayed.
Smoothness can be changed.(S0 – S3)
8 Smoothness Numerical input (0-3)
In case of 0, the setting is not displayed.
INFO.
For details, refer to "4.2.1 Basics of the teaching operation"
4-14
(2) How to record a movement command

When [O.W./REC] key is pressed, a new "Movement command" will be recorded by binding the recording
status and the present robot position.
1 Move the robot to the desired position using the [AXIS OPERATION KEYS].
O.W. 2 Press [O.W. / REC].

REC >>The 1st step was recorded referring to the recording status.
P 9 9 9 9 U 1 M 1 J S 5 L N
S 0 0 0 1 1 2 0 0 L N A 1 T 1
m m / s
>
(NOTE)
This operation is possible only when selecting the last step of the work
program. Please refer to "How to insert a new movement command"(p4-22) to
insert a new move command to the work program.
3 Then, repeat the operations in the following order to record 2nd step, 3rd
step, ... in the work-program.
- Move the robot with [AXIS OPERATION KEYS]
- Set the recording status
- Reocord a movement command step
Note for the speed unit
If, the following 2 conditions are satisfied, the speed unit for the step should be "%". When
"mm/s" is used, the robot may move very fast and cause unexpected accident even
if the speed value (in mm/sec) is small.
1. The TCP position does not change between 2 steps.

2. But the tool angle changes much between the 2 steps.
And, to use "%" with the linear interpolation, the Smart TP or the FD on DESK Light is
WARNING necessary. Please open a screen editor and set the cursor to the speed unit and then input
[2][Enter].
4-15
(3) How to record a function command (FN)

Function commands can be recorded in number. Several parameters (conditions) may be required depending
on the function command number.
In this section, let's record a signal output function (FN32) at the step 11. The output signal that is to be turned
ON is 100.
FN 1 After recording the 10th step, press [Enable] + [FN / 1].
Enable ＋ >> "F" is displayed at the prompt.
1
BS 2 Input the function number "32" and then press [ENTER].
3 2 >> "F32," is displayed at the prompt.
ENTER
FN +(ON) 3 Input the output signal number "100" and then press [ENTER].
1 0 >> "F32,100" is displayed at the prompt.
P 9 9 9 9 U 1 M 1 L R S 4 L N
+(ON) S 0 0 1 0 5 0 0 L N A 1 T 1
0 m m / s
> F 3 2 , 1 0 0
ENTER
BS 4 To revise the input miss, press [Enable] + [BS / 3].

Enable ＋
3
(If the function command requires 2 or more parameters)
ENTER After inputting the 1st parameter, the 2nd parameter is required after pressing
[ENTER]. Input the 2nd parameter in the same way and press [ENTER].
5 After finishing the parameter input, press [ENTER].

ENTER >> Now the function command (output signal ON command) has been recorded.
P 9 9 9 9 U 1 M 1 L R S 4 L N
S 0 0 1 1 S E T [ O 1 0 0 ]
>
- There are some function commands that use special exclusive input interface (screen).
The Compact TP does not suppot such an interface. For those function commands, please
POINT use the Smart TP or the FD on DESK.
- The function commands can be inputted at any position in a work-program with the same
operation. Although it is ppssible to input a function command at the last step, it is also
possible to insert a new function command at the middle step of the work-program.
(4) How to record FN92 (END function) at the end of the program
1 Then, continue to record the movement command steps (12th, 13th, ...).
FN 2 At the last step, END function (FN92) is necessary.

Enable ＋ This function command FN92 must be recorded at the last step always.
1
If the work-program is played back in 1 cycle mode, the robot executes this
INS function and stops. If this function does not exist, an error will be displayed.
9 2
To input this function command, press [Enable]+[FN/1], [INS/9], [2], and
[ENTER]. This function command does not have a parameter.
ENTER
4-16
4.2.4 Check the content of the teaching (Work program)

Ater recording a work-program, let's check the teaching content.
This checking work is called as "Checking operation". When executing the checking operation, the robot will
stop at every step so it is possible to check the position, posture at the point and the motion path (locus) between
the steps. And it is also possible to modify them if necessary.
To perform the check operation, [Check GO] and [Check BACK] keys on the teach pendant are used. To
execute the steps in the order of step number is called as "Check GO" and the reversed order is called as "Check
BACK". And, it is also possible to execute the steps continuously.
CHECK GO
PROG 1 Press [PROG / STEP] to call the step from which the check operation will start.
STEP >> "S" is displayed at the prompt.
+(ON) 2 Input [+/0] using numeric key.

0 >> "S0" is displayed at the prompt.
P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 1 0 5 0 0 L N A 1 T 1
m m / s
> S 0
3 Press [ENTER].
ENTER >> The cursor moves to the step 0 (="START").
P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 0 [ S T A R T ]
>
POINT To check the work-program from the beginning, select the step "0".
This is a special step that does not have any information like position etc.
POINT Select movement command step always. For safety, it is not possible to select a function
command step as the direct check go / back destination.
POINT The manual operation speed 1 and the check operation speed 1 are very slow.
T.SPD 4 To set the speed for the check operation, press [Enable] + [T.SPD / 8]. At this
Enable ＋ 8 time, set "3" for safety.
(And, every time the [T.SPD / 8] is pressed, the manual opertation speed of the robot
will also change in 5 levels. 1 is the slowest and 5 is the fastest.)
5 Press [Check GO] with grasping the [ENABLE SWITCH] on the backside of the
teach pendant.
＋ Check
GO
>>While the [Check GO] is held, the robot will move towards the Step 1. And after
reaching the Step 1 position, the robot will stop.
P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 2 When 0 0 reaching
L N the position,
A 1 this Tmark
1 will
^ ^ ^ ^ ^ m m appear.
/ s
>
If the [Check GO] is released while moving, the robot will stop smoothly.
It is also possible to stop the robot forcibly by releasing the [ENABLE SWITCH].
However, in this case, the robot will stop without deceleration control and the servo
power will be shut off immediately, so the large load torque is added to the
mechanism of the robot. Therefore, please be sure to release the [ENABLE SWITCH]
after releasing the [Check GO] key and confirming that the robot stops completely.
6 To move to the Step 2, release the [Check GO] and press it again.
By repeating these operations, check the motion to the last step.
If [Check GO] is pressed after reaching the last step, the check operation will start
from the Step 1 again.
4-17
CHECK BACK
It is possible to move the robot step by step in a reversed sequence.
1 Press [Check BACK] with grasping the [ENABLE SWITCH] on the backside of
＋ Check
BACK
the teach pendant.
>> The robot will move along reversed way through the steps. When reaching the 1st
step, the robot will stop. Check back operation to the last step is impossible.
2 The operation to change the check speed or the operation when the robot stops at the
step are the same with [Check GO].
It is also possible to stop the robot forcibly by releasing the [ENABLE SWITCH].
However, in this case, the robot will stop without deceleration control and the servo
power will be shut off immediately, so the large load torque is added to the mechanism
of the robot. Therefore, please be sure to release the [ENABLE SWITCH] after
releasing the [Check BACK] key and confirming that the robot stops completely.
(NOTE) Check GO and Check BACK
1 2 5 6 1 2 5 6
3 4 3 4
＋ Check
GO
＋ Check
BACK
In case of initiali setting, the function commands are not executed when the Check go /
back operation is beging executed. To execute those functions, please use shortcut
command R8 in advance.
DEL T.SPD +(ON)

R 8 ENTER 0 ENTER
"Disabled" (not executed)
INFO. DEL T.SPD FN
R 8 ENTER 1 ENTER
"Enabled" (All function commands are executed)
DEL T.SPD
R 8 ENTER 2 ENTER
"I-enabled" (I-signal waiting functions only)
And, while executing the Check BACK operation, only I-signal waiting functions
are executed.
4-18
(3) Checking the steps continuously

It is possible to move the robot through the steps continuously while pressing the [Check GO] and the
[Check BACK] keys. If the "Continuous check go" is enabled, the robot will move smoothly thorough the
movement steps by referring to the accuracy setting (A1 – A8) and making shortcut locus.
LN A4 LN A4 LN A4 LN A4
LN A4 LN A4 LN A4 LN A4
連続OFF 連続ON
Continue OFF Continue ON
STOP 1 Press [STOP / CONT.].

>> The mark of "|" will be displayed on the upper right side of the screen.
CONT. P 9 9 9 9 U 1 M 1 L R S 1 L N |
S 0 0 0 1 1 2 0 0 L N A 1 T 1
^ ^ ^ ^ ^ m m / s
>
Now the "Continuous check go" is enabled.
2 Perform the [Check GO] operation.
＋ Check
GO
>> Every step will be executed continuously.
STOP 3 To disable the continuous check go operation, press [STOP / CONT.] again.
>> The mark of "|" dissapears.
CONT. P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 2 0 0 L N A 1 T 1
^ ^ ^ ^ ^ m m / s
>
4-19
4.2.5 Modifying the work-program

In this section, how to modify a command recorded in the work-program is explained.
There are several methods to modify a step data.
Methods to modify a step data

Content of the modification Operation
MOD
Modify the position only Enable
+ 6
Movement Modify the speed only Shortcut R12
command Modify the accuracy only Shortcut R136
modification Over-write the every data of the movement O.W.
command step altogether (e.g. interpolation Enable REC
+
type, tool number, etc.)
INS
Insert a new movement command Enable
+ 9
Insert a new function command (FN) Same with how to record a new step
DEL
Delete a movement command or function command Enable R
+
How to modify only the position of the movement command

Let's modify the position of the 1st step that has been already recorded.
Here, the other data like the "Speed" or the "Interpolation type" etc. is not modified.
PROG FN 1 Select the step 1.

STEP ＋ 1 P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
＋ ENTER >
2 Just for confirmation, move the robot to the step 1 using the [Check GO]
＋ Check
GO
operation. If the robot position is obvious, this operation is not necessary.
3 Move the robot manually to the new position and the posture using the [AXIS
OPERATION KEYS].
4 Press [Enable] + [MOD / 6].
MOD >> A confirmation message will be displayed.
Enable ＋ 6 P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
> [ 1 ] O v e r W r [ R ] C a n c e l
FN 5 Press [FN / 1] <Over Write>.

1 >> The position data of the step 1 will be replaced with the present robot position.
(Note that the other data e.g. speed etc. will not be changed)
P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
>
6 Now the robot position recorded in the step 1 has been modified, use [Check
Check Check
GO] and [Check BACK] to confirm the sequential motion around the steps.
GO BACK
How to modify the speed of the step

To modify the speed of the recorded step, use the shortcut R12.
For details, refer to the "Chapter 5 Other operations using the Compact TP".
How to modify the accuracy of the movement command

To modify the accuracy of the recorded step, use the shortcut R136.
For details, refer to the "Chapter 5 Other operations using the Compact TP".
4-20
How to overwrite the movement command

It is possible to over-write the movement command with a new movement command.
When over-writing a movement command, the all data (e.g. robot position, speed, interpolation type, etc.) in
the movement command will be over-written.
PROG BS 1 Press [PROG / STEP], [BS / 3], and [ENTER].
STEP 3 >> The Step 3 is displayed.
P 9 9 9 9 U 1 M 1 L R S 1 L N
S 0 0 0 3 1 0 0 0 J T A 1 T 1
ENTER m m / s
>
2 To change the position, manually move the robot using the [AXIS OPERATION
KEYS].
3 Setup the recording status in the same way with the "How to record a
movement command".
At this time, change the interpolation type from "JT(Joint)" to "LN(Linear)". And the
speed is changed to 1200 mm/s (Manual speed 5).
O.W. 4 Press [Enable] + [O.W. / REC].

Enable ＋ REC >> A confirmation screen is displayed.
P 9 9 9 9 U 1 M 1 L R S 5 L N
S 0 0 0 3 1 0 0 0 J T A 1 T 1
m m / s
> [ 1 ] O v e r W r [ R ] C a n c e l
FN 5 Press [FN / 1] <Over Write>.

1 >> The step is over-written.
P 9 9 9 9 U 1 M 1 L R S 5 L N
S 0 0 0 3 1 2 0 0 L N A 1 T 1
m m / s
>
To cancel, press [DEL / R].
6 Now the robot position and conditions recorded in the step has been modified,
Check Check use [Check GO] and [Check BACK] to confirm the sequential motion around the
GO BACK
steps.
4-21
How to insert a new movement command

Let's insert a new movement command (step) between the Step 1 and 2.
Please be sure that the new step will be inserted between the current step and the previous step.
1 Move the robot to the Step 2 using the [Check GO] or [Check BACK].
＋ CheckGO
P 9 9 9 9 U 1 M 1 J S 1 J T
S 0 0 0 2 1 0 0 0 J T A 1 T 1
^ ^ ^ ^ ^ m m / s
>
2 To change the position, manually move the robot using the [AXIS OPERATION
KEYS]. (This position is used for the new step.)
3 Setup the recording status (e.g. the speed or the interpolation type etc.) in the
same way with a new movement command.
INS 4 Press [Enable] + [INS / 9].
Enable ＋ 9 >> A Confirmation screen is displayed.
P 9 9 9 9 U 1 M 1 J S 1 J T
S 0 0 0 2 1 0 0 0 J T A 1 T 1
^ ^ ^ ^ ^ m m / s
> [ 1 ] I n s e r t [ R ] C a n c e l
FN 5 Press [FN / 1] <Insert>.

1 >> Now a new step has been inserted to the work-program.
The Step number 2, 3, ... will be changed to 3, 4, ... .
And at this time, the step number recorded as the parameter for the destination of
Jump/Call functions will be modified automatically.
(NOTE)
To record a new movement command at the end of the work-program, refer to
"(2) How to record a movement command"(p4-15).
6 Now a new step has been inserted, use [Check GO] and [Check BACK] to
Check Check
confirm the sequential motion around the steps.
GO BACK
(For reference) Step number change due to the step insertion

1 2 3
+1
+1
1 2 3 4
NEW
INS
Enable + 9
4-22
How to delete a step (movement command / function command)

Let's try to delete the Step 5.
PROG ACC 1 Press [PROG / STEP], [ACC / 5], [ENTER].

STEP 5 >> The cursor moves to the Step 5.
In case of movement command, it is recommended to move the robot to the physical
position using [Check GO] or [Check BACK] to confirm that it is truly the step to be
ENTER deleted.
DEL 2 Press [Enable] + [DEL / R].

Enable ＋ R >> A confirmation screen is displayed.
P 9 9 9 9 U 1 M 1 J S 1 J T
S 0 0 0 5 1 0 0 0 J T A 1 T 1
^ ^ ^ ^ ^ m m / s
> [ 1 ] D e l e t e [ R ] C a n c e l
FN 3 Press [FN /1] <Delete>.

1 >> Now the Step 5 has been deleted.
The Step number 6, 7, ... will be changed to 5, 6, ... .
And at this time, the step number recorded as the parameter for the destination of
Jump/Call functions will be modified automatically.
4 Now a step has been deleted, use [Check GO] and [Check BACK] to confirm
Check Check
the sequential motion around the steps.
GO BACK
(For reference) Step number change due to the step deletion
DEL
Enable + R
4 5 6 7
-1 -1
4 5 6
4-23
Chapter 4 Basic operations using Compact TP (from teaching to playback) / 4.3 Playback
4.3 Playback
4.3.1 Basics of the playback operation

■ Playback procedure
1 Select the PLAYBACK mode 4.3.2 How to select the playback mode
Select "Step" or "1 Cycle" or "Contionuous" playback mode.
Slow down the playback speed using the 4.3.3 How to slow down the playback
2
"Playback speed override" setting. speed (Playback speed override)
High speed playback from the beginning is dangerous. So, start the playback from the slow
speed. To slow down the speed, please use the "Playback speed override".
3 Select the start step
It is possible to start the work-program from the beginning. And it is also possible to select a
middle step and start the work-program from the step. (But it is not possible to start the playback
from a function command step.)
4.3.4 How to playback a work-program
4 Start the work-program
(Intenal mode)
After checking the present robot position and the condition of the peripheral devices, start the
playback operation. Start the playback with placing your hand on the [EMERGENCY STOP
BUTTON] and if the robot tries to move in an unexpected way (direction, speed, etc.), stop the
robot immediately without hesitation.
5 Increase the playback speed slightly.
If the playback speed override is increased suddenly, unexpected troubles (e.g. the cables swing
too much, etc.) may happen. So, the setting value should be increased carefully.
If something wrong is found, return to the TEACH mode and modify the work-program.
Repeat this several times and check the playback motion at the speed of 100%.
Make the setting for the actual playback

6
(production)
Program file protection, MOTORS ON/START selection source (internal / external) setting, etc.,
are to be set for the automatic operation.
■ 3 playback modes
In the PLAYBACK mode, there are 3 modes. Before starting the playback operation, please select one of them.
And it is also possible to select them while the robot is playing a program.
In an actual production, "1 Cycle" or "Continue" is selected. "Step" is only for a program check.
Playback mode
Mode Display Content
START
Enable
Step 1s The program will be executed (only 1 step) while + MENU is
being pressed. The robot will stop when the key is released. To go
to the next step, press those keys again.
START
Enable
The program will start when + MENU
is pressed. And then
1 Cycle Cy the robot will stop when executing the END function command
(FN92).
To start the program 1 more cycle again, press those keys again.
START
Enable
The program will start when + MENU is pressed. And then
Continue Co STOP
Enable
CONT.
the robot will repeat the program until the + is
pressed.
INFO. The playback operation mode can be switched using the shortcut R7.
How to use the shortcut (R-CODE), please refer to "Chapter 5 Other operations using
Compact TP"
4-24
■ Playback speed override

For the first time, please use slow speed. And then increase the speed slightly after checking the safety.
To change the playback speed, please use "Playback speed override".
INFO. "Playback speed override" can be set by shortcut command R49.

For details, refer to "Chapter 5 Other operations using Compact TP"
(An example of override)

The speed after the setting of
Recorded
playback speed override
speed
100 % 50 %
1000 mm/s 1000 mm/s 500 mm/s
50 % 50% 25%
■ The internal playback and the external playback

Internal playback and external playback
Playback method Content
Internal mode This is the factory default setting.
Please use this mode when to use this robot controller in stand alone.
- The operations of "MOTORS ON", "Program start", and "Program selection" are
executed using the teach pendant key operation.
- The starting step for a playback operation can be selected by the teach pendant.
"MOTORS ON"
TP "Program start"
"Program selection"
These operations are executed

using the teach pendant.
External mode This robot controller is remote-controlled from PLC etc.

- The operations of "MOTORS ON", "Program start", and "Program selection" are
executed using the external input signals.
- The starting step is always set to Step 0.
To use this mode, it is necessary to make a connection of external signals in advance

and assign some functions to the external I/O signals respectively. External input
signals refer to the signals that are inputted to this robot controller from an external
PLC etc. For details of 24V DC I/O connection procedures etc., please refer to "CFD
CONTROLLER TECHNICAL DOCUMENT 2"
"MOTORS ON"
PLC "Program start"
"Program selection"
These operations are executed

using the external input signals.
4-25
■ Selecting the starting step for the playback (Internal mode)
When playing back a work-program, it is possible to designate the starting step for the playback operation.
(Precautions)
- When selecting a work-program, the Step 0 is automatically selected.
- When restarting the work-program after stopping it in half-way, the work-program will restart from the step
where the stop operation was executed.
- It is also possible to select the next starting step after stopping the program in half-way.
- If a step other than Step 0 is selected, the robot's TCP will move towards the designated starting step with the
slower speed than 250mm/sec and then start to move normally from the next step using the recorded speed.
- In case of the initial settin, the function command steps cannot be selected as a starting step.
If a wrong step is designated, the robot may move with unexpected motion and crash to
the peripheral devices etc. Please pay special attention before starting the operation.
CAUTION
POINT In case of "External mode", the starting step selection is prohibited. (Step 0 is always
selected as the playback starting step)
4-26
4.3.2 How to select the playback mode

Let's run (playback) a work-program in the "Internal" mode. The "internal mode" is a mode to run a
work-program that is selected in the teach pendant via teach pendant key operations.
Before playing back the work-program, please be sure to confirm that there are no persons
around the robot. If persons are hit or sandwiched by the robot, it may cause death or
serious injury.
DANGER
1 Select the PLAYBACK mode.
DEL 2 Select the mode for the automatic operation.

R In the PLAYBACK mode, press [DEL / R], [MECHA / 7], and [ENTER] sequently.
Then input the following number and press [ENTER].
MECHA 0; 1s (Step)
7 1; Cy (1 Cycle)
2; Co(Continue)
P 9 9 9 9 U 1 1 s 1 0 0 %
ENTER S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
>
ENTER
number P 9 9 9 9 U 1 C y 1 0 0 %
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
>
P 9 9 9 9 U 1 C o 1 0 0 %
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
>
For safety, "1s (Step)" is recommended to check the robot motion.

Enable ＋ M.ON >> The MOTORS are turned ON. The [M.ON] lamp will be turned ON.
Now it is ready to start the automatic playback operation.
4.3.3 How to slow down the playback speed (Playback speed override)
DEL 1 Slow down the playback speed using the playback speed override setting.
R Press [DEL / R] [UNIT / 4] [INS / 9] [ENTER] at the top screen of the PLAYBACK
mode.
UNIT INS
4 9
ENTER
2 Then the override rate in [%] and press [ENTER].
ENTER If the number is 100, the robot will move based on the recorded speed.
number For safety, please use 20 – 30% at first.
≫ The overdide setting will be displayed on the screen.

P 9 9 9 9 U 1 1 s 1 0 0 %
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
>
4-27
4.3.4 How to playback a work-program (Intenal mode)

Playback with "Step"
1 Select "1s" mode (step mode) using shortcut command R7.
DEL MECHA +(ON)
R 7 ENTER 0 ENTER
PROG 2 Select the starting step for the playback.

STEP To start the work-program from the beginning, press [PROG / STEP] [+ / 0]
number [ENTER].
>>The cursor moves to the Step 0.
ENTER
To start the work-program from the Step 2, press [PROG / STEP] [2] [ENTER].
START 3 Press [ENABLE] + [START / MENU].

Enable ＋ >> While pressing the key, the robot will move to the designated step from the
MENU present position.
[START] lamp will light.
4 When reaching the next step, the robot will stop. To restart the playback, press
[Enable] + [START / MENU] again.
Playback with "1 Cycle" mode

1 Select "Cy" mode (1 cycle mode) using shortcut command R7.
DEL MECHA FN
R 7 ENTER 1 ENTER

STEP
number
ENTER

Enable ＋ >> Once these keys are pressed, the robot will move to the designated step from the
MENU present position and execute the work-program untill the END function. After
reaching the END function, If the [Enable] + [START / MENU] are pressed, the
robot will execute the program from the Step 0 again.
STOP 4 To stop the robot, press [Enable] + [STOP / CONT.]

Enable ＋
CONT.
START 5 To restart the program, press [Enable] + [STOP / CONT.] again.
Enable ＋
MENU
4-28
Playback with "Continue" mode

1 Select "Co" mode (Continue mode) using shortcut command R7.
DEL MECHA
R 7 ENTER 2 ENTER

STEP
number
ENTER

Enable ＋ >> Once these keys are pressed, the robot will move to the designated step from the
MENU present position and execute the work-program untill the END function. After reaching
the END function, the robot will return to the Step 0 and playback the program
repeatedly.
STOP 4 To stop the robot, press [Enable] + [STOP / CONT.]

Enable ＋
CONT.
START 5 To restart the program, press [Enable] + [STOP / CONT.] again.
Enable ＋
MENU
If the playback operation is completed and it is confirmed that the program can be played back normally and
safely, increase the override rate 10 or 20 % and playback the program again to check.
Repeat these procedures until override rate 100%.
4.3.5 How to playback (External mode)

For details, refer to the following explanations;
- "Chapter 5" in the "FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
- "Chapter 9 Example to use" in the "CFD CONTROLLER TECHNICAL DOCUMENT 2"
To control this robot controller using an external PLC unit etc., please make the following
settings in advance.
(1) Set the "MOTORS ON" and the "Program start" to "External (1)" using the shortcut
command R5.
DEL ACC FN
R 5 ENTER 1 ENTER
INFO.
(1) Set the "Program selection" to "External (1)" using the shortcut command R6.
DEL MOD FN
R 6 ENTER 1 ENTER
Both of these 2 modes are set to "Internal (0)" when shipping the controller. It is possible
to change these settings independently. But, normally, please set both of these 2 modes
to the same setting. And, to make the signal number assingnment setting, the Smart TP
or the FD on DESK Light is necessary.
4-29
NOTE
4-30
Chapter5 Other operations using Compact TP / 5.1 File operations
Chapter5 Other operations using Compact TP
Operations which do not included in setup operation and basic operation are described in Chapter 6 and
7 in "FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS MANUAL".
Chapter 4 Teaching
IMPORTANT The operation differs from each other depending on the teach pendant that is being used.
There are some operations / functions that are not available on the Compact TP. For operations that are
described only in the "FD CONTROLLER INSTRUCTION MANUAL / SETUP MANUAL", please
consider that those functions are not available on the Compact TP.

Refer to this chapter.
And, when using this Compact TP and the "FD on DESK Light" (PC
application software) together, it is possible to perform the same operation
with the Smart TP.
For those operations, refer to the Chapter 3, 4, and 5 in the
"FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS
MANUAL".
For Smart TP users

Perform the operations referring to the Chapter 6 and 7 in the
"FD CONTROLLER INSTRUCTION MANUAL / BASIC OPERATIONS
MANUAL".
5-1
5.1 File operations
Do not switch the power off when using any of the file operation menus explained in this
chapter, or while the automatic backup function is operating. Switching off the power
while the controller is accessing various files may cause unexpected damage to files in
CAUTION the controller. This may prevent the controller from starting.
Precautions when using USB Memory:

For commercially available USB memory operation is not covered by warranty. Only the USB
memory in “Controller Maintenance” section of the instruction manual is guaranteed to operate.
When using USB memory that has been accessed by a different device with this controller, always
CAUTION check using commercially available anti-virus software that there are no viruses or other malicious
software on the USB memory before connecting it to the controller.
Insert and remove USB memory when controller power is OFF.

Inserting or removing USB memory when controller power is ON may corrupt the data saved on
USB memory.
WARNING
5.1.1 Inserting USB memory

Insert USB memory by referring to the figure below.
ナイフ゛
ＩＮ
システムCF
System CF
カ゛イフ゛
ＥＸＴ
USBメモリ
USB Memory
In case of using Compact TP, 2 drives are selectable.
“IN” (internal) : means internal memory that is system CF card on CPU board.
“EXT” (external) : means USB memory device.
5-2
5.1.2 Back up files

All the files stored in the internal memory can be backed up and saved.
The name of the backup folder is given automatically using the following format
¥NRA2011- YYYY-MM-DD -hh-mm
Example) NRA2011-2012-07-21-0844
- EXT (=USB memory) is recommended for the backup destination device.

POINT - In case of using Compact TP, only above folder name is permitted. In order create the
free folder name, please prepare Smart TP or “FD on DESK”.
START 1 Press [START/MENU] and select <FILE>.

≫ FILE menu is displayed.
MENU
* M E N U * F I L E Ｖ 3 . 0 7
↑ ↓ ← → ＜ B A C K U P ＞
R E S T O R E
ENTER >
↑ ↓ 2 Move cursor to <BACKUP> and press [ENTER].

≫ BACKUP menu is displayed.
ENTER * M E N U * B A C K U P Ｖ 3 . 0 7
＜ D R I V E ＞ E X T
> ［ 1 ］ E X E C U T E ［ R ］ R E T U R N
3 Press [ENTER].
ENTER ≫ DRIVE menu is displayed.
<EXT> is USB memory, and <IN> is internal memory.
* M E N U * D R I V E Ｖ 3 . 0 7
＜ E X T ＞ I N
← → 4 Here, selecting <EXT> (USB memory) and pressing [ENTER].

≫ Following screen is displayed again.
ENTER * M E N U * B A C K U P Ｖ 3 . 0 7
< D R I V E > E X T
> ［ 1 ］ E X E C U T E ［ R ］ R E T U R N
FN 5 Press [FN / 1] <EXECUTE>.

1 ≫ Now backup procedure is started. Its progress is displayed by “*” mark. When this
mark reaches to the right end, procedure is completed.
* M E N U * B A C K U P Ｖ 3 . 0 7
D R I V E E X T
> ＊＊＊＊
↓
* M E N U * B A C K U P Ｖ 3 . 0 7
D R I V E E X T
> C O M P L E T E
バックアップ
BACKUP
NRA2011-2013-07-24-0932
START 6 Press [START / MENU] again to going back to top screen.
MENU
5-3
5.1.3 Restoring all files from backup

This section explains how to restore all files from backup data. Backup data folder is permitted to exist on
the root folder in backup device and its file name must be ¥NRA2011-** (* is alphabet or ’-‘)
1 Stop the robot and turn the motor power off.

When robot is while playback, restoring procedure is not permitted.
Beware that robot must be stopped and motor power must be turned off.
START 2 Press [START/MENU] and select <FILE>.

≫ FILE menu is displayed.
MENU
* M E N U * F I L E Ｖ 3 . 0 7
↑ ↓ ← → ＜ B A C K U P >
R E S T O R E
ENTER >
↑ ↓ 3 Move cursor to <RESTORE> and press [ENTER].

≫ RESTORE menu is displayed.
ENTER Folder candidates are displayed “NRA2011-“.
* M E N U * R E S T O R E Ｖ 3 . 0 7
F O L D E R 2 0 1 3 － 0 7 － 0 2
> ［ 1 ］ E X E C U T E ［ R ］ R E T U R N
↑ ↓ 4 Move cursor to <DRIVE> and press [ENTER].

≫ DRIVE menu is displayed.
ENTER <EXT> is USB memory, and <IN> is internal memory.
* M E N U * D R I V E Ｖ 3 . 0 7
＜ E X T ＞ I N
>
← → 5 Here, selecting <EXT> (USB memory) and pressing [ENTER].

Following screen is displayed again.
ENTER * M E N U * R E S T O R E Ｖ 3 . 0 7
F O L D E R 2 0 1 3 － 0 7 － 0 2
> ［ 1 ］ E X E C U T E ［ R ］ R E T U R N
6 Move cursor to <FOLDER> and press [ENTER].

ENTER Press up/down cursor key.
≫ Folder name is changed.
* M E N U * R E S T O R E Ｖ 3 . 0 7
↑ ↓ D R I V E E X T
＜ F O L D E R ＞ 2 0 1 3 － 0 7 － 0 2
> ￥
If two or more backup folders exist, press up/down cursor key to select one.
→ 7 Pres right cursor key.

≫ Folder same is scrolled.
* M E N U * R E S T O R E Ｖ 3 . 0 7
D R I V E E X T
＜ F O L D E R ＞－ 0 7 － 2 4 － 1 3
>
8 Press [ENTER].
ENTER ≫ Selected folder name is displayed.
* M E N U * R E S T O R E Ｖ 3 . 0 7
D R I V E E X T
＜ F O L D E R ＞ 2 0 1 3 － 0 7 － 0 2
> ［ 1 ］ E X E C U T E ［ R ］ R E T U R N
5-4
FN 9 Press [FN / 1] <EXECUTE>.

1 ≫ Now restoring procedure is started. Its progress is displayed by “*” mark. When
this mark reaches to the right end, procedure is completed.
* M E N U * R E S T O R E Ｖ 3 . 0 7
D R I V E E X T
＜ F O L D E R ＞ 2 0 1 3 － 0 7 － 0 2
> ＊＊＊＊
復元
RESTORE
NRA2011-2013-07-24-0932
10 Following message is displayed. Please turn off the controller power.

* M E N U * R E S T O R E Ｖ 3 . 0 7
D R I V E E X T
＜ F O L D E R ＞ 2 0 1 3 － 0 7 － 0 2
> P l e a s e p o w e r O f f
5-5
Chapter5 Other operations using Compact TP / 5.2 Useful function
5.2 Useful functions
5.2.1 Using short-cuts (R code)

Normally, even with operations where one menu is opened from another, a target operation can be quickly
accessed simply by inputting a short-cut code (a number with up to 3 digits). It is a good idea to learn
frequently used short-cut codes to memory.
Here, operation is explained with the example of R5 short-cut (Motors-on/Start selection).
DEL 1 On teach or playback mode top screen, press [DEL/R].

R ≫ “R” is displayed in prompt line.
P 9 9 9 9 U 1 M 1 L R S 5 L N
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
> R
ACC 2 Input the shortcut number “5” and press [Enter].

5 ENTER ≫ “R5” is displayed in prompt line.
P 9 9 9 9 U 1 M 1 L R S 5 L N
S 0 0 0 1 1 0 0 0 L N A 1 T 1
m m / s
> R 5 ,
3 When setting to “controller”, Press [-/0]. When setting to “external”, press

ENTER [FN/1]. Then press [Enter].
number
(Example) R5; Motors-on/Start selection
DEL ACC +(ON)
R 5 ENTER 0 ENTER
Setting to “controller”:
DEL ACC FN
R 5 ENTER 1 ENTER
Setting to “external” ;
Available short-cut with using Compact TP

R code Title Usage
5 Motors-on/Start selection This is to select “Motors-on” and “Start” operation
whether by teach pendant (=controller) or by input signal
(Ref) FD on DESK screen from customer’s PLC or so (=external).
[0; Controller, 1; External]
( Refer to “4.3 Playback”）
Controller External
6 Program selection
This is to select “Program selection” operation whether
(Ref) FD on DESK screen by teach pendant (=controller) or by input signal from
customer’s PLC or so (=external).
[0; Controller, 1; External]
Controller External
7 Playback mode selection
This is to select one playback mode among 3 mode.
(Ref) FD on DESK screen
[0; 1 step, 1; 1r cycle, 2; Continue]
( Refer to “4.3.1 Basic of playback operation”)
8 Check with function This is to select whether executing function command or

not executing function command while check go/back
operation.
[0; Disabled, 1; Enabled, 2; I-Enabled]
“Disabled”；No function command is executed while

check go/back operation.
“Enabled” ； All function command is executed while
check go operation. Only I-wait function command is
executed while check back operation.
“I-Enabled”；Only I-wait function command is executed
while check go/back operation.
5-6
R code Title Usage

11 Record of POSE This is to select whether POSE record is enabled or
disabled.
[0; Disabled, 1; Enabled]
( Refer to “5.3 Editing POSE file”)
12 Modifying speed This is to modify the speed of the current step (already
recorded step).
Speed value: [1.0 to 5000.0] (mm/s),

[1.0 to 100.0] (%)
29 Selecting tool number This is to modify the tool number of record status.
[1 to 32]
49 Speed Override
(Ref) FD on DESK screen In playback operation, this value can determine the
robot speed by override ratio [%]. At the first time
playback, 20 to 30% is recommended for safety.
[1 to 150]
( Refer to “4.3 Playback”）
123 Machine lock Playback operation can be done while robot is kept
stationary. This utility is convenient to check the program
(Ref) FD on DESK screen flow.
[0; Disabled, 1; Enabled]
135 Continue/In-position This is to modify the continue/In-position status of

current step (already recorded step).
(Ref) FD on DESK screen [0; Continue, 1; In-position]
( Refer to “4.2.1 Basic of teaching operation”)
←→
136 Modifying accuracy in step data This is to modify the accuracy of current step (already
recorded step).
[1 to 8]
( Refer to “4.2.1 Basic of teaching operation”)
314 Changing protection level This is to change the protection level of operator.
Password is necessary.
( Refer to FD controller instruction manual “SETUP”
“4.7 Concerning the qualifications of the operators”)
348 Changing language This is to change the display language.

Every time pressing this code, language is switched
Japanese -> English -> Chinese -> Japanese.
It is possible to change "R5 Motors-on/Start selection" and "R6 Program selection"

independently. But, normally, please set both of these 2 modes to the same setting like
the followings.
Program selection and start are executed from the TP

POINT R5 Motors-on/Start selection : Internal
R6 Program selection : Internal
Program selection and start are executed from the external PLC
R5 Motors-on/Start selection : External
R6 Program selection : External
5-7
5.2.2 Manual ON/OFF of general output signal (F1 key)

General output signal can be set to ON/OFF by manual operation. (Up to 2 output signals can be designated.)
If 2 output signals are designated, those signals are switched oppositely.
This operation can be utilized in teach mode and 1 step playback mode.
START 1 Press [START/MENU] and select <SETTING> - <F-KEY>.

≫ F-KEY menu is displayed.
MENU
* M E N U * F - K E Y Ｖ 3 . 0 7
↑ ↓ ← → ＜Ｆ 1 K E Y ＞ 0 0 0 1 0 0 0 2
Ｆ 2 K E Y Ｉ C a n c e l
ENTER >
↑ ↓ 2 Move cursor to <F-KEY> and press [ENTER].

≫ “O” is display in prompt line.
ENTER * M E N U * F - K E Y Ｖ 3 . 0 7
＜Ｆ 1 K E Y ＞ 0 0 0 1 0 0 0 2
> O
3 With numeric keys, input the general output signal number to be assigned to
F1 key. (0 to 2048)
Here, “3” is inputted as sample.
≫ “O3” is display in prompt line.
* M E N U * F - K E Y Ｖ 3 . 0 7
＜Ｆ 1 K E Y ＞ 0 0 0 1 0 0 0 2
> O 3
4 Press [ENTER].
ENTER ≫ First output signal is changed to “0003”.
* M E N U * F - K E Y Ｖ 3 . 0 7
＜Ｆ 1 K E Y ＞ 0 0 0 3 0 0 0 2
>
5 Next, second output signal number and press [ENTER].

ENTER If only one signal is enough, please input “0” to second signal.
≫ Here, assigning “O5”.
* M E N U * F - K E Y Ｖ 3 . 0 7
＜Ｆ 1 K E Y ＞ 0 0 0 3 0 0 0 5
>
≫ Setting is completed. F1 key light on or off due to the current condition.

MENU
7 Press [Enable] + [F1].

Enable ＋ F1 ≫ Designated output signal on/off is changed alternatively.
F1 key light indicates the current condition.
Same signal can be operated manually by [F1] key, unless otherwise setting is
changed in <SETTING> menu.
5-8
5.2.3 Canceling of input signal waiting (F2 key)
1 Please suppose that following program is now in playback.
1 MOVE
2 WAITI ・・・ Function command to wait for input signal
3 MOVE
Robot makes a brief stop at step 2 to wait for input signal. Then F2 key lamp
illuminates.
2 Press [Enable] + [F2].

Enable ＋ F2 Waiting condition is forcibly canceled. F2 key lamp goes out and robot starts moving
to step 3.
5.2.4 Monitoring various conditions of robot

Various conditions can be monitored and displayed on teach pendant screen. Following items are available
on Compact TP.
Monitor of robot position

START 1 Press [START/MENU] and select <MONITOR> - <AXISMON>.
≫ AXIS monitor is displayed.
MENU
* M E N U * A X I S M O N Ｖ 3 . 0 7
↑ ↓ ← → J 1 0 8 0 0 0 0 J 4 0 8 0 0 0 0
J 2 0 8 0 0 0 0 J 5 0 8 0 0 0 0
ENTER J 3 0 8 0 0 0 0 J 6 0 8 0 0 0 0
(Reference) in case of Smart TP
↑ ↓ 2 Press up/down cursor key.

≫ Display changes from each joint position to robot coordinate XYZ values.
* M E N U * A X I S M O N Ｖ 3 . 0 7
X > 1 7 3 0 . 0 r 0 . 0
Y 0 . 0 p - 9 0 . 0
Z 2 0 3 0 . 0 y - 1 8 0 . 0
(Reference ) in case of Smart TP
DEL 3 Press [DEL/R].

R ≫ Display changes to monitor menu.
* M E N U * M O N I T O R Ｖ 3 . 0 7
< A X I S M O N > O U T P U T
I N P U T A L M R E C

MENU
5-9
Monitor of general input signal

START 1 Press [START/MENU] and select <MONITOR> - <INPUT>.
≫ INPUT signal monitor is displayed.
MENU
OFF signal is displayed “－”, ON signal is displayed “○”.
↑ ↓ ← → * M E N U * I N P U T Ｖ 3 . 0 7
I 0 0 0 1 > - - - - - o - - - -
ENTER I 0 0 1 1 - - - - - o - - - -
I 0 0 2 1 - - - - - - - o - -

≫ Signal number is scrolled.
* M E N U * I N P U T Ｖ 3 . 0 7
I 0 0 2 1 - - - - - - - o - -
I 0 0 3 1 - - - - - - o - - -
I 0 0 4 1 > - - - - - - - o - -

MENU
(Reference) General input signal monitor in case of Smart TP
INFO.
5-10
Monitor of general output signal and set to ON/OFF manually

START 1 Press [START/MENU] and select <MONITOR> - <OUTPUT>.
MENU ≫ OUTPUT signal monitor is displayed.
↑ ↓ ← → OFF signal is displayed “－”, ON signal is displayed “○”.
* M E N U * O U T P U T Ｖ 3 . 0 7
ENTER O 0 0 0 1 > - - - - - o - - - -
O 0 0 1 1 - - - - - o - - - -
O 0 0 2 1 - - - - - - - o - -

≫ Signal number is scrolled.
* M E N U * O U T P U T Ｖ 3 . 0 7
O 0 0 2 1 - - - - - - - o - -
O 0 0 3 1 - - - - o o - - - -
O 0 0 4 1 > - - - o - - - o - -
3 Press [ENTER].
ENTER ≫ Cursor is located on left top signal.
* M E N U * O U T P U T Ｖ 3 . 0 7
O 0 0 2 1 - - - - - - - o - -
O 0 0 3 1 - - - - o o - - - -
O 0 0 4 1 - - - o - - - o - -
↑ ↓ ← → 4 Move cursor to the signal which is needed to be changed.
+(ON) 5 In case of setting to ON, press [Enable] + [+/0].

Enable ＋ 0 ≫ Signal of cursor position is set to ON and display changes to ”○”.
* M E N U * O U T P U T Ｖ 3 . 0 7
-(OFF) O 0 0 3 1 - - - - o o - - - -
Enable ＋ .
O 0 0 4 1 - - - o - - - o - -
O 0 0 5 1 - o - - - - o - - -
In case of setting to OFF, press [Enable] + [－/.].
≫ Signal of cursor position is set to OFF and display changes to “－”.
* M E N U * O U T P U T Ｖ 3 . 0 7
O 0 0 3 1 - - - - o o - - - -
O 0 0 4 1 - - - o - - - o - -
O 0 0 5 1 - - - - - - o - - -

MENU
(Reference) General output signal monitor in case of Smart TP
INFO.
5-11
Monitor of alarm record

START 1 Press [START/MENU] and select <MONITOR> - <ALM REC>.
≫ ALM REC (alarm record) monitor is displayed.
MENU
* M E N U * A L M R E C Ｖ 3 . 0 7
↑ ↓ ← → 0 0 1 > 1 3 / 0 7 / 1 7 E 0 1 2 1
0 0 2 1 3 / 0 7 / 1 7 E 0 1 1 1
ENTER 0 0 3 1 3 / 0 7 / 1 6 E 0 1 0 7

≫ Alarm record number is scrolled.
* M E N U * A L M R E C Ｖ 3 . 0 7
0 0 3 1 3 / 0 7 / 1 6 E 0 1 0 7
0 0 4 1 3 / 0 7 / 1 6 E 0 1 1 1
0 0 5 > 1 3 / 0 7 / 1 5 E 0 1 2 1

MENU
5.2.5 Selecting the operating target (UNIT and MECHANISM)
This section is necessary only for the case of “Multi unit” or “Multi mechanism” specification.
Manual operation target UNIT and MECHANISM is needed to be selected. Normally, there is only 1 UNIT
and MECHANISM in controller. So it is not necessary to select them explicitly.
An "UNIT" is a unit to make a work-program. If there are plural UNITs in the controller, it is
INFO. necessary to select one of them before the manual operation and the teaching operation.
A "MECHANISM" refers to a unit such as a “manipulator” or “positioner” that configures a
control group and cannot be broken down any further. And one UNIT consist one or more
mechanisms. If there are plural mechanisms in the UNIT, it is necessary to select which
mechanism will be manually operated.
1 Current UNIT and current MECHANISM is displayed on teach pendant.

P 9 9 9 9 U 1 M 1 J S 1 C 1
S 0 0 0 1 1 0 0 0 L N A 1 P T 3 2
m m / s
>
UNIT 2 To select UNIT, press [Enable] + [UNIT / 4].

Enable ＋ >> Every time these keys are pressed, the current UNIT number will be changed like
4
1, 2 ... within the number of the registered UNITs.
3 After selecting UNIT, UNIT can be operated manually.

>> Operate the UNIT with [AXIS OPERATION KEYS] with grasping [ENABLE
SWITCH].
MECHA 4 To select MECAHNISM, press [Enable] + [MECHA / 7].

Enable ＋ 7 >> Every time these keys are pressed, current MECHANISM number will be changed
like 1, 2 ... within the number of the registered MECHANISM.
5 After selecting the MECHANISM, the MECHANISM can be operated manually.

Operate the MECHANISM with [AXIS OPERATION KEYS] with grasping [ENABLE
SWITCH].
5-12
Chapter5 Other operations using Compact TP / 5.3 Editing POSE file
5.3 Editing POSE file

How to edit POSE file by using Compact TP is explained in this section. In case of using Smart TP, please refer
to FD controller instruction manual “Robot Language”.
5.3.1 What is POSE file?

“POSE file” is a data file which consist plural robot position data (POSE variable). POSE file and POSE
variable can be referred from robot program by using MOVEX command or “FN645 MOVEX” function command.
Example : Referring POSE variable from robot language

P1, P2, P3 and P4 are POSE variables.
ポーズファイル1
POSE FILE 1
P1=(500,-200,300,0,0,-180)
P2=(500,-200,100,0,0,-180)
P3=(500, 200,300,0,0,-180)
P4=(500, 200,100,0,0,-180)
P1 ロボット言語
ROBOT LANGUAGE
P3 USE 1
P2 MOVEX M1X,L,P1,R=10,H=1,MS
MOVEX M1X,L,P2,R=10,H=1,MS
P4 MOVEX M1X,L,P1,R=10,H=1,MS
END
5-13
5.3.2 Creating POSE file

Declaring to begin POSE record
2 Utilize shortcut “R11”. Input “1” to select POSE record “Enabled”.

≫ POSE record screen is displayed.
DEL FN FN FN
R 1 1 ENTER 1 ENTER
≫ For now on, only POSE file operation is permitted. Normal program operation is
not permitted. (This condition is maintained even when controller power is turned
off. In order to finish POSE record, please change this setting to “Disabled”.)
F I L E 0 0 0 1 P O S E 0 0 0 1
X > r
Y p
>
↓ （スクロール）
F I L E 0 0 0 1 P O S E 0 0 0 1
Y p
Z > y
>
Following display means the example of “FILE 0001 POSE 0001”, when using Smart TP or
“FDonDESK” software.
INFO.
Pose File No = Current POSE FILE number to be edited

Record No = Current POSE variable number to be edited
5-14
Recording POSE variables in POSE file

PROG 1 Press [Enable] + [PROG/STEP].
Enable ＋ STEP ≫ “P” is displayed in prompt line.
F I L E 0 0 0 1 P O S E 0 0 0 1
X > r
Y p
> P
2 Input the POSE file number by numeric keys.

Here, POSE file number 777 is inputted.
≫ POSE file number “P777” is displayed in prompt line.
F I L E 0 0 0 1 P O S E 0 0 0 1
X > r
Y p
> P 7 7 7
3 Press [ENTER].
ENTER ≫ Selected POSE file number is displayed.
Following example shows the example of POSE file number 777.
F I L E 0 7 7 7 P O S E 0 0 0 1
X > r
Y p
>
4 Turn motor power on and operate robot with axis operation keys. Then press
Enable ＋ M.ON [O.W./REC].
≫ One POSE variable is recorded.
F I L E 0 7 7 7 P O S E 0 0 0 2
X > 1 7 3 0 . 0 r 0 . 0
Y 0 . 0 p - 9 0 . 0
>
O.W. 5 Press [O.W./REC] again to continue recording POSE variables.

REC F I L E 0 7 7 7 P O S E 0 0 0 5
X > 1 7 0 0 . 0 r 0 . 0
Y 1 0 . 0 p - 9 1 . 0
>
PROG 6 Position of POSE variables can be confirmed by check go/back operation.

STEP (Select step number = POSE variable number and press check go or back )
ENTER
No.
Check Check
GO BACK
７ All POSE variables are recorded, please proceed with the next step
“Finishing POSE record”.
Finishing POSE record

1 Utilize shortcut “R11”. Input “0” to select POSE record “Disabled”.
≫ Now going back to normal operation mode.
DEL FN FN +(ON)
R 1 1 ENTER 0 ENTER
5-15
5.3.3 Modifying POSE file
DEL 1 Pressing [Enable] + [DEL／R] can delete the recorded POSE variable in the
Enable ＋ R middle of file.
But other POSE variable numbers are not renumbered. Deleted POSE
variable number becomes missing number.
MOD 2 Pressing [Enable] + [MOD/6] can modify the position of recorded POSE
Enable ＋ 6 variable.
(Notes) In POSE record mode, same result is obtained by following operation.

・Pressing [O.W./REC]
・Pressing [Enable] + [O.W./REC]
5.3.4 (Reference) Modifying POSE file by numeric input (Smart TP / FD on DESK）

In order to edit values of (X, Y, Z, roll, pitch, yaw) in POSE file, Smart TP or “FDonDESK” software is necessary.
Please refer to FD controller instruction manual “Robot Language” “Chapter 3“ for detail.
5-16
5.3.5 (Reference) Utilizing POSE variable in robot language

In order to utilize POSE variables in robot language program, please refer to following sample description.
USE 1 Selecting POSE file 1 (FN98)

MOVEX M1X, L, P1, R=10, H=1, MS Move to P1
MOVEX M1X, L, P2, R=10, H=1, MS Move to P2
END Program end (FN92)
Select POSE file by function command “USE”

At the top of source program, please designate POSE file number by function command “USE”. Following
example shows the case of POSE file 1.
USE 1
Select POSE variable by move command “MOVEX”

Please describe target position by move command “MOVEX”.
・Selected POSE file and POSE variable needs to be recorded in advance. If not existing POSE file
POINT or POSE variable are selected, error is generated.
・Please refer to FD controller instruction manual “Robot Language” for detail of “MOVEX”.
5.3.6 (Reference) Utilizing POSE variable in normal program

POSE variable can be referred by function command “FN645 MOVEX”.
In screen editor, move command which uses “FN645 MOVEX” is displayed as shown below. Just editing
“POSE No.” can change the needed POSE variable.
(This sample shows the case of POSE variable 1)
POINT Smart TP or “FD on DESK” software is necessary to record “FN645 MOVEX” command directly.
5-17
NOTE
5-18
CFD CONTROLLER TP-KEYS QUICK REFERENCE
Compact TP Smart TP Function Compact TP Smart TP Function
START OPEN MENU
Enable M.ON MOTORS ON -
＋＋ MENU (Compact TP)
START
Enable PROGRAM START Enable F1 OUTPUT SIGNAL ON/OFF
＋ MENU + + ＋＋
STOP
Enable PROGRAM STOP Enable F2 WAITING SIGNAL RELEASE
＋ CONT. ＋＋＋

MECHA T.SPD
Enable Enable MANUAL SPEED CHANGE
7 MECHANISM SELECTION 8
＋＋ (NOTE1)
UNIT INTERP
Enable MANUAL OPERATION COORDINATE
4 UNIT SELECTION COORD
＋＋ SYSTEM CHANGE (NOTE2)
PROG
Enable PROGRAM SELECTION Check Check CHECK GO / BACK
STEP GO BACK
＋＋
PROG STOP
STEP STEP SELECTION STEP CONTINUE ON/OFF
CONT.
T.SPD
Enable CHECK SPEED CHANGE
8 (NOTE1)
＋＋

O.W. RECORD
REC FN105 SETM
A MOVEMENT COMMAND
O.W.
Enable OVERWRITE FN
REC Enable FN525 WAITI
＋＋ A MOVEMENT COMMAND + 1
MOD
(FN number)
Enable MODIFY
6 ENTER FN50 DELAY
＋＋ A MOVEMENT COMMAND
INS
Enable INSERT
9 FN92 END
＋＋ A MOVEMENT COMMAND ＋
DEL
Enable R STEP DELETE - DISPLAY HELP WINDOW
＋＋
FN
Enable RECORD
1 - PROGRAM EDITOR WINDOW
＋ A FUNCTION COMMAND
DEL
R SHORTCUT COMMAND - DISPLAY INTERFACE PANEL
INTERP RECORDING STATUS

Enable COORD INTERPOLATION TYPE - WINDOW SELECTION
＋＋ CHANGE (LN/JT)
ACC
Enable RECORDING STATUS Shortcut CURRENT STEP
5 ACCURACY CHANGE R12 SPEED CHANGE
＋
BS
Enable Shortcut CURRENT STEP
3 INPUT CHARACTER DELETE
＋ R136 ACCURACY CHANGE
Shortcut CURRENT STEP

R135 ＋ PAUSE ON/OFF CHANGE
- UNDO
＋
- REDO
＋
(NOTE1) In Compact TP, the check speed will be changed when the manual speed is changed.
(NOTE2) In Compact TP, the user coordinate system can be displayed from 1 to 9.
http://www.nachi-fujikoshi.co.jp/
Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
JAPAN MAIN OFFICE 1-9-2 Higashi-Shinbashi
+81-3-5568-5245 +81-3-5568-5236
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Nachi Europe GmbH Phone: Fax:
Bischofstrasse 99, 47809, Krefeld,GERMANY
+49-(0)2151-65046-0 +49-(0)2151-65046-90
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Nachi U.K. LTD. Phone: Fax: Unit 7, Junction Six Industrial Estate, Electric Avenue,
+44-(0)121-250-1895 +44-(0)121-250-1899 Birmingham B6 7JJ, U.K.
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Nachi Europe Phone: Fax:
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+ 420-255-734-000 +420-255-734-001
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Representative Phone: Fax: 11F Royal Wealth Centre, No.7
Office +86-(0)21-6915-2200 +86-(0)21-6915-2200 Lane 98 Danba Road Putuo District, Shanghai 200062, China
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Phone: Fax: 2F Dongsan Bldg.
Representative
Office +82-(0)2-469-2254 +82-(0)2-469-2264 276-4, Sungsu 2GA-3DONG, Sungdong-ku,
Seoul 133-123, KOREA
Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document may
be modified without notice. Any missing page or erratic pagination in this document will be replaced.
In case that an end user uses this product for military purpose or production of weapon, this product may be liable for
the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
through careful investigation and necessary formalities for export.
Original manual is written in Japanese.

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Tcfen-154-001 CFD Startup PDF

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1309, TCFEN-154-001, 001

Chapter 1 Installation and connection

1.2 Installation of this controller................................................................................................. 1-2

1.5 External equipment connection........................................................................................... 1-6

1.6 Primary power and the grounding connection .................................................................... 1-7

Chapter 2 For robot beginners

2.2 Two types of teach pendant ................................................................................................ 2-2

2.3 Functions of buttons and switches...................................................................................... 2-3

Chapter 3 Initial setting with Compact TP (SETUP)

Chapter 4 Basic operations using Compact TP (from teaching to playback)

Chapter5 Other operations using Compact TP

Chapter 1 Installation and connection

1.1 Basic configuration of robot

"1.6 Primary power and the grounding connection"

Teach pendant (TP)

Teach pendant is option

"1.2 Installation of this controller"

Basic configuration of a robot

This figure shows MZ07 series.

Name of each part of a robot body

1.2 Installation of this controller

1.2.2 Install dimensions of robot controller

Installation of this controller

1.3 Manipulator connection

Electric shock may cause serious injury or death.

1.3.1 Transport and Installation

For the transportation and the installation of the robot,

For the transportation, the installation, connection of

This manipulator type in just an example.

1.3.2 Connection of CNR01 and CNR04

5 kinds of motor/emcoder harness

Connection of CNR01 and CNR04

1.3.3 Connection of CNR10 (option)

For details, refer to the instruction manual "MANIPULATOR"

1.4 Teach pendant (TP) connection

Teach pendant (TP) connection

1.5 External equipment connection

Connection to the external devices

1.6 Primary power and the grounding connection

1.6.1 Prior to Primary power supply connections

1. Electric shock may cause serious injury or death.

Rating of primary power

1.6.2 Assembling the Primary power supply cable

Connector pin layout

Primary power supply cable specification

1.6.3 Connecting the Primary power supply cable

Earth leakage circuit

Power connector AC INPUT

Connecting the primary power supply cable

Set the ground resistance to less than 100 ohms.

1.7 Safety-related signal connections

1.7.1 Sequence board

Position of the Sequence board

1.7.2 Terminal block TBEX1 and TBEX2

TBEX1, TBEX2 on the sequence board

Peel back approx. 7 mm from

Signal wires to connect to TBEX1 and TBEX2

1.7.3 Pin layout of the terminal block TBEX1 and TBEX2

Pin layout of TBEX1 and TBEX2

Terminal block TBEX1 of Sequence board

Terminal block TBEX2 of Sequence board

10 By supplying external power (DC24V) between the

Terminal for DC24V – 0V power inside the robot