Manual Scrobot V

SCORBOT-ER 5Plus
User Manual
Catalog #100016 Rev. C
Copyright 2003 Intelitek Inc.
SCORBOT-ER 5Plus
Catalog # 100016 Rev. C
February 1996
Every effort has been made to make this book as complete and accurate as possible. However, no
warranty of suitability, purpose, or fitness is made or implied. Intelitek is not liable or responsible
to any person or entity for loss or damage in connection with or stemming from the use of the
software, hardware and/or the information contained in this publication.
Intelitek bears no responsibility for errors that may appear in this publication and retains the right
to make changes to the software, hardware and manual without prior notice.
Safety Warning!
Use the SCORBOT ER-5Plus with extreme caution.
The SCORBOT ER-5Plus can be dangerous and can cause severe injury.
Setup up a protective screen or guard rail around the robot to keep people away from its
working range.
INTELITEK INC.
444 East Industrial Park Drive
Manchester NH 03109-537
Tel: (603) 625-8600
Fax: (603) 625-2137
Web site www.intelitek.com
Table of Contents
CHAPTER 1 General Information 1-1

Handling Instructions . . . . . . . . . . . . . . . . . . . . . 1-1
Acceptance Inspection . . . . . . . . . . . . . . . . . . . . 1-2
Repacking for Shipment . . . . . . . . . . . . . . . . . . . 1-4
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . 1-4
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Controller . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Controller . . . . . . . . . . . . . . . . . . . . . . . . 1-6
CHAPTER 2 The Robot Arm 2-1

Specifications . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Microswitches . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Transmissions . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
CHAPTER 3 The Controller 3-1

Specifications . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Controller Functions . . . . . . . . . . . . . . . . . . . . . 3-5
Power On/Off Switch and LED . . . . . . . . . . . . . 3-5
Motors and User Power Supply Switch and LED . . . . 3-5
Emergency Switch and Lamp . . . . . . . . . . . . . . 3-6
User Power Supply Terminals . . . . . . . . . . . . . . 3-7
Input and Output Terminals and LEDs . . . . . . . . . 3-7
Inputs . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Outputs . . . . . . . . . . . . . . . . . . . . . . . 3-8
Relay Outputs 1-4 . . . . . . . . . . . . . . . . 3-8
Open Collector Outputs 5-16 . . . . . . . . . . 3-8
Input and Output LEDs . . . . . . . . . . . . . . . 3-10
CHAPTER 4 Installation 4-1

Preparations . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Cable Connections . . . . . . . . . . . . . . . . . . . . . . 4-3
Peripheral Axes . . . . . . . . . . . . . . . . . . . . . 4-4
Power On . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Controller Configuration . . . . . . . . . . . . . . . . . . . 4-7
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CHAPTER 5 Operating Methods 5-1
Software . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
ACL . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
ATS . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
SCORBASE . . . . . . . . . . . . . . . . . . . . . . . 5-2
Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Keypad Functions . . . . . . . . . . . . . . . . . . . . 5-3
The Display Panel . . . . . . . . . . . . . . . . . . . . 5-7
CHAPTER 6 Operating the Robot 6-1

DIRECT Mode . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Using this Manual . . . . . . . . . . . . . . . . . . . . . . 6-2
Activating the Sytem . . . . . . . . . . . . . . . . . . . . . 6-2
Homing the Robot and Peripheral Axes . . . . . . . . . . . 6-3
Coordinate Systems . . . . . . . . . . . . . . . . . . . . . 6-5
Cartesian (XYZ) Coordinates . . . . . . . . . . . . . . 6-5
Joint Coordinates . . . . . . . . . . . . . . . . . . . . 6-5
Servo Control . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Axis Control Groups . . . . . . . . . . . . . . . . . . . . . 6-8
Moving the Axes . . . . . . . . . . . . . . . . . . . . . . . 6-9
XYZ and Joint Movements . . . . . . . . . . . . . . . . 6-9
Activating the Gripper . . . . . . . . . . . . . . . . . . 6-11
Setting the Speed . . . . . . . . . . . . . . . . . . . . . . 6-12
Defining and Recording Positions . . . . . . . . . . . . . . 6-13
Relative Positions . . . . . . . . . . . . . . . . . . . . 6-15
Listing Positions . . . . . . . . . . . . . . . . . . . . . 6-16
Deleting Positions . . . . . . . . . . . . . . . . . . . . 6-16
Moving to Recorded Position . . . . . . . . . . . . . . . . 6-17
Linear Movement . . . . . . . . . . . . . . . . . . . . 6-18
Circular Movement . . . . . . . . . . . . . . . . . . . . 6-18
CHAPTER 7 Programming with ACL 7-1

EDIT Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Creating a Program . . . . . . . . . . . . . . . . . . . . . 7-2
Writing a Program . . . . . . . . . . . . . . . . . . . . . . 7-2
Running a Program . . . . . . . . . . . . . . . . . . . . . 7-3
Program Loop . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Displaying Program Lines . . . . . . . . . . . . . . . . . . 7-4
Halting Program Execution . . . . . . . . . . . . . . . . . . 7-4
Suspend the Program . . . . . . . . . . . . . . . . . . 7-4
Abort the Program . . . . . . . . . . . . . . . . . . . . 7-5
Stop the Program . . . . . . . . . . . . . . . . . . . . 7-5
Delaying Program Execution . . . . . . . . . . . . . . . . . 7-6
Variable Programming . . . . . . . . . . . . . . . . . . . . 7-6
Mathematical and Logical Functions . . . . . . . . . . 7-7
Iteration Functions . . . . . . . . . . . . . . . . . . . . 7-8
Conditional Functions . . . . . . . . . . . . . . . . . . 7-9
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Input and Output Programming . . . . . . . . . . . . . . . 7-10
Displaying Input/Output Status . . . . . . . . . . . . . 7-10
Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Outputs . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Activating Output-Driven Devices . . . . . . . . . . 7-11
Pneumatic End Effectors or Devices . . . . . . 7-11
Warning Light . . . . . . . . . . . . . . . . . . 7-11
Sample Program: INOUT . . . . . . . . . . . . . . . . . . 7-12
Program Directory . . . . . . . . . . . . . . . . . . . . . . 7-14
Multi-Tasking . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
Displaying Program Status . . . . . . . . . . . . . . . 7-15
Activating a Program from Another Program . . . . . . . . 7-15
Simultaneous Execution . . . . . . . . . . . . . . . . . 7-15
Program Interrupt . . . . . . . . . . . . . . . . . . . . 7-16
Downloading a Program (Restore) to Controller . . . . . . . 7-16
Calculating and Moving Along a Path . . . . . . . . . . . . 7-17
Parabola . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
CALC . . . . . . . . . . . . . . . . . . . . . . 7-17
PARAB . . . . . . . . . . . . . . . . . . . . . 7-17
Sine . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
Saving a Program (Backup) to Disk . . . . . . . . . . . . . 7-21
CHAPTER 8 Maintenance 8-1

Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Daily Operation . . . . . . . . . . . . . . . . . . . . . 8-1
Periodic Inspection . . . . . . . . . . . . . . . . . . . 8-2
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 8-3
General System Check . . . . . . . . . . . . . . . . . 8-3
Diagnostic Procedures . . . . . . . . . . . . . . . . . . 8-4
Error Messages . . . . . . . . . . . . . . . . . . . . . 8-14
Adjustments and Repairs . . . . . . . . . . . . . . . . . . 8-16
Adjusting the Timing Belts . . . . . . . . . . . . . . . . 8-16
Adjusting Base Anti-Backlash . . . . . . . . . . . . . . 8-17
Tightening the Oldham Coupling in Gripper . . . . . . . 8-18
Gripper Disassembly . . . . . . . . . . . . . . . . 8-18
Gripper Reassembly . . . . . . . . . . . . . . . . 8-18
Opening the Controller Cover . . . . . . . . . . . . . . 8-19
Changing the Voltage Setting . . . . . . . . . . . . . . 8-19
Replacing Fuses . . . . . . . . . . . . . . . . . . . . . 8-20
Logic Power Supply Fuse . . . . . . . . . . . . . . 8-20
Power Transformer Fuse . . . . . . . . . . . . . . 8-20
User Power Supply Fuse . . . . . . . . . . . . . . 8-20
Driver Card Fuses . . . . . . . . . . . . . . . . . . 8-21
Changing the I/O Logic Mode . . . . . . . . . . . . . . 8-22
Replacing or Adding a Driver Card . . . . . . . . . . . 8-23
Adjusting Driver Card Current Limit . . . . . . . . . . . 8-24
Driver Card Jumper Configuration . . . . . . . . . . . . 8-24
Installing the Auxiliary RS232 Communication Card . . 8-25
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CHAPTER 9 Parts Lists 9-1
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
CHAPTER 10 Wiring 10-1

Robot Wiring . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
Single Axis Wiring . . . . . . . . . . . . . . . . . . . . . . 10-3
Controller-Computer RS232 Cable . . . . . . . . . . . . . 10-4
APPENDIX A Theory of Control A-1

Servo Control . . . . . . . . . . . . . . . . . . . . . . . . A-1
Open Loop Control . . . . . . . . . . . . . . . . . . . A-1
Closed-Loop Control . . . . . . . . . . . . . . . . . . . A-1
Digital Control . . . . . . . . . . . . . . . . . . . . . . . . A-2
Transient and Steady State Responses . . . . . . . . . . . A-4
Controller-A Control Process . . . . . . . . . . . . . . . . . A-6
Trajectory Control . . . . . . . . . . . . . . . . . . . . . . A-7
Paraboloid . . . . . . . . . . . . . . . . . . . . . . . . A-7
Trapezoid . . . . . . . . . . . . . . . . . . . . . . . . A-7
Path Control . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Point-to-Point Control . . . . . . . . . . . . . . . . . . A-7
Continuous Path Control . . . . . . . . . . . . . . . . . A-8
The Control Parameters . . . . . . . . . . . . . . . . . . . A-9
Proportional Control . . . . . . . . . . . . . . . . . . . A-9
Differential Control . . . . . . . . . . . . . . . . . . . A-10
Integral Control . . . . . . . . . . . . . . . . . . . . A-10
Proportional–Integral–Differential Control . . . . . . . A-11
Offset . . . . . . . . . . . . . . . . . . . . . . . . . A-11
Changing Parameter Values . . . . . . . . . . . . . . A-12
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List of Figures
Figure 1-1: Robot Arm Parts . . . . . . . . . . . . . . . . . . . . 1-1
Figure 2-1: SCORBOT-ER Vplus Robot Arm . . . . . . . . . . . 2-1
Figure 2-2: Robot Arm Links . . . . . . . . . . . . . . . . . . . 2-3
Figure 2-3: Robot Arm Joints . . . . . . . . . . . . . . . . . . . 2-3
Figure 2-4: Operating Range (Top View) . . . . . . . . . . . . . 2-4
Figure 2-5: Operating Range (Side View) . . . . . . . . . . . . . 2-4
Figure 2-6: Motor . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Figure 2-7: Encoder . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Figure 2-8: Microswitch . . . . . . . . . . . . . . . . . . . . . . 2-6
Figure 2-9: Transmissions . . . . . . . . . . . . . . . . . . . . . 2-6
Figure 2-10: SCORBOT-ER Vplus Gripper . . . . . . . . . . . . 2-7
Figure 3-1: Controller-A . . . . . . . . . . . . . . . . . . . . . . 3-1
Figure 3-2: Controller Front Panel . . . . . . . . . . . . . . . . . 3-5
Figure 3-3: Input Terminals . . . . . . . . . . . . . . . . . . . . 3-7
Figure 3-4: Relay Output Terminals . . . . . . . . . . . . . . . . 3-8
Figure 3-5: Relay Output States . . . . . . . . . . . . . . . . . . 3-8
Figure 3-6: Open Collector Output Terminals . . . . . . . . . . . 3-8
Figure 3-7: Open Collector Output: PNP Mode . . . . . . . . . . 3-9
Figure 3-8: Open Collector Output: NPN Mode . . . . . . . . . . 3-9
Figure 4-1: SCORBOT-ER Vplus Installation . . . . . . . . . . . 4-1
Figure 4-2: Robot Base Plate Layout . . . . . . . . . . . . . . . 4-2
Figure 4-3: Controller Rear Panel . . . . . . . . . . . . . . . . . 4-3
Figure 5-1: Teach Pendant . . . . . . . . . . . . . . . . . . . . 5-3
Figure 6-1: SCORBOT-ER Vplus Home Position . . . . . . . . . 6-3
Figure 6-2: Cartesian Coordinates . . . . . . . . . . . . . . . . . 6-5
Figure 7-1: Parabola . . . . . . . . . . . . . . . . . . . . . . . 7-17
Figure 8-1: Belt Tension . . . . . . . . . . . . . . . . . . . . . . 8-2
Figure 8-2: Main Board - Memory . . . . . . . . . . . . . . . . . 8-5
Figure 8-3: Driver Card LEDs . . . . . . . . . . . . . . . . . . . 8-6
Figure 8-4: Driver Card Fuse . . . . . . . . . . . . . . . . . . . 8-7
Figure 8-5: Encoder Signals . . . . . . . . . . . . . . . . . . . . 8-9
Figure 8-6: Main Board - Connectors . . . . . . . . . . . . . . 8-12
Figure 8-7: Tightening Belts in Forearm . . . . . . . . . . . . . 8-16
Figure 8-8: Tightening Belts in Upper Arm . . . . . . . . . . . 8-16
Figure 8-9: Tightening Belts in Robot Base . . . . . . . . . . . 8-16
Figure 8-10: Shoulder Cover Screws . . . . . . . . . . . . . . 8-17
Figure 8-11: Controller Voltage Setting . . . . . . . . . . . . . 8-19
Figure 8-12: I/O Card - Logic Jumpers . . . . . . . . . . . . . 8-22
Figure 8-13: Axis Driver Card . . . . . . . . . . . . . . . . . . 8-23
Figure 8-14: Auxiliary RS232 Communication Card . . . . . . . 8-25
Figure 9-1: Gripper Assembly . . . . . . . . . . . . . . . . . . . 9-2
Figure 9-2: Robot Arm Assembly . . . . . . . . . . . . . . . . . 9-3
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Figure 9-3: Anti-Backlash Assembly . . . . . . . . . . . . . . . . 9-4
Figure 9-4: Base and Motors Assembly . . . . . . . . . . . . . . 9-5
Figure 9-5: Controller-A . . . . . . . . . . . . . . . . . . . . . 9-10
Figure 10-1: Robot D50 Connector . . . . . . . . . . . . . . . 10-1
Figure 10-2: Motor Wiring . . . . . . . . . . . . . . . . . . . . 10-3
Figure 10-3: Motor with D9 Connector . . . . . . . . . . . . . . 10-3
Figure A-1: Open-Loop and Closed-Loop Control . . . . . . . . . A-2
Figure A-2: Analog and Digital Signals . . . . . . . . . . . . . . A-3
Figure A-3: Transient and Steady States . . . . . . . . . . . . . A-4
Figure A-4: Transient State Responses . . . . . . . . . . . . . . A-5
Figure A-5: Controller-A Control Loop . . . . . . . . . . . . . . . A-5
Figure A-6: Controller-A Control Signals . . . . . . . . . . . . . A-6
Figure A-7: Trajectory Control Profiles . . . . . . . . . . . . . . A-7
Figure A-8: Linearity and Non-Linearity . . . . . . . . . . . . . A-11
Figure A-9: Control System Offset . . . . . . . . . . . . . . . . A-11
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CHAPTER 1
General Information
Read this chapter carefully before you unpack the robot and controller.
This chapter contains instructions for handling the SCORBOT-ER Vplus and
Controller-A.
This chapter also includes important safety guidelines and warnings.
Handling Instructions
Lift and carry the robot arm only by
grasping the body or the base.
See Figure 1-1.
Do not lift and/or carry the robot arm
by its gripper, upper arm or forearm.
Do not touch the microswitches, cams
or encoders.
Lift and carry the controller by

grasping it on and under the left and
right side panels.
Do not grasp the controller on either
its front or back panel, and avoid
handling near the power switch.
Figure 1-1: Robot Arm Parts
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Acceptance Inspection
The robot arm and the controller are packed in two separate cartons. Save the
original packing materials and shipping carton. You may need them later for
shipment or storage.
After removing the robot arm and controller from their shipping cartons, examine
them for signs of shipping damage. If any damage is evident, do not install or
operate the system. Notify your freight carrier and begin appropriate claims
procedures.
The following table lists standard components in the SCORBOT-ER Vplus package.
Make sure you have received all the items listed on the shipment’s packing list. If
anything is missing, contact your supplier.
SCORBOT-ER Vplus Standard Package (Catalog # 403)

Item Description
SCORBOT-ER Vplus Includes: power cable 100/110/220VAC; RS232 cable;
Robot Arm and Gripper gripper path cable; 4 driver cards (for 8 axes);
3 bolts for mounting robot; set of hex wrenches.
ACL Controller-A
ATS (Advanced Terminal Software):

Software 2 diskettes; one is write-protected
SCORBASE Level 5 Software: 1 diskette
SCORBOT-ER Vplus User’s Manual
ACL Reference Guide
Documentation
ATS Reference Guide
SCORBASE Software Reference Guide
The following table is a sampling of the optional accessories which are

compatible for use with the SCORBOT-ER Vplus system.
For a complete list of the accessories, devices, software and documentation for
integration and use with the SCORBOT-ER Vplus sytem, contact your agent.
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Optional Components for SCORBOT-ER Vplus System
Item Cat. # Notes
Teach Pendant for Controller-A 1703
Driver Card for Peripheral Axes:
Card with two 2A fuses 45018 Each card drives 2 axes;
Card with one 2A fuse and one 4A fuse 45019 If ordered with controller,
Card with two 4A fuses 45020 card is factory-installed.
Auxiliary RS232 Communication Card 45012 If ordered with controller,
Cable with 8 connectors for aux. card 40024 card is factory-installed.
SCORBASE Levels 1-3 software 9004
DC Motor Kits:
Motor with 5.9:1 gear ratio 1210
12VDC, Includes encoder and
connector cable.
Motor with 127:1 gear ratio 1206
Rotary Table (black) 1004 12VDC, ∅350mm plate
Proximity Sensor for Rotary Table 1209
Conveyor Belt (gray) 1006 12VDC, 20-slot encoder
Proximity Sensor for Conveyor 1203
Experiment Table 1201
48" Linear Slidebase 1001
12VDC
72" Linear Slidebase 1002
1.0M Linear Slidebase 1008
24VDC
1.5M Linear Slidebase 1007
Robot Adapter Plate for Linear Slidebase 10001
Gripper Adapter for Round/Square Pieces 609
Vacuum Gripper (1 suction cup) 601
Vacuum Gripper (3 suction cups) 602
Requires #1204 and #1208
Air Brush Paint Gun 603
Syringe Dispenser 604
Includes solenoid value, air
Utilities Control Box 1204 regulator, fittings, power
supply.
Includes 2 quick connectors
Air Supply Adapter Kit 1208
and air hose.
I/O Interface Box for Controller-A 1215

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Repacking for Shipment
Be sure all parts are back in place before packing the robot/controller.
The robot and controller should be repacked in their original packaging for
transport.
If the original carton is not available, wrap the robot/controller in plastic or heavy
paper. Put the wrapped robot/controller in a strong cardboard box at least 15 cm
(about 6 inches) longer in all three dimensions than the robot. Fill the box equally
around the unit with resilient packing material (shredded paper, bubble pack,
expanded foam chunks).
Seal the carton with sealing or strapping tape. Do not use cellophane or masking
tape.
Safety Precautions
This manual provides complete details for proper installation and operation of the
SCORBOT-ER Vplus and Controller-A. Do not install or operate the robot or
controller until you have thoroughly studied this User’s Manual. Be sure you
fheed the safety guidelines for both the robot and the controller.
Robot
1. Make sure the robot base is properly and securely bolted in place.
2. Make sure the robot arm has ample space in which to operate freely.
3. Make sure a guardrail, rope or safety screen has been set up around the
SCORBOT-ER Vplus operating area to protect both the operator and bystanders.
4. Do not enter the robot’s safety range or touch the robot when the system is in
operation. Before approaching the robot, make sure the motor switch on the
controller front panel has been shut off.
5. Make sure loose hair and clothing is tied back when you work with the robot.

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Controller
1. The power cable must have a ground connection. If your power outlet does not
have a safety ground, do not connect the controller. Failure to connect the power
cable to a grounded outlet could result in electrical shock.
1. Turn off the controller’s motor switch before you enter the robot’s operating area.
2. Turn off the controller’s power switch before you connect any inputs or outputs
to the controller.
3. Turn off the controller’s power switch and disconnect the controller power cable
from the AC power outlet before you open the controller cover or remove any
fuses. The power cable must be disconnected to remove possible shock hazard.
4. Never open the controller cover during robot operation.
Be sure you know how to immediately abort all running programs and stop all
axes of motion:
• press the Abort key on the teach pendant, or
• use the ACL command A <Enter>, or
• press the controller’s red EMERGENCY button.
Warnings
Do not install or operate the SCORBOT-ER Vplus or Controller-A under any of
the following conditions:
• Where the ambient temperature or humidity drops below or exceeds the
specified limits.
• Where exposed to large amounts of dust, dirt, salt, iron powder, or similar
substances.
• Where subject to vibrations or shocks.
• Where exposed to direct sunlight.
• Where subject to chemical, oil or water splashes.
• Where corrosive or flammable gas is present.
• Where the power line contains voltage spikes, or near any equipment which
generates large electrical noises.

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Robot
• Do not overload the robot arm. The combined weight of the workload and
gripper may not exceed 1kg (2.2 lb). It is recommended that the workload be
grasped at its center of gravity.
• Do not use physical force to move or stop any part of the robot arm.
• Do not drive the robot arm into any object or physical obstacle.
• Do not leave a loaded arm extended for more than a few minutes.
• Do not leave any of the axes under mechanical strain for any length of time.
Especially, do not leave the gripper grasping an object indefinitely.
• Since the SCORBOT-ER Vplus motors are rated 12VDC nominal, while the
controller motor drivers supply 24VDC, do not drive axes continuously in one
direction at maximum speeds. Specifically, when using the ACL command:
SET ANOUT[n]=DAC, make sure the DAC value is in the range ±2500.
Controller
• Before you plug the controller into the AC outlet, make sure its voltage
requirement (as seen on the tag at the back of the controller) matches your
voltage supply.
If the voltage setting does not match your supply, do not connect the
controller; contact your agent.
• Do not connect any voltage in excess of 24 VDC to the input terminals.
• Do not connect any voltage in excess of 24VDC to the output terminals.
• Never connect voltage from a power supply directly to any open collector
outputs (terminals 5–16). The open collector ouputs must always be
connected to a load. Never connect a load to voltage exceeding 24VDC.
• Never drive a current of more than 4A through the relay outputs (terminals
1-4).
Never drive a current of more than 0.5A through the open collector outputs
(terminals 5–16).

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CHAPTER 2
The Robot Arm
This chapter details the specifications and components of the SCORBOT-ER Vplus
robot arm.
Figure 2-1: SCORBOT-ER Vplus Robot Arm

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Specifications
The following table details the robot arm specifications.
SCORBOT-ER Vplus Specifications
Mechanical Structure Vertical articulated
Number of Axes 5 axes plus servo gripper
Axis Movement
Axis 1: Base rotation 310°
Axis 2: Shoulder rotation +130° / –35°
Axis 3: Elbow rotation ±130°
Axis 4: Wrist pitch ±130°
Axis 5: Wrist roll Unlimited (mechanically); ±570° (electrically)
Maximum Operating Radius 610mm (24.4")
DC servo gripper, with optical encoder,
parallel finger motion;
End Effector
Measurement of object’s size/gripping force
by means of gripper sensor and software.
75 mm (3") without rubber pads
Maximum Gripper Opening
65 mm (2.6") with rubber pads
Fixed position on each axis,
Hard Home
found by means of microswitches
Feedback Optical encoder on each axis
Actuators 12VDC servo motors
15 oz. in Peak Torque (stall)
Motor Capacity (axes 1–6)
70 W Power for Peak Torque
Motors 1, 2, 3: 127.1:1
Gear Ratios Motors 4, 5: 65.5:1
Motor 6 (gripper) 19.5:1
Transmission Gears, timing belts, lead screw
Maximum Payload 1 kg (2.2 lb.), including gripper
Position Repeatability ±0.5 mm (0.02") at TCP (tip of gripper)
Weight 11.5 kg (25 lb)
Maximum Path Velocity 600 mm/sec (23.6"/sec)
Ambient Operating Temperature 2°–40°C (36°–104°F)

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Structure
The SCORBOT-ER Vplus is a vertical articulated robot, with five revolute
joints. With gripper attached, the robot has six degrees of freedom. This design
permits the end effector to be positioned and oriented arbitrarily within a large
work space.
Figures 2-2 and 2-3 identify the joints and links of the mechanical arm.
The movements of the joints are described in the following table:
Axis No. Joint Name Motion Motor No.

1 Base Rotates the body. 1
2 Shoulder Raises and lowers the upper arm. 2
3 Elbow Raises and lowers the forearm. 3
4 Wrist Pitch Raises and lowers the end effector (gripper). 4+5
5 Wrist Roll Rotates the end effector (gripper). 4+5
Figure 2-2: Robot Arm Links Figure 2-3: Robot Arm Joints

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Work Envelope
The length of the links and the degree of rotation of the joints determine the
robot’s work envelope. Figures 2-4 and 2-5 show the dimensions and reach of the
SCORBOT-ER Vplus.
The base of the robot is normally fixed to a stationary work surface. It may,
however, be attached to a slidebase, resulting in an extended working range.
Figure 2-4: Operating Range (Top View)
Figure 2-5: Operating Range (Side View)

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Motors
The robot’s five axes and gripper
are operated by DC servo motors.
The direction of motor revolution
is determined by the polarity of the
operating voltage: positive DC
voltage turns the motor in one
direction, while negative DC
voltage turns it in the opposite
direction.
Each motor is fitted with an
encoder for closed-loop control.
Figure 2-6: Motor
Encoders
The location and movement of each axis is measured by an electro-optical
encoder attached to the shaft of the motor which drives the axis.
When the robot axis moves, the encoder generates a series of alternating high and
low electrical signals. The number
of signals is proportional to the
amount of axis motion. The
sequence of the signals indicates
the direction of movement.
The controller reads these signals
and determines the extent and
direction of axis movement.
Figure 2-7: Encoder

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Microswitches
Five microswitches are fitted onto the frame of
the robot arm. When the robot assumes the
position in which the microswitch for each joint
is depressed (by means of a cam), this
predetermined position is known as home. This is
the point of reference for robot operation.
Whenever the system is turned on, the robot
should be sent to this position, by means of a
software homing routine.
Figure 2-8: Microswitch
Transmissions
Several kinds of transmissions are used to move the links of the robot arm.
• Spur gears move the base and
shoulder axes.
• Pulleys and timing belts move
the elbow axis.
• Pulleys and timing belts, and a
bevel gear differential unit at the
end of the arm move the wrist
pitch and roll axes.
• A lead screw transmission opens
and closes the gripper.
Figure 2-9: Transmissions

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Gripper
The SCORBOT-ER Vplus has a jaw
gripper fitted with rubber pads. These pads
can be removed to allow the attachment of
other end effector devices, such as suction
pads.
Three bevel gears form a differential gear
train which moves the wrist joint. When
motors 4 and 5 are driven in opposite
directions, the wrist pitch moves up and
down. When motors 4 and 5 are driven in
the same direction, the wrist rolls clockwise
and counterclockwise. A leadscrew coupled
directly to motor 6 causes the gripper to
open and close.
Figure 2-10: SCORBOT-ER Vplus

Gripper

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CHAPTER 3
The Controller
This chapter details the specifications and functions of Controller-A, which controls
the SCORBOT-ER Vplus robotic system.
Figure 3-1: Controller-A

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Specifications
Controller-A Specifications
Item Specification Notes
Stand-alone
Real-time Terminal or PC required
Type of Control Multi-tasking only for programming
PID (proportional, integral, differential) stage.
PWM (pulse width modulation)
Number of Standard: 8
Servo Axes Maximum: 11
11 axes can be divided into 3 groups: Each group has
Group A independent control.
Groups of Control
Group B Axis interpolation in
Group C (independent axes) groups A and B.
PWM (pulse width modulation)
Axis Drivers
20 KHz
PTP (point to point), CP (continuous path)
Joint
Path Control Linear 10 ms control cycle.
Circular Software controlled
User-defined path acceleration/deceleration.
Paraboloid PID parameters.
Trajectory Control Trapezoid
Open Loop (not for user)
Speed Speed programmed as a
Speed Control
Travel time percentage of range.
Servo control
Speed, velocity profile, smoothing
Axis position error
Gripper operation
Control Parameters
Thermic, impact, limit protection
Homing
Encoder interface
Cartesian calculations
Power Requirements 100/110/220V AC, 50/60Hz, 500W max. ± 5%
Internal Power Motors: +24VDC, 18A
Supplies User: +12VDC, 2A
Weight 19 kg (42 lbs)
490mm (19.3") L
Dimensions 445mm (17.5") W
150mm (5.9") H

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Ambient Operating
2°–40°C (36°–104°F)
Temperature
CPU Motorola 68010
EPROM 384KB
System: 64KB
RAM
User: 128KB
Communication RS232 serial port
16 inputs (with indicator LEDs);
Inputs
NPN (default) and PNP logic modes.
12 open collector outputs (with indicator LEDs);
Outputs NPN (default) and PNP logic modes. 24VDC maximum
4 relay outputs (with indicator LEDs)
Using any terminal
Programming ACL: Advanced Control Language
Using PC with ATS
Languages
SCORBASE Level 5 Software Using PC
Absolute
Using: ACL,
Relative
Position Recording SCORBASE,
Cartesian
Teach Pendant
Joint
No. of program
12800 lines or 6375 positions (or any combination)
lines/positions
No. of programs in
Hundreds; depends on length of programs.
user RAM
Multi-tasking Maximum simultaneous execution: 20 user tasks
Positioning System Incremental optical encoders
XYZ coordinates
Coordinate System
Joint coordinates
Main power
Inputs/Outputs
On front panel
LED Indicators Servo Power
Emergency
Axis power On rear panel
Emergency switch
On front panel
Motor power switch
Safety Features Adjustable current limit
On all axes
Automatic fuse
Thermic, impact and limit software protection

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Inputs/Outputs
Terminals on front panel
User power supply
On rear panel:
Axis drivers D9 connectors
Connectors Gripper D9 connector
RS232 channel D25 connector
Teach Pendant D25 connector
Robot D50 connector
Auxiliary RS232 channels (optional) D37 connector
30 multi-function keys
Teach Pendant 2 line LCD display; 16 characters per line
Full control features

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Controller Functions
The front panel of the controller contains switches, LEDs and connection
terminals for operator use. Refer to Figure 3-2.
Figure 3-2: Controller Front Panel
Power On/Off Switch and LED

The controller’s power switch, which is located on the side of the controller,
connects and disconnects AC power to the controller.
The yellow power LED on the controller’s front panel lights up when the power
switch is turned on. It indicates that power is being supplied to the controller.
Motors and User Power Supply Switch and LED

This switch connects and and disconnects DC voltage to all the connected motors
and to the user power supply. A green LED embedded in the switch lights up
when the switch is on.

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The motors switch is turned off in the following circumstances:
• To disconnect power to the motors, user power supply, and inputs without
turning off the controller.
• To prevent possible motion of axes.
When the motors switch is turned off, the robot motors and all connected axes are
unable to move. In addition, it disconnects the user power supply, making the
controller inputs and open collector outputs inoperative.
Emergency Switch and Lamp

This switch halts all controller operations. A red lamp embedded in the switch
lights up with the switch is on. When the switch is depressed, the following
occurs:
• The red emergency lamp lights up.
• All running programs are aborted.
• Motor power is disconnected; all motor movement stops; the green motors
LED shuts off. All the green LEDs on the rear panel shut off.
• The user power supply is shut off.
• The inputs and outputs are shut off.
When the switch is pressed again, the following occurs:
• The red emergency lamp shuts off.
• The green LED on the motors switch lights up.
• The green LEDs on the rear panel light up again.
• The controller’s CPU is reset and the following appears on the screen:
---- RAM TEST COMPLETE.
---- ROM TEST COMPLETE.
SYSTEM READY!
>_
The robot must be homed before work can resume following an Emergency.

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User Power Supply Terminals
The user power supply allows external devices in the user’s applications to
receive power from the controller. The controller user power supply has four
terminals:
• Two +12VDC, 2A regulated power supply
• Two safety ground
When the motors switch is turned off, it also disconnects the user power supply.
Input and Output Terminals and LEDs

Controller-A is equipped with an I/O board which allows you to individually
configure the inputs and open collector outputs to operate in either negative
(NPN) or positive (PNP) logic. The controller is factory-configured for operation
in NPN mode.
Refer to the section, “ Adjustments and Repairs,” in Chapter 8 for instructions on
altering the I/O logic mode.
Inputs
The controller’s inputs allow the robotic system to receive signals from external
devices in the robot’s environment. The controller has 16 input terminals and four
ground connection points, as shown in Figure 3-3.
All inputs are coupled to the controller system with opto-couplers.
Figure 3-3: Input Terminals
Inputs can be operated in either of two modes:

• Negative logic mode (NPN) ; default mode:
ON is defined as low voltage (less than 1.5VDC or ground).
OFF is defined as high voltage (+5VDC to +24VDC).
• Positive logic mode (PNP):
ON is defined as high voltage (+5VDC to +24VDC),
OFF is defined as low voltage (less than 1.5VDC or ground).
When the motors switch is turned off, it disconnects the user power supply,
making the controller inputs and open collector outputs inoperative.

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To simulate the operation of an input when no device is connected, short the input
manually; use a wire or an unraveled paper clip, for example.
• When the input is operating in NPN mode, short the input by connecting it to
a ground connector.
• When the input is operating in PNP mode, short the input by connecting it to
the user power supply.
Outputs
The controller’s outputs allow the robotic system to transmit signals to external
devices in the robot’s environment. The controller has 4 relay outputs and 12
open collector outputs.
Relay Outputs 1-4

Outputs 1 to 4, shown in Figure 3-4, include relays in their final stage. Each relay
includes three contact points:
Common Tab (COM)
Normally Closed Tab (NC)
Normally Open Tab (NO)
Maximum voltage allowed: 24VDC
Maximum current allowed: 4A
Figure 3-5 shows the ON and OFF states Figure 3-4: Relay Output Terminals
of a relay output.
Open Collector Outputs 5-16

Outputs 5 to 16, shown in Figure 3-6,
include a transistor with an open collector
in their final stage. These outputs must be
connected to a load.
Never connect open collector outputs
directly to a power supply or ground. Figure 3-5: Relay Output States
When using an inductive load, such as a

solenoid or relay, connect a protection
diode across the load. You may connect
an open collector output directly to an
input.
Figure 3-6: Open Collector Output
Open collector outputs can be operated in Terminals
either of two modes:

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• Negative logic mode (NPN); default mode:
ON is defined as low voltage (0.3VDC or less)
OFF is defined as V (refer to Figure 3-7)
• Positive logic mode (PNP):
ON is defined as +12VDC
OFF is defined as 0 volts (refer to Figure 3-8)
Maximum voltage allowed: 24VDC
Maximum current allowed: 0.5A
Figure 3-8: Open Collector Output: NPN Mode
Figure 3-7: Open Collector Output: PNP Mode

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Input and Output LEDs
16 yellow LEDs, corresponding to outputs 1–16, light up when the outputs are
ON.
16 orange LEDs, corresponding to inputs 1–16, light up when the inputs are ON.
3 - 10 SCORBOT-ER Vplus User’s Manual

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CHAPTER 4
Installation
Before installing the SCORBOT-ER Vplus, be sure you have read and
understood the safety instructions and warnings detailed in Chapter 1.
Preparations
Be sure you have ample space to set up the robotic system, as shown in
Figure 4-1.
1. Set up the SCORBOT-ER Vplus on a sturdy surface with a minimum 700mm of
free space all around the robot.
Figure 4-1: SCORBOT-ER Vplus Installation

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2. Fasten the base of the robot arm to
the work surface with at least 3 bolts
120° apart, as shown in Figure 4-2.
Robot Base ∅ 240 mm (9.49")
Pitch Circle ∅ 207 mm (8.15" )
Hole (6 off) ∅ 8.5 mm (0.33")
Make sure the robot is securely

bolted in place. Otherwise the robot
could become unbalanced and topple
over while in motion.
3. Set up a guardrail, rope or safety
Figure 4-2: Robot Base Plate Layout
screen around the robot’s operating
area to protect both the operator and
bystanders.
4. Place the controller and computer on a sturdy surface at a safe distance from the
robot—well outside the robot’s safety range.

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Cable Connections
Be sure to verify that the controller’s voltage setting matches your voltage supply
before you connect the controller to the AC power outlet.
1. Install and configure your computer/terminal and monitor according to the
manufacturer’s instructions.
2. Connect the computer power cable to an AC power source.
It is recommended, though not imperative, that you connect the computer to an
AC power source other than the one used by the controller.
Make sure the power switch on the computer and the controller is in the OFF
position before you continue to the next step.
For the following steps, refer to Figure 4-3.
3. Connect the gripper path cable (D9 connectors) to both the gripper port and the
axis 6 driver port.
4. Connect the robot cable (D50 connector) to the controller.
5. Connect the RS232 cable (D25 connector) to the RS232 port on the controller and
to the RS232 port on the computer. You may use either COM1 or COM2 on the
computer.
If your computer’s COM port requires a D9 connector, use a standard D25-D9
adapter to connect the RS232 cable to your computer.
Figure 4-3: Controller Rear Panel

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6. If an auxiliary RS232 communication card is installed in the controller, make the
following cable connections:
• Connect the cable’s D37 connector to the auxiliary RS232 port on the
controller.
• The auxiliary card may have a cable with either two or eight D25 connectors.
Connect the cable’s D25 connectors to the corresponding COM ports on the
other controllers or computers. (If any of these COM ports requires a D9
connector, use a standard D25-D9 adapter to connect the RS232 cable).
To install an auxiliary RS232 communication card in your controller, follow the
instructions described in the section, “ Adjustments and Repairs,” in Chapter 8.
7. If you will be using a teach pendant, connect it to the Teach Pendant port (D25
connector) on the controller.
8. If you will be operating additional axes by means of the controller, connect them
at this time. Refer to the following section, “ Peripheral Axes.“
9. When you have completed all cable connections, tighten all retaining screws on
all the connectors.
10. Make sure the controller’s power switch is off. Then plug the controller’s power
cable into AC power supply outlet.
11. You may now proceed to the section, “ Power On.”
Peripheral Axes
When the controller is configured for operation with SCORBOT-ER Vplus,
do not connect peripheral axes to the axis driver connectors labeled 1, 2, 3, 4, 5
and 6, which are reserved for the robot axes and gripper.
Although axis 6 is reserved by default for an electrical gripper, it can be used to
drive a peripheral device.
• Make sure the gripper path cable is disconnected from both the Gripper and
the Axis 6 connectors on the controller. You may then connect the peripheral
device to the Axis 6 driver.
• Use the ACL command CONFIG to configure Axis 6 for a peripheral axis.
For information on installing additional driver cards, refer to the section,
“ Adjustments and Repairs,” in Chapter 8.
For instructions on configuring Controller-A for use with peripheral devices,
refer to the ATS Reference Guide.

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Power On
1. Once you have made all the required hardware connections, you can power on the
controller.
• Turn on the controller’s power switch.
• Turn on the controller’s motors power switch.
The green (power and motor) LEDs light up.
2. Turn on your computer, and boot using your own DOS.
If your computer does not “ wake up” , disconnect the RS232 cable, then power
on the computer, and then reconnect the RS232 cable
3. If your computer has a hard drive, make a directory for ATS, and copy the files
from the ATS distribution disk to that directory.
If your computer does not have a hard drive, make a backup copy of the ATS
disk. Keep the original disk in a safe place, and use the copy for operation.
4. Make the ATS directory or disk drive the default.
At the DOS prompt, activate ATS.
If the controller is connected to computer port COM1 (default), type:
ats <Enter>
If the controller is connected to computer port COM2, type:
ats /c2 <Enter>
5. Once the software has loaded, the ATS main screen will appear on your monitor:

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Press <Enter> to receive the > prompt, if it is not already displayed.
If you have connected a teach pendant, the TP display will show:
_
A JOINTS
6. You can now communicate directly with the controller.

Perform the controller configuration, as described in the following section.

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Controller Configuration
This section describes the short-form controller configuration which loads default
parameter settings according to your responses to the prompts. The procedure
described below should be sufficient for you to begin operating the system.
If the controller has already been in operation, be sure to back-up all data before
initiating this configuration procedure.
The configuration procedure is initiated from the ATS main screen by pressing
the hot-key combination:
<Ctrl> + <F1>
You are prompted:
Controller Configuration
ARE YOU SURE (Y/N)? N
Press Y to proceed with the configuration, or
Press N or <Enter> to cancel the configuration.
You are prompted by a short series of Controller Configuration options.
Make sure you select the proper options for your installation.
Incorrect selections may result in damage to your equipment.
Robot type: ER V / ER-Vplus / ER-VII / OTHER
This defines the robot which is connected to the controller.
Use the left and right arrow keys to highlight the name of the robot which is
connected to the controller. Then press <Enter> to accept.
When a robot (not “ OTHER” ) is selected, the controller reserves axis 6 (the
first available axis after the robot axes) for an electrical servo gripper.
How many axes are installed (8)? ..
This defines the number of axes which can be driven by the controller.
Press <Enter> to accept 8 axes (default), or
Type any other valid number and press <Enter>.
Is expanded memory installed (Y/N) Y
Press Y or <Enter>if controller has 128K RAM (default), or
Press N if controller has 32K RAM .
Does the controller have an auxiliary RS232 board?(Y/N)? N
Press Y if the auxiliary multiport RS232 board is installed in your controller,
or
Press N or <Enter> if the board is not installed (default).

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Working directory is: c:\ATS
Is this correct (Y/N)?Y
The first time this prompt appears, it shows the DOS directory from which the
ATS software was activated.
The Working directory must be the directory which contains the parameter files
and the SCORBASE program file (.CBU files).
If you change the directory definition, it is written to a file named SETUP.DIR.
Thereafter, whenever ATS is loaded, the Working directory is set according to
the definition in the SETUP.DIR file. Similarly, the SETUP.DIR file determines
the definition of the Backup directory shown in the Backup Manager screen.
SETUP.DIR is updated when either the Working directory or Backup directory
definition is changed.
Press N if you want to change the directory. The cursor moves to the directory
line, prompting you to type and <Enter> a different directory.
Press Y if the directory is correct.
Press <Esc> if you are not sure whether the displayed directory is correct.
This will cancel the configuration procedure. Press F10 to access the ATS
Backup Manager menu to verify the proper directory definition. Or exit to
DOS to verify the location of the .CBU files.
WARNING ! USER RAM WILL BE ERASED !!
ARE YOU SURE(Y/N)? N
Press Y to proceed with the configuration.
Press N or <Enter> to cancel the configuration.
After you confirm, ATS compares your selections with the controller’s current
configuration. You are warned of any differences, and again prompted to confirm
the configuration.
After you again confirm, ATS performs the configuration and loads the proper
parameter files in accordance with your selections.
For complete instructions on the short-form controller configuration, including

configuration for use with the SCORBASE software, refer to the ATS Reference
Guide.
For definitions not included in the short-form configuration procedure—such as
axes in control group C, a robot of another make, and memory allocation— you
will need to use the ACL command CONFIG. Refer to the ACL Reference Guide.

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CHAPTER 5
Operating Methods
SCORBOT-ER Vplus can be programmed and operated in a number of ways.
This chapter introduces the robotic software and the teach pendant functions.
Software and teach pendant operation is described in other chapters of this
manual, and in the other manuals supplied with the system.
Software
ACL
ACL, Advanced Control Language, is an advanced, multi-tasking robotic
programming language developed by Eshed Robotec. ACL is programmed onto a
set of EPROMs within Controller-A, and can be accessed from any standard
terminal or PC computer by means of an RS232 communication channel.
ACL features include the following:
• Direct user control of robotic axes.
• User programming of robotic system.
• Input/output data control.
• Simultaneous, synchronized and interactive program execution;
full multi-tasking support.
• Simple file management.
ACL is described fully in the ACL Reference Guide.
ATS
ATS, Advanced Terminal Software, is the user interface to the ACL controller.
ATS is supplied on diskette and operates on any PC host computer. The software
is a terminal emulator which enables access to ACL from a PC computer.

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ATS features include the following:
• Short-form controller configuration.
• Definition of peripheral devices.
• Short-cut keys for command entry.
• Program editor.
• Backup manager.
• Print manager.
ATS is described fully in the ATS Reference Guide.
SCORBASE
SCORBASE is a robotic control software package which can be used with
Controller-A. Its menu-driven structure and off-line capabilities facilitate robotic
programming and operation.
SCORBASE is supplied on diskette and operates on any PC system.
SCORBASE communicates with ACL, the controller’s internal language, by
means of an RS232 channel.
Levels 1, 2 and 3 of the SCORBASE software can be ordered separately, and are
recommended for those who wish to learn robotic programming from the most
basic stages.
SCORBASE is described fully in the SCORBASE Level 5 Reference Guide.

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Teach Pendant
The teach pendant is an optional device.
The teach pendant (TP) is a hand-held terminal, used for controlling the robot and
axis connected to Controller-A. The teach pendant is most practical for moving
the axes, recording positions, sending the axes to recorded positions, and
activating programs. Other
functions can also be executed from
the teach pendant.
The teach pendant’s display panel is
a 2-line, 32 character liquid crystal
display (LCD). It shows the current
status of the controller, the current
user command, and system
messages.
The teach pendant has 30 function
keys. These functions are described
in this chapter. Many of the
command keys on the teach pendant
are ACL commands; these
commands are described fully in the
ACL Reference Guide.
Keypad Functions
The teach pendant’s keypad has 30
color-coded keys. Most of the keys
are multi-functional; for example,
some keys include both an axis Figure 5-1: Teach Pendant
drive command and a numeric
function. The controller recognizes
the keys from the order in which they are pressed. Thus, the numeric function will
be active only if a function such as SPEED, RUN, or MOVE has been keyed in
first; otherwise, the axis drive command will be active.
Following are descriptions of the teach pendant’s keys and instructions for
activating them. Bulleted items indicate the different functions of multi-functional
keys.

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Accepts and/or executes the command which has been entered.
Starts execution of a program following a Run command.
A toggle key. Switches the command mode between Joints and Cartesian (XYZ).
• When used following a numeric function, this key acts as a backspace

function; it cancels the last numeric entry and moves the cursor one position
to the left.
• Enables TP control of a specific axis group.

Successively press for group A, group B, group C, and again for group A, and
so on. When group C is displayed, enter the axis number on the numerical
keys. Then press Enter.
The Record Position and Speed functions apply only to the currently selected
group.
A toggle key. Enables (CON) and disables (COFF) control of the selected group.
• The Axis keys move axes 7 through 11 in two directions.

• The numeric keys are operative if one of the following functions has been
activated: Speed, Run, Record Position, Go Position, Group Select.

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In Joint mode: the Base/X keys move the base axis in two directions.
In XYZ mode: the Base/X keys move the TCP (tip of gripper) along the X-axis;
Y and Z coordinates do not change.
In Joint mode: the Shoulder/Y keys move the shoulder axis in two directions.
In XYZ mode: the Shoulder/Y keys move the the TCP (tip of gripper) along the
Y-axis; X and Z coordinates do not change.
In Joint mode: the Elbow/Z keys move the elbow axis in two directions.
In XYZ mode, the Elbow/Z keys move the TCP (tip of gripper) along the Z-axis;
X and Y coordinates do not change.
In Joint mode: the Pitch keys move the TCP (tip of gripper) up or down, without
moving the other axes.
In XYZ mode: the Pitch keys move three axes (shoulder, elbow and pitch) in
order to change the pitch angle without changing the position of the TCP (tip of
gripper).
In both Joint and XYZ modes: the Roll keys move the roll axis in two directions.
A toggle key. Opens and closes the electrical gripper.

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number
Sets the speed of manual axis movement of the current axis control group; that is,
group A, B, or C. The speed is defined as a percentage (1-100) of maximum
speed.
Press Speed. The current speed is displayed.
Press Enter to accept the displayed default speed. Or use the numerical keys
to enter a different speed, and press Enter.
number
Defines and records a position.
Only numerical position names, of up to five digits, can be entered from the TP.
The position is defined for the currently active group, and receives the current
values of the axes in that group.
Press Record Position. Then press up to five digits for the position name.
Then press Enter to record the position coordinates.
If you use a position name which has already been defined, the new coordinates
will overwrite the existing ones.
This command is also used to record positions in a vector. The vector must first be
attached to the teach pendant by means of the ACL command ATTACH.
number
Moves the axes to a target position.

Press Go Position. Then use the numeric keys to enter the position name.
Then press Enter to execute the move.
In Joint mode: robot movement is by joints.
In XYZ mode: robot movement is linear.
To send the axes to their home position, enter the following commands:
Go Position 0 sends all the axes of group A to their HOME position.
Go Position 00 sends all the axes of group B to their HOME position.

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number
Executes a program.
Press Run. Then press the program’s identity number on the numerical keys. The
program name will be displayed in brackets. Then press Enter to begin program
execution.
The controller automatically assigns an ID number to each user program. The
ACL command DIR lists the programs and their assigned (IDENTITY) number.
Aborts execution of all running programs. Stops movement of the robot and all
peripheral axes.
The Display Panel

The LCD panel shows the current status of the controller, the current user
command, and system messages.
A resident note shows the coordinates system currently active: JOINTS or XYZ.
Another resident note shows the currently active group: A, B, or the number of
one of the independent axes in control group C.

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CHAPTER 6
Operating the Robot
This chapter introduces you to the basic commands for operating the
SCORBOT-ER Vplus robot by means of both the ACL software and the teach
pendant.
DIRECT Mode
This chapter describes the operation of the robotic system when it is functioning
in the DIRECT mode. When the system is in DIRECT mode, the user has direct
control of the axes, and the controller executes commands as soon as they are
entered by the user.
When in DIRECT mode, the screen prompt appears like this: >_
When the system is operating in EDIT mode, commands are entered into a user
program, which can be saved and executed at a later time. Program editing
procedures are described in Chapter 7.
Manual Mode
Manual mode is available when the system is in DIRECT mode. The Manual
mode enables direct control of the robot axes when a teach pendant is not
connected.
When using the keyboard to perform some of the procedures described in this
chapter, the system must be in Manual mode.
To activate Manual mode, hold the <Alt> key and press the character M:
<Alt> + m
The system will respond in one of the following ways:
MANUAL MODE! MANUAL MODE!
>_ >_
JOINT MODE XYZ MODE
The system’s response indicates the currently active coordinate system.

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To exit Manual mode, the same command is used.
Press: <Alt> + m
EXIT MANUAL MODE...
>_
Using this Manual

To familiarize yourself with the system, you should read through this chapter
(and the following ones) and practice entering the commands described in each
section.
All operations described in this chapter can be performed from the keyboard. The
steps for using the keyboard are indicated by the heading PC. The teach pendant
is optional. The operations which can also be performed from the teach pendant
are indicated by the heading TP.
This manual uses the following typographical conventions:
Descriptions of PC operation show user entries in bold, lowercase text. System
responses are shown in capital letters. (The actual screen display may be
different.) For example:
home <Enter>
WAIT!! HOMING...
The system is not case-sensitive. You may use either uppercase and lowercase
characters to enter commands and data.
Descriptions of TP operation show the teach pendant keys which the user must
press. System responses are shown in boxed capital letters. For example:
CONTROL ENABLED
A JOINTS
Activating the Sytem

Activate the system and load the ATS software, as described in the section,
“ Power On,” in Chapter 4.

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Homing the Robot and Peripheral Axes
The location of the robot axes is monitored by encoders which track the amount
of movement relative to an initial—home—position. To obtain repeatable robot
performance, this reference position must be identical each time the robot is used.
Thus, whenever the system is activated, the homing program, which is internally
programmed into the controller, must be
executed.
During the homing procedure, the robot joints
move and search for their home positions, one at
a time, in the following sequence:
shoulder (axis 2), elbow (axis 3), pitch (axis 4),
roll (axis 5), base (axis 1), gripper (axis 6).
To find its home position, the axis is moved until
the microswitch which is mounted on the joint
sends a specific signal to the controller,
indicating the axis is at home.
When the homing is completed, the robot
assumes the position shown in Figure 6-1.
Before you begin the homing procedure, make Figure 6-1: SCORBOT-ER Vplus
sure the robot has ample space in which to move
Home Position
freely and extend its arm.
TP
Press:
This instructs the controller to execute Program 0, the robot homing routine. The
display panel on the teach pendant will show:
HOMING. . .
When the Home search is successfully completed, the display panel will show:
HOMING COMPLETE
If the robot is unable to find a home position in one or more of the axes, you will
see a message such as:
HOME FAIL [4]

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To stop the homing while the operation is in progress, press the Abort key.
The peripheral axes are homed by means of the TP command Run 00.
PC
To home the robot axes (Group A), use the ACL command HOME.
Type: home <Enter>
WAIT!! HOMING...
If all axes reach their home postion, a message is displayed:
HOMING COMPLETE (ROBOT)
If the homing process is not completed, an error message identifying the failure is
displayed:
*** HOME FAILURE AXIS 4
To stop the homing while the operation is in progress, use the abort commands:
Type: A <Enter>
or press: <Ctrl>+A
To home peripheral axes, each axis must be homed individually; for example:
Type: home 7 <Enter>
home 8 <Enter>
home 9 <Enter>
To home an axis, such as a slidebase, which uses a hard stop rather than a
microswitch, use the ACL command HHOME.
Type: hhome 8 <Enter>

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Coordinate Systems
The SCORBOT-ER Vplus can be operated and programmed in two different
coordinate systems: Joint and Cartesian (XYZ) coordinates.
Cartesian (XYZ) Coordinates

The Cartesian, or XYZ, coordinate
system is a geometric system used to
specify the position of the robot’s TCP
(tool center point=tip of gripper) by
defining its distance, in linear units,
from the point of origin (the center
bottom of its base) along three linear
axes, as shown in Figure 6-2.
To complete the position definition, the
pitch and roll are specified in angular
units.
When robot motion is executed in XYZ
mode, all or some of the axes move in
order to move the TCP along an X, Y
or Z axis.
Joint Coordinates
Joint coordinates specify the location of
each axis in encoder counts. When the
axes move, the optical encoders
generate a series of alternating high and
low electrical signals. The number of Figure 6-2: Cartesian Coordinates
signals is proportional to the amount of
axis motion; the controller counts the signals and determines how far an axis has
moved. Similarly, a robot movement or position can be defined as a specific
number of encoder counts for each axis, relative to the home position, or another
coordinate.
When robot motion is executed in Joint mode, individual axes move according to
the command.
If any peripheral devices are connected to the robotic system, the position of their
axes is always stated in encoder counts.

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TP
To toggle between the two coordinate systems:
Press:
A JOINTS
Press
again:
A XYZ
The display reflects the currently active coordinate system. Manual movement of
the axes will be executed according to the currently active coordinate system.
PC
To select a coordinate system from the keyboard, you must first activate Manual
mode.
To activate the Joint coordinate system:
Press: j
JOINT MODE
To activate the XYZ coordinate system:
Press: x
XYZ MODE

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Servo Control
The controller must be in the servo control (CON) state for the axes to execute
movement commands.
Activating the Home routine will activate CON.
Certain events, such as impact, overheating (thermic error), or activation of the
Emergency switch, will automatically switch off the servo control state (COFF).
CON must be activated to resume motion and servo control.
While the controller is in the COFF state, you cannot operate the axes.
TP
To toggle servo control on and off:
Press:
CONTROL ENABLED
Press
again:
CONTROL DISABLED
When Control On/Off is activated from the teach pendant, the CONTROL
ENABLED/CONTROL DISABLED message also appears on the computer
screen.
PC
If Manual mode is active you can enable and disable control from the keyboard.
Press: c
CONTROL ENABLED
Press: f
CONTROL DISABLED
The commands C and F enable and disable control of all axes which are
connected to the controller.

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If Manual mode is not active, you can use the ACL commands CON and COFF.
Type: con <Enter> Enables control of all axes.
Type: coff <Enter> Disables control of all axes.
The format can be altered to enable and disable control of specific groups of axes;
for example:
cona Enables control of robot axes (Group A).
coffb Disables control of peripheral axes (Group B).
con 9 Enables control of axis 9 (Group C).
Axis Control Groups

By default, the controller assumes the five robot axes (Group A) are under servo
control. The Group Select key allows you to switch control to peripheral axes
(Group B), or to an independent axis (Group C).
TP
To select the axis control group:
Press:
_
B JOINTS
Press
again:
AXIS . .
When selecting an independent (Group C) axis, you must also key in the axis
number followed by Enter.
Continue pressing this key until the desired axis group is displayed.
PC
ACL does not have a command for selecting the axis control group. The specific
format of each command indicates the axis control group.

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Moving the Axes
XYZ and Joint Movements
When the coordinate system is set to the XYZ mode, movement commands cause
linear motion of the TCP (tip of gripper) along the X, Y and Z axes, while
maintaining the angles of the pitch and roll relative to the robot’s point of origin.
When the coordinate system is set to the Joint mode, the robot responds to
movement commands by moving from one defined point to another.
Peripheral axes always move according to Joint coordinates.
TP
When in XYZ mode, the controller recognizes the Cartesian functions of the
teach pendant keys.
When in Joint mode, the controller recognizes the joint functions (shaded in
diagram) of the teach pendant keys.
The teach pendant offers the easiest method for

moving the robot arm. You simply press an axis
movement key, and the robot moves. When you
release the key, movement stops.
Before you press the keys shown below, make
sure JOINTS, Group A, and Control On are
active. Move the axes of the robot, in both directions.
Press:
Press:
Press:
Press:
Press:

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Before you press the keys shown below, make sure XYZ appears on the teach
pendant display. Watch how the keys now affect the movement of the TCP.
Press:
Press:
Press:
PC
To directly control movement of the robot axes from the keyboard, Manual mode
and Control On must first be activated. The keys listed below are then used to
move the robot.
The axes will move as long as the activating key is depressed, until a fixed stop is
reached. The gripper will either open completely or close completely.
In Joint mode, the keys produce the following movements:
Press: 1, Q Move axis 1 (base)
2, W Move axis 2 (shoulder)
3, E Move axis 3 (elbow)
4, R Move axis 4 (wrist pitch)
5, T Move axis 5 (wrist roll)
6, Y Closes/Opens electrical gripper (axis 6)
In XYZ mode the following changes in manual movement occur:
Press: 1, Q TCP moves along X+ and X– axes.
2, W TCP moves along Y+ and Y– axes.
3, E TCP moves along Z+ and Z– axes.
4, R Pitch moves; TCP maintains position.
All other movements are the same as in Joint mode.
In XYZ mode, moving the robot to positions at the maximum range of reach may
result in jerky movements. Use Joint mode to reach these positions.
While moving the arm, you may alternate between XYZ and Joint modes as often
as required.
If peripheral axes are connected, the following keys are also used:
Press: 7, U Move axis 7
8, I Move axis 8
9, O Move axis 9
0, P Move axis 10
–, [ Move axis 11

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Activating the Gripper
In response to the commands to open and close, the electrical gripper goes
completely from one state to the other.
TP:
Press:
The Open/Close key toggles the gripper between its open and closed states.
If the gripper was open it will now close, and vice versa. Repeat the command.
PC:
When Manual mode is active, the following keys activate the gripper.
Press: Y Opens the gripper.
Press: 6 Closes the gripper.
When Manual mode is not active, the ACL commands OPEN and CLOSE are
used.
Type: open <Enter>
Type: close <Enter>
Pneumatic grippers or devices are controlled by means of ACL output commands.

To activate a pneumatic gripper or end effector from the teach pendant, ACL
output commands must be written to two program (one for opening the gripper
and one for closing it). Each program can then be called from the teach pendant,
resulting in activation of the pneumatic gripper or device.
For more information, refer to the section on I/O programming in Chapter 7.
User’s Manual SCORBOT-ER Vplus 6 - 11

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Setting the Speed
TP
The speed of the robot during Go Position movements controlled from the teach
pendant is defined as a percentage of maximum speed. Speed defined as 100
gives the robot maximum speed, while a speed of 1 is the minimum. When the
system is first turned on, the default speed is set at 50, approximately half the
robot’s maximum speed.
The speed of the robot during manual movements controlled from the teach
pendant is relative to the speed setting, and much slower than Go Position
movements.
Use the teach pendant to set the robot’s speed to a speed of 30%, for example:
Press:
All Go Position movement commands will be executed at a speed of 30, until a

different speed is entered.
PC
When Manual mode is active, use the key S to set the speed of manual movement.
Press: s
SPEED.._
You are prompted for a speed value—a percentage of the maximum speed.
Type a number between 1–100, and press <Enter>.
When Manual mode is not active, the ACL command SPEED is used to define
the speed at which movements are executed. For example:
speed 50 Sets speed movements of Group A axes to 50% of
maximum speed.
speedb 20 Sets speed of movements of peripheral axes (Group B) to
20% of maximum speed.

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Defining and Recording Positions
Defining a position reserves space in controller memory, and assigns it a name.
Recording a position writes coordinate values to the allocated space in controller
memory.
Two types of position names are possible:
• Numerical names (such as 3, 22, 101) of up to five digits.
Positions with this type of name do not need to be defined before they are
recorded by means of the teach pendant; the position recording command
automatically defines and records positions with numerical names.
• Alphanumeric names (such as P, POS10, A2). The name may be a
combination of up to five characters, and should begin with a letter. These
positions cannot be accessed from the teach pendant.
Positions may belong to a vector; that is an array of positions identified by a
specific name and an index; for example, PVEC[1] and PVEC[5] are positions in
a vector named PVEC. When a vector is attached to the teach pendant (by means
of the ACL command ATTACH), vector positions can be accessed from the teach
pendant by means of their index number.
If you accidently record coordinates for position 0, execute the Home program.
The homing routine records the proper coordinates for position 0.
TP
The teach pendant allows you to simultaneously define and record a position.
To record a robot position, first be sure the Group A is selected. Then use the axis
movement keys to bring the robot to any location. Record this as position 12.
Press:
DONE
Move the robot to another location and record it as position 13.

The Record Position key records the position of the currently active axis control
group (A, B or an independent axis) in joint coordinates.
If you want to define the location of both the robot and the peripheral axes, you
must record two positions, one for each group.

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PC
To define and record positions from the keyboard, you must first exit Manual
mode.
Use the ACL command DEFP to define a robot position. For example:
Type: defp A1 <Enter> Defines position A1 for the robot.
When a position is defined, it is assigned to a specific axis control group. By
default, it is assigned to the robot (Group A) axes. To define a position for Group
B, or an independent axis, the command format determines the group to which
the position is dedicated.
Type: defpb B24 <Enter> Defines position B24 for Group B.
defpc C3 10 <Enter> Defines position C3 for axis 10.
Define three robot positions:
Type: defp A31
defp A32
defp A33
The ACL command HERE records a position—in joint coordinates—according

to the current location of the axes.
Remember to activate Manual mode before starting motion, and to exit Manual
mode when the motion is completed. Also be sure the position is defined before
you attempt to record it.
Move the robot to any location, and record its coordinates for position A31.
Type: here A31 <Enter>
Move the robot two more times, and record coordinates for positions A32 and
A33.
If you attempt to record a position which has not been defined (for example HERE
A34), the system will display an error message.
If you specify a name of a position which has already been recorded (for
example, HERE A31), the HERE command will will overwrite the existing
coordinates with new coordinates.
The ACL command TEACH records a robot position—in Cartesian

coordinates— according to user defined settings; it does not record the
coordinates of the robot’s current location.

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Relative Positions
TP
Relative positions cannot be recorded by means of the teach pendant.
PC
The ACL commands HERER and TEACHR allow you to record a position as
relative to another position, or as relative to the current position of the robot.
To record a position which is relative to another position by joint coordinates,
move the robot to the relative location and record the position. For example:
Type: herer A99 A33 <Enter>
The coordinates of position A99 are actually offset values; that is, the difference
in the encoder count at position A31 and at position A99. If the coordinates of
position A31 change, position A99 will remain relative to position A31 by the
same number of encoder counts.
To record a position relative to the current location of the robot by joint
coordinates, you are prompted to enter values (encoder counts) for each of the
axes. If offset values have already been recorded for this position they will appear
in the brackets; otherwise the brackets are empty. For example:
Type: here A99 <Enter>
1--[.]>0 <Enter> Base = no offset
2--[.]>500 <Enter> Shoulder = 500 counts offset
3--[.]>250 <Enter> Elbow = 250 counts offset
4--[.]>0 <Enter> Pitch = no offset
5--[.]>0 <Enter> Roll = no offset
The command TEACHR allows you to record a position which is relative to

another position, or relative to the current position of the robot, in Cartesian
coordinates. TEACHR can be easily used to maintain a vertical offset (along the
Z-axis) between two positions; for example:
Type: >teachr over Relative position OVER will always
X [.] > 0 be 50mm above the current position
Y [.] > 0 of the robot.
Z [.] > 500
P [.] > 0
R [.] > 0
ACL has a number of commands for recording position coordinates; they are
detailed in the ACL Reference Guide, and will not be discussed in this manual.

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Listing Positions
PC
To see a list of the defined positions, use the ACL command LISTP.
Type: listp <Enter>
The list of defined positions is displayed on the screen. Positions 12, 13, A31,
A32, A33 and A99 should now appear in the list.
To view the coordinates of position A31, use the ACL command LISTPV.
Type: listpv A31 <Enter>
Position coordinates are displayed on the screen in the following manner.
1:0 2:1791 3:2746 4:0 5:-1
X:1690 Y:0 Z:6011 P:-636 R:-1
Two sets of values are displayed for robot positions:
• The first line shows the joint coordinates; defined in encoder counts.
• The second line shows the Cartesian (XYZ) coordinates. X, Y and Z are
defined in tenths of millimeters; P (Pitch) and R (Roll) are defined in tenths of
degrees. For example:
Z: 6011 Z = 601.1mm
P:-636 P =–63.6°
Deleting Positions
PC
To delete positions, use the ACL command DELP.
Type: delp A99 <Enter>
DO YOU REALLY WANT TO DELETE THAT POINT? (YES/NO)>_
Type: yes <Enter>.
A99 DELETED.
To prevent accidental deletion of a position, you are required to respond by
entering the entire word “ yes” , followed by <Enter>. Entering any other other
character, including Y, is regarded as “ no.”

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Moving to Recorded Position
Once a position has been recorded, you can easily send the robot (or other devices
connected to the controller) to that position. Depending on the currently active
coordinate system, the movement of the robot (Group A) will be either point to
point (in Joint mode) or along a linear or curved path (in XYZ mode).
TP
Assuming the robot is at position 13, send the robot back to position 12.
Press:
DONE
Use the command Go Position 0 to send all the axes of group A to the home
position.
PC
Use the ACL command MOVE to send the robot to a position.
Assuming the robot is at home, send the robot to position A31.
Type: move A31 <Enter>
In this command the robot moves at the current speed setting.
The MOVE command may contain a duration parameter, which is defined in
hundredths of a second. To send the robot to position A32 in 10 seconds:
Type: move A32 1000 <Enter>
You can use the PC to move to positions recorded by the TP.

Alternately, you can use the TP to move to positions recorded by means of the
PC, providing the positions are defined by numerical names. For example:
Type move 13 <Enter>

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Linear Movement
To move the TCP in a straight path, use the ACL command MOVEL.
For example, send the robot from the home position to position A33.
Type: move 0 <Enter>
Type: movel A33 <Enter>
Circular Movement
To move the TCP along a curved path, use the ACL command MOVEC, use the
ACL command MOVEC.
You must specify two positions for MOVEC. Otherwise there are infinite
possibilities for defining the curve. For example, send the robot from the home
position to position A31, via position A32.
Be careful when using this command. For the first attempt, set the speed to a low
setting, such as 20.
Type: move 0 <Enter>
Type: speed 20 <Enter>
Type: movec A31 A32 <Enter>
Reset the speed to 50 when you have completed the movement.

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CHAPTER 7
Programming with ACL
This chapter serves as a tutorial to help you become familiar with program
editing. To learn how to write and edit a program, you should follow, in
sequence, the procedures described in this chapter.
This chapter introduces you to the basic commands for programming the
SCORBOT-ER Vplus. Many more commands and formats are available in the
ACL language. Refer to the ACL Reference Guide for complete lists and
descriptions of editing functions and ACL commands.
For additional instruction in the procedures introduced in this chapter, the ACL
Laboratory Manual (catalog #100039) is recommended.
EDIT Mode
So far you have learned to operate the robot in the DIRECT mode, in which all
commands are executed the moment you press <Enter>.
To write programs which will be executed by the robotic system, you will use the
EDIT mode.
Whenever the EDIT mode is active, the screen shows the current program line
number and a prompt, such as this: 143:?_
The controller assigns the line numbers; they are not user definable.
Help
Quick, on-line help is available while you are working with ACL.
Simply enter the command HELP.
A list of DIRECT mode commands are displayed when in DIRECT mode;
a list of EDIT mode commands are displayed when in EDIT.
Enter the command DO HELP when in DIRECT mode in order to display the
EDIT mode commands.

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Creating a Program
To create a program, activate the EDIT mode by using the command EDIT,
followed by the name you want to call the program. Program names are limited to
five characters; for example:
Type: edit aaa <Enter>
AAA NEW PROGRAM
DO YOU WANT TO CREATE THAT PROGRAM (Y/N)>
Type: y <Enter>
PROGRAM AAA
*********************
25:?_
At the ?_ prompt, you can begin entering program command lines.
Writing a Program
To write a program which will send the robot to each of the positions recorded
earlier, enter the following command lines:
Type: moved A31 <Enter>
moved A32 <Enter>
moved A33 <Enter>
exit
AAA IS VALID
Although the command MOVE may be used in EDIT mode, the command
MOVED is preferable. MOVED ensures that the robot will accurately reach the
target position before continuing to the next command.
The commands MOVEL and MOVEC are also available in EDIT mode. As with
the MOVE command, it is preferable to use the command format with the D
suffix; that is, MOVELD and MOVECD.
The EXIT command is used to end the current editing session and return the
system to DIRECT mode.

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Running a Program
When the > prompt is displayed, it indicates the system is in DIRECT mode. To
check the program you have just created, do the following:
Make sure control is enabled (CON) and the robot is at its home position.
Type: run aaa <Enter>
DONE
The robot moves to positions A31, A32 and A33, and then stops.
Program Loop
You will now edit the program and add command lines which will cause the
program to run in a loop.
Program loops are created by using the companion commands, LABEL and
GOTO.
• LABEL n marks the beginning of a routine.
• GOTO n sends program execution to the line which follows the
corresponding LABEL.
Type: edit aaa <Enter>
WELCOME TO ACL EDITOR, TYPE HELP WHEN IN TROUBLE.
PROGRAM AAA
*******************
25:?_
The prompt shows the first line of the program. Entering a new command inserts
a command line at this point.
Pressing <Enter> without entering a new command simply displays and accepts
the line as is, and moves the editor to the next line.
Type: label 1 <Enter>
Press: <Enter>
Press: <Enter>
Press: <Enter>
Type: goto 1 <Enter>
Type: exit <Enter>
AAA IS VALID

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Displaying Program Lines
To view the program you have edited, use the command LIST, followed by the
name of the program.
Type: list aaa <Enter>
PROGRAM AAA
*********************
25: LABEL 1
26: MOVED 31
27: MOVED 32
28: MOVED 33
29: GOTO 1
30: END
(END)
END marks the end of a program; (END) marks the end of a listing. They are
written by the controller; they are not entered by the user.
Halting Program Execution

Bring the robot to its home position, and then run program AAA. The robot
moves to positions A31, A32 and A33 in a continuous loop, without stopping.
Since you have now created and executed a program which will run in an endless
loop, this section describes the ACL commands which are used to halt a program
during its execution.
Suspend the Program

The companion commands SUSPEND and CONTINUE, respectively, suspend
execution of a program, and then restart it from the point of interruption by
executing the next program command line.
Type: suspend aaa <Enter>
The robot completes the current movement command and then stops. Program
AAA is now suspended.
Type: continue aaa <Enter>
The CONTINUE command causes the robot to continue moving from the point
where it was halted by a SUSPEND command.

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Abort the Program
To immediately abort running programs and stop all axis movement, enter the
abort command in either one of the following ways:
Type: a <Enter>
Press: <Ctrl>+A
PROGRAM AAA ABORTED
Program AAA can now be reactivated only by means of the RUN command,
which will start the program from the beginning.
If several programs are running, and you want to abort only one of them,
following the command by the name of the specific program; for example:
a aaa <Enter>
This format aborts the specified program only after the command currently being
executed has been completed.
Stop the Program

To include an abort command in a program you are editing, use the command
STOP.
The STOP command will abort a program only after all axis movement
commands which have already been sent to the controller (movement buffer)
have completed execution.
Use the STOP command in one of the following ways:
Type: stop aaa <Enter> Aborts only program AAA.
Type: stop <Enter> Aborts all running programs.
STOP is available in EDIT mode only.
STOP cannot be used to abort a running program when in DIRECT mode.

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Delaying Program Execution
The DELAY command causes program execution to pause for a specified amount
of time.
The DELAY command ensures that preceding commands have been properly
executed before the next command is executed.
The command format includes a time parameter, n, which is expressed in
hundreths of a second; for example, if n = 200, the delay is 2 seconds.
Edit program AAA. Insert delay commands following each MOVED command
line.
Press: <Enter>
Press: <Enter>
Type: delay 200 <Enter>
Press: <Enter>
Press: <Enter>
Press: <Enter>
Type: exit <Enter>
Another ACL command, WAIT, command causes program execution to pause

until a certain condition is met.
Variable Programming
Variables are locations in controller memory which are defined by name and hold
values. Variables simplify programming by allowing instructions to be executed
conditionally and repeatedly.
ACL has a number of system defined variables whose values indicate the status
of inputs, outputs, encoders and other control system elements. Some of these
variables can accept user defined values. None of these variables can be deleted
from the system.
User variables are defined and manipulated by the user, and can be created or
deleted as needed. User variables may be either private (local) or global.
• Private variables are defined and manipulated in the EDIT mode and
recognized only by the specific program in which they are defined.
• Global variables can be defined and manipulated in both the EDIT and
DIRECT modes, and can be used in any program.

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The command DEFINE is used to define a private variable. Up to twelve
variables can be defined in one command. For example:
Type: define pv <Enter> Defines PV as a private variable.
define va vb vc <Enter> Defines VA, VB and VC as private
variables.
The command GLOBAL is used to define a global variable. Up to twelve
variables can be defined in one command. For example:
global gv <Enter> Defines GV as a global variable.
global gva gvb gvc <Enter> Defines GVA, GVB and GVC as
global variables.
Variable names must begin with an alphabetical character and may have up to 5
characters.
The commands DIM[n] and DIMG[n] are used to define arrays of private and
global variable arrays, respectively; n defines the dimension (number of elements)
in the array.
Mathematical and Logical Functions

The SET command performs mathematical and logical operations on variables.
The command format may be one of the following:
set var1=var2
set var1=oper var2
set var1=var2 oper var3
Where: var1 is a variable;
var2 and var3 can be either a variable or a constant.
oper is: Arithmetic operator: + – * /
Algebraic operator: ABS, EXP, LOG, MOD
Trigonometrical operator: COS, SIN, TAN, ATAN
Logical (Boolean) operator: AND, OR, NOT
The simplest format assigns a variable the value of a constant or another variable.
For example:
set var = 1
set var1 = var2
The value of a variable can be the result of an operation performed on another
variable. For example:
set var1 = abs var2 If the value of var2 is -1, var1 is set
to 1.

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The value of a variable can be the result of a mathematical operation performed
on either two other variables or another variable and a constant. For example:
set var1 = var2 + 1 The value of var1 is greater by 1
than the value of var2.
set vara = varb * varc The value of vara is the result of
varb multiplied by varc.
set var = var + 100 The result of an operation can equal
the same variable, thereby changing
its value. The value of var now
equals the previous value of var plus
1000.
Iteration Functions
Many applications require task iteration, or repetition. Variables can be used to
produce program loops which repeat a command or commands, thereby avoiding
the need for redundant command lines within a program
The command format FOR var1 = var2 TO var3 enables a program routine
to be executed repeatedly. Var1 must be a variable; var2 and var3 may be either
variables or constants. For example, enter the following commands to create
program LOOP:
edit loop
for var=1 to 10
println "LOOP"
endfor
exit
The variable is a counter, which is set initially to 1 and increased by one each
time the loop is performed. When the counter value reaches the final value (10 in
this example), the loop is performed for the last time.
The ENDFOR command is required to mark the end of the loop.
The PRINTLN command causes comments (text within quotation marks) to be
displayed on the screen during program execution. Thus, when you run program
LOOP, the word “ LOOP” will be displayed 10 times.
By altering the PRINTLN command line you can cause the system to report
which loop has been completed. Bring the cursor to the ENDFOR command line.
Enter the command DEL; this will delete the preceding command line. Then enter
a new command line:
println "LOOP " var
Make sure you have included a space following the text “ LOOP.”
The PRINTLN command causes the current value of a variable to be displayed on

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the screen during program execution. Thus, when you run program LOOP, the
following will now appear on the screen.
LOOP 1
LOOP 2
LOOP 3
. . . and so on, until LOOP 10 is displayed.
In the section on input/output programming later in this chapter, you will see
additional examples of program loops which enable the system to check and
respond to the state of the controller’s 16 inputs.
Conditional Functions
Many applications require the program to flow according to certain conditions.
The command format IF var1 oper var2 checks the relation between var1 and
var2. Var1 must be a variable; var2 may be either a variable or a constant. Oper is
one of the following comparison operators: > < + >= <= <>
When the IF statement is true, the program executes the next line(s), until it
reaches an ENDIF command, which marks the end of the conditional routine.
if var1=var2
goto 1
endif
The IF statement may, however, be followed by another conditional statement.
The next line may be an alternative condition (ORIF) or an additional condition
(ANDIF).
if var1=var2 At least one of the two conditions
orif var3>10 must be true in order for the
goto 2 program to jump to label 2
endif
if var1=var2 Both conditions must be true in
andif var3>10 order for the program to jump to
goto 2 label 2.
endif
The conditional routine may also contain a routine to be executed when the IF
condition is false. The beginning of such a routine begins with the command
ELSE.
if var1=var2 If the condition is not true, the
goto 2 program will jump to label 1.
else
goto 1
endif

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Input and Output Programming
The state of the controller’s 16 inputs and 16 outputs is determined by means of two
system variables, IN[n] and OUT[n]; n specifies the I/O index; that is, 1–16.
The value of the variable indicates whether the input or output is on or off; when
the value of the variable is 1, the input or output is ON; when the value is 0, the
input or output is OFF.
Displaying Input/Output Status

The I/O LEDs on the front panel of the controller turn on and off to reflect the
status of the inputs and outputs. If you are not close enough to see the controller
panel, you may want another means to check the I/O status.
In DIRECT mode, use the following commands to display the status of all 16
inputs and outputs, respectively:
Type: show din <Enter> Shows status of the inputs.
Type: show dout <Enter> Shows status of the outputs.
The display will indicate the I/O status in the following manner:
1>16: 0 1 0 1 0 0 0 0 0 1 0 0 1 1 0 0
O.K.
When editing a program, use the command PRINTLN to display the status of a
specific input or output during program execution. For example:
println in[5] When this command is encountered during program
execution, either 1 or 0 will be displayed (that is, the
value of variable IN[5]), depending on the state of input
5;
Inputs
Conditional commands, such as IF and WAIT, are used to read and respond to the
state of the inputs. For example, you can use the following routine in a program:
if in[3]=1 If input 3 is ON, then
move A31 Move to position A31.
else If input 3 is NOT ON (off), then
move A32 Move to position A32.
endif End of conditional routine.

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Outputs
As with inputs, conditional commands can read and respond to the state of the
outputs. Commands can also be used to alter the state of outputs.
To change the state of an output—in both DIRECT and EDIT modes—use the
SET command. For example:
set out[6]=1 <Enter> Turns ON input 6.
set out[8]=0 <Enter> Turns OFF input 8.
Activating Output-Driven Devices
Pneumatic End Effectors or Devices

As mentioned in Chapter 6, pneumatic end effectors or devices are connected to
controller outputs and controlled by means of ACL output commands.
Assuming a pneumatic gripper is connected to controller (relay) output 2, use the
following command format
set out[2]=1 <Enter> Turn on output 2 to open the gripper.
set out[2]=0 <Enter> Turn off output 2 to close the gripper.
In order to activate the pneumatic gripper from the teach pendant, you need to
create two programs (named OGRIP and CGRIP, for example) which can be called
from the teach pendant by means of the Run key. Each program contains one of the
commands shown above.
• Program OGRIP contains the command to turn on output 2.
• Program CGRIP contains the command to turn off output 2.
Using the ACL command DIR note the identity number of programs OGRIP and
CGRIP. (The command DIR is explained more fully later in this chapter.)
Let’s assume programs OGRIP and CGRIP are identified as program 8 and
program 9, respectively. Now, whenever you want to open the pneumatic gripper
by means of the teach pendant:
Press: Run 9 Enter
Warning Light
A flashing warning light can be integrated into the SCORBOT-ER Vplus
system. A program named ONOFF is included in the ONOFF.CBU file on the
ATS diskette supplied with the system. When the ONOFF program is activated, it
will automatically turn on the warning light whenever the robot is in motion.
The light is normally connected to (relay) output 1. Therefore, the following
commands are used in program ONOFF.

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set out[1]=1 When output 1 turns on, the light turns on.
set out[1]=0 When output 1 turns off, the light turns off.
(In order to download this program file for use, refer to the downloading procedure
described later in this chapter. )
Sample Program: INOUT

A program named INOUT can be found in the file DEMO.CBU which is
factory-loaded into the controller, and included in the ATS diskette supplied with
the system.
The program contains two loops; one loop has instructions for checking the status
and responding to the state of all the inputs; the other loop has instructions for
responding when input 16 is on.
This sample program demonstrates program loops and conditional routines. In
addition, it shows how to include user comments within a program.
Use the LIST command to view the program shown below. Explanatory notes are
provided below.
Type: list inout <Enter>
PROGRAM INOUT
*********************
PRINTLN "this program tests inputs & sets outputs"
PRINTLN
LABEL 1
FOR I = 1 TO 16
IF IN[I] = 1
* TEST IF INPUT I IS ON
SET OUT[I] = 1
* SET OUTPUT I ON
ELSE
SET OUT[I] = 0
* SET OUTPUT I OFF
ENDIF
DELAY 3
ENDFOR
IF IN[16] = 1
* IF INPUT 16 IS ON EXIT FROM PROGRAM
SET OUT[16] = 0
PRINTLN " program inout stopped "
PRINTLN
GOTO 2
ENDIF

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GOTO 1
LABEL 2
END
• PRINTLN comments will be displayed on the screen during program
execution.
• PRINTLN without a comment or argument simply enters a carriage return,
and brings the screen cursor to the beginning of the next line.
• The variable I is used as the counter for 16 loops.
• FOR starts a program loop which checks state of all 16 inputs.
• The first IF command starts a conditional routine with instructions for
responding to the state of an input: if an input is turned on, the output of the
same index is also turned on; if the input is turned off; the output is turned off.
• The asterisk * precedes a user comment within a program; the comment is not
displayed during program execution.
• ENDIF ends the IF conditional routine.
• ENDFOR ends the FOR loop.
• The second IF command starts a routine which checks and responds to the the
state of input 16. If input 16 is on, output 16 will not light; the program will
go to label 2 and terminate.
• If input 16 is off, the program will go to label 1 and repeat.
When running this program you can simulate an external input by shorting the
input terminals. Be sure you do so according the instructions for shorting inputs
detailed in Chapter 3.
Run the program, and prepare to short the inputs.
When you short any of inputs 1 through 15, the output with the same index
(1–15) will turn on. When you short input 16, the program will stop. Note the
messages on the screen during program execution.

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Program Directory
The ATS diskette supplied with the system contains a number of files with the
extension CBU. These files contain programs, positions, variables and
parameters. Some of these CBU files are factory-loaded into the controller and
stored in battery backed-up RAM. These files are not erased when the controller
is turned off, but their contents may be totally or partially erased during certain
configuration and restore procedures.
To view the list of programs which are found in the controller’s BBRAM, use the
DIR command in DIRECT mode. For example:
Type: dir <Enter>
name : validity : identity : priority
AA : : 1 : 5
LOOP : : 2 : 5
DEMO : : 3 : 5
IO : : 4 : 5
IOA : : 5 : 5
. . . and so on.
• Validity: If the program is valid no message appears. “ Not valid” will appear
if the program contains a logic error, such as a FOR command without an
ENDFOR command.
• Identity: This is the controller-assigned program identity number, which is
needed for executing a program from the teach pendant. (Since certain
controller operations can cause program identity numbers to change, use the
DIR command at the beginning of each working session to verify the identity
of program which you may want to call from the teach pendant.)
• Priority: By default the controller assigns each program a run-time priority of
5, on a scale of 1–10. The user can define a program’s priority by means of
the PRIORITY or RUN command.
Multi-Tasking
Controller-A is a multi-tasking real-time controller; it can simultaneously
execute and control 20 independent programs.
Use the DIR command, and note the programs: PICP, IO, IOA.
To run these three programs concurrently, use three RUN commands to start
execution—in both DIRECT and EDIT mode.

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Type: run picp <Enter>
run io <Enter>
run ioa <Enter>
Program PICP takes the robot through a series of pick and place movements.
Programs IO and IOA both turn controller outputs on and off; watch the LED
display on the controller while these programs are being executed.
To abort all three programs, use the Abort command.
Displaying Program Status

While programs are running, use the command STAT to view their status.
Type: stat <Enter>
JOB_NAME PRIORITY STATUS
PICP 000005 PEND
IO 000005 DELAY
IOA 000005 SUSPEND
• PEND: program is executing a movement command.
• DELAY: program execution is currently being delayed.
• SUSPEND: execution has been halted by SUSPEND command.
Activating a Program from Another Program

As indicated throughout this chapter, Controller-A enables interaction and
synchronization of programs.
Simultaneous Execution
The RUN command can be included in a program in order to start execution of
another program. When a running program encounters a RUN prog command,
both program are executed concurrently.
When several programs are running, those with a higher priority have precedence;
those with the same priority share controller CPU time by means of an equal
distribution algorithm.

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Program Interrupt
Since two programs may conflict with one other, it may be preferable to use the
GOSUB command rather than RUN.
Like RUN, the GOSUB command is used to start execution of another program.
Unlike RUN, however, when a program encounters a GOSUB prog command,
the program is suspended until the called program has completed execution. At
that point, the first program resumes execution from the line which follows the
GOSUB command.
The TRIGGER command can be used to execute another program when a specified
input or output is turned off or on. However, it will activate the program only once,
regardless of subsequent changes in the I/O state.
Downloading a Program (Restore) to Controller

Since the controller’s battery-backed RAM is limited (and can be accidently
erased), program files should be saved to disk. They can be downloaded to the
controller as needed. ATS has a Backup Manager which serves this purpose.
A program file named PARABOLA.CBU is included in the ATS diskette
supplied with the system. The following steps will download the contents of this
file to the controller BBRAM.
1. From the DIRECT mode, press <Alt>+10. The Backup Manager menu will
appear on your screen.
2. Backup directory: Type and <Enter> the name of the drive where the ATS
diskette files are located ; it may be a floppy disk drive, or a subdirectory on your
hard disk. (You can press F9 (CATALOG) to make sure PARABOLU.CBU is in
the directory.)
Use the arrow keys to highlight “ Restore PROGRAMS” and “ ADD TO
Controller Contents.” Press <Enter> to accept these options.
File name: Type PARABOLA and press <Enter>. The CBU extension is not
needed.
3. Press F5 to load (RESTORE) the file from disk to the controller BBRAM.
When “ DONE” appears, press <Esc> to return to the main ATS screen.

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Calculating and Moving Along a Path
The SCORBOT-ER Vplus system allows you to calculate the coordinates of
positions along a path (vector) defined by a mathematical function, and to then
move the robot through all these positions.
Parabola
The demonstration file PARABOLA which you have downloaded contains two
programs: CALC and PARAB.
CALC
Program CALC calculates the Cartesian coordinates of 50 positions in a vector
named V, according to the parabola equation: Z=Y2/5000.
Where: –250mm ≤ Y ≤ +250mm
X=300mm (constant)
P=–90°(constant pitch)
R=0°(constant roll)
The program calculates the value of the Z coordinate at intervals of 10mm along
the Y axis, that is: Y= –240mm, –230mm . . . 240mm, 250mm.
Three global variables have been defined:
YV Y coordinate value
ZV Z coordinate value
I loop counter
A vector named V containing 50 positions has been defined.
PARAB
Program PARAB moves the

robot smoothly through all
the positions in the vector,
from position V[1] to V[50].
To run the PARABOLA
demonstration:
Type: run calc
After the vector has been
created:
Type: run parab
Figure 7-1: Parabola

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The PARABOLA demonstration programs contain several commands which have
not yet been introduced:
• SETPVC modifies the value of one Cartesian coordinate of a position.
• SETP copies the coordinates of one position to another position.
• MPROFILE defines the type of trajectory; TRAPEZE (trapezoid) profile has
quick acceleration and deceleration, with constant speed along path.
• MOVES moves the robot smoothly through consecutive positions in a vector.
PROGRAM CALC
*********************
DELAY 10
SET YV = -2500 The initial Y value.
FOR I = 1 TO 50 Starts a loop of 50 repetitions.
SET YV=YV + 100 Distance between positions: Y=10mm
SET ZV=YV * YV Value of Z will be Y2
SET ZV=ZV / 5000 Value of Z will be Y2/5000
SET ZV=ZV + 1000 Keeps parabola 100mm above table.
SETP V[I] = 0 Initial coordinates of V are copied
from robot’s home position.
SETPVC V[I] X 3000 Value of X is constant (300mm).
SETPVC V[I] Y YV Value of Y is taken from variable YV.
SETPVC V[I] Z ZV Value of Z will be ZV = the result of
the calculation Y2/5000.
SETPVC V[I] P -900 Value of pitch is constant (–90°)
SETPVC V[I] R 0 Value of roll is constant (0°)
DELAY 1 Wait 10 milliseconds
PRINT I Announces each loop=position.
ENDFOR Coordinates have been calculated.
PRINTLN "vector V created" Announces program completion.
PRINTLN ""
END
PROGRAM PARAB
*********************
SPEED 25
MOVE V[1] Sends robot to starting position.
MPROFILE TRAPEZE
LABEL 1
MOVES V 1 50 Moves robot from first to last
MOVES V 50 1 position in vector, and back again.
GOTO 1
END
(END)

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Sine
Controller-A uses integer arithmetic. The results of division operations are
truncated to the next lower integer and therefore may not be accurate. In such
instances, the operation should be preceded by a command which will perform an
operation which produces a value which can be acceptably divided.
Normally only one mathematical operation can be included in a SET command.
However, SET commands which perform a SIN operation also include a scaling
factor, so that the result of the operation will be an acceptable value.
The following SINE program demonstrates scaling. The program RSINE moves
the robot smoothly through all the positions in the vector calculated in SINE,
from position S[1] to S[120].
These programs do not exist on the ATS disk. You may attempt to write and run
them yourself.
Program SINE calculates 120 positions in a sine curve vector named S according
to the equation: Z =1500 sinY + 2000
Where: X = 200 mm (constant)
-300 mm ≤ Y ≤ + 300 mm
P=-90°(constant pitch)
R=0°(constant roll)
The program calculates the value of the Z coordinate at intervals of 5mm along
the Y axis, that is: Y= -300mm, -295mm. . . 295mm, 300mm.
These program require the same three global variables which were used in the
PARABOLA demonstration:
YV Y coordinate value
ZV Z coordinate value
I loop counter
A vector named S containing 120 positions must be defined: S[120]

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PROGRAM SINE
*********************
DELAY 10
SET YV=-3050 The initial Y coordinate.
FOR I=1 TO 120 Starts a loop of 120 repetitions.
SET YV=YV + 50 Distance between positions:Y=5mm
SET ZV=YV * 360 These two operations scale the
SET ZV=ZV / 3000 Y-axis displacement to a degree
value and produce a wavelength of
300mm. The order of the commands
is important: ZV=YV*360 must
come first, then ZV=ZV/3000,
since the result of the division is
always less than 1.
SET ZV=1500 SIN ZV Sin Z is multiplied by a scaling
factor of 1500 to produce an
acceptable result.
SET ZV=ZV + 2000 Offsets the Z value by 200mm to
keep movement above table.
SETP S[I] = 0
SETPVC S[I] X 2000
SETPVC S[I] Y YV
SETPVC S[I] Z ZV
SETPVC S[I] P -900
SETPVC S[I] R 0
DELAY 1
PRINT I
ENDFOR
PRINTLN ">"
END
PROGRAM RSINE
*********************
SPEED 25
MOVE S[1]
MPROFILE TRAPEZE
LABEL 1
MOVES S 2 120
MOVES S 119 1
GOTO 1
END

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Saving a Program (Backup) to Disk
The programs, positions and variables used in the SINE and RSINE programs
will remain stored in the controller’s BBRAM. In order to save them to disk,
perform the following steps.
1. From the DIRECT mode, press <Alt>+10. The Backup Manager menu will
appear on your screen.
2. Use the arrow keys to highlight “ Backup PROGRAMS” and press <Enter>.
Backup directory: type and <Enter> the name of the drive where you want the
file to be saved (it may be a floppy drive disk, or a subdirectory on your hard
disk).
File name: type SINE (or any name of up to 8 characters) and press <Enter>. The
CBU extension will automatically be written.
3. Press F2 to save the file to disk.
When “ DONE” appears, press <Esc> to return to the main ATS screen.
Note that this procedure saves all programs, positions and variables which are
currently in the controller’s BBRAM to the file SINE.CBU.

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CHAPTER 8
Maintenance
Maintenance
The maintenance and inspection procedures detailed below will ensure continued
optimum performance of the SCORBOT-ER Vplus system.
Daily Operation
At the start of each working session, check the robot and controller, in the
following order:
1. Before you power on the system, check the following items:
• The installation meets all safety standards.
• The robot is properly bolted to the work surface.
• All cables are properly and securely connected.
Cable connector screws are fastened.
• The teach pendant, and any peripheral devices or accesssories which will be
used, are properly connected to the controller.
• None of the open collector outputs is connected directly to a power supply.
• No people are within the robot’s working range.
2. After you have powered on the system, check the following items:
• The power and motors LEDs on the controller light up.
• The fan in the front panel rotates and draws air into the controller.
• The fan in the rear panel, within the supply unit, extracts air from the
controller.
• All green LEDs on the controller rear panel light up.
• No unusual noises are heard.
• No unusual vibrations are observed in any of the robot axes.
• There are no obstacles in the robot’s working range.

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3. Bring the robot to a position near home, and activate the homing procedure.
Check the following items:
• Robot movement is normal.
• No unusual noise is heard when robot arm moves.
• Robot reaches home position in every axis.
Periodic Inspection
The following inspections should be performed regularly:
1. Visually check leads, cables and rubber components. Replace if any damage is
evident.
2. Check all bolts and screws in the robot arm using a wrench and screwdriver.
Retighten as needed.
3. Check all the tension of robot arm belts. When you press on a belt, the slack
should be no greater than 2mm (0.08"). Refer to Figure 8-1.
Figure 8-1: Belt Tension
Tighten the belts only if you are absolutely certain they are slipping or retarding
the motors. For complete information, refer to the section, “ Adjustments and
Repairs,” later in this chapter.
4. Check for execessive backlash in the base axis. For complete information, refer to
the section, “ Adjustments and Repairs,” later in this chapter.

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Troubleshooting
The procedures in the section are intended only for technicians who have
received proper training and certification from the manufacturer.
Do not attempt to perform procedures for which you are not qualified.
Whenever you encounter a malfunction, try to pinpoint its source by exchanging
the suspected faulty component—for example, robot, controller, teach pendant,
cable—with an identical component from a working system.
In general, when trying to determine the source of a malfunction, first check the
power source and external hardware, such as controller switches, LEDs and cable
connections. Fuses should also be checked.
In addition, make sure the controller is properly configured for the robot and
gripper, the software commands have been correctly issued, and system
parameters are properly set.
Make sure the controller’s power switch is turned off before you open the
controller cover. Make sure the power cable is disconnected from the AC power
source before you remove fuses.
Complete instructions for removing and replacing controller components are
given in the section, “ Adjustments and Repairs,” later in this chapter.
General System Check

When a problem occurs, use the ACL command TEST as a first step in
diagnosing the problem. TEST activates an internal system procedure which
checks the movement of the robot axes and the input/output functions of the
controller. During the test the following occurs:
• In sequence, each configured axis is moved briefly in both directions; a
message will display an axis failure.
• All outputs are turned on, and then off.
• All inputs are scanned. If an input is on, the corresponding output is also
turned on.
To simulate the activation of an input when no device is connected, short the
input manually by means of a wire or an unraveled paper clip.
When the input is operating in NPN mode, short the input by connecting it
to a ground connector.
When the input is operating in PNP mode, short the input by connecting it
to the user power supply.
If you want to check the homing microswitches, use the command LSON before
entering the TEST command. Use command SHOW DIN to see the results.

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Diagnostic Procedures
1. Controller does not turn on. The yellow power LED does not light up. Fans do
not rotate.
• Make sure the AC power supply matches the controller’s voltage requirement,
as seen on the tag at the back of the controller. If the voltage supply and
controller voltage setting do not match, change the voltage setting, as
described later in this chapter.
• Make sure AC power is being supplied to the power outlet.
• Make sure the power cable is connected to both the proper power source and
the controller.
• If RS232 cable is connected, disconnect it and and retry power on.
If successful, reconnect the RS232 cable.
• Check for a blown logic power supply fuse. Using an ohmeter, measure the
resistance of the fuses. If resistance is close to 0Ω, the fuse is functioning.
2. Controller’s motors switch does not turn on. The green motors LED does not
light up.
• Check for a blown power transformer fuse. Using an ohmeter, measure the
resistance of the fuses. If resistance is close to 0Ω, the fuse is functioning.
3. No communication between the controller and the computer/terminal.

Message appears on screen "Controller Not Responding".
• Make sure the controller’s power switch is turned on.
• Make sure the RS232 cable between the controller RS232 port and the
computer COM port is properly connected.
• Make sure you have loaded ATS with the proper /C switch.
• If teach pendant also does not function, make sure the flat cable is properly
connected between the communication card (PC700) and connector J8 on the
main board. Refer to Figure 8-6.
• Make sure there is no break in the wires.
• If problem persists, continue to Item 4.

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4. Controller is totally inoperative although all power supplies are working.
• Make sure the Emergency switch is not pressed.
• Turn the controller power switch off and on again.
• If switching off and on does not solve problem, turn off the controller again
and open up the cover.
Turn on the controller. Check the red LED on the main board, as shown in
Figure 8-2. If it remains lit, the CPU is in the HALT state. Turn off the
controller and remove all the driver cards. (For instructions on removing driver
cards, refer to the section, “ Adjustments and Repairs,” later in this chapter.) Then
turn the controller on again.
If the red LED shuts off, the problem is one of the driver cards. Return the
driver cards to the controller one at a time, until you determine which one is
faulty. Replace the faulty driver card.
• Make sure the hardware and software configuration are compatible with the
user RAM ICs:
Hardware: Refer to Figure 8-2. Make sure all four jumpers for configuring
user RAM (W1, W1A, W2, W2A) are set for 128K RAM. The two lower
pins must be shorted.
Software: Make sure the
controller is configured
for 128K memory by
entering the command:
CONFIG ?
• Remove the user RAM ICs
(U4, U10, U16, U21) and
reinsert them.
• If problem persists, replace
the main board.
Figure 8-2: Main Board - Memory

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5. Controller is inoperative. Message on PC screen reads: "bus error trap",
"exception trap", etc. and data on PC screen reads:
Address error trap
D0->D7 00000000.....
A0->A7 00000C10, 000AO3FC....
PC=EB942404, SR==0008, SSP=0008796C, USP=0
• Turn the controller off and on.
• If problem persists, remove the driver cards and again turn the controller
power switch off and on again.
• If these messages continually appear, or even occasionally reoccur, replace
the main board.
6. Controller functioning, but the robot cannot be activated.

• Make sure an obstacle is not blocking the robot.
• Make sure the controller’s motors switch is on and the green LED is lit.
• Make sure the controller is in the control off (COFF) state. Then activate the
control on (CON) state from PC or TP.
• Make sure the robot cable is properly connected to

the controller.
• Check whether all driver card LEDs on the
controller rear panel are lit.
Each driver card has a pair of LEDs: the upper LED
corresponds to the axis number at the top of the
card; the lower LED correspond to the axis number
at the bottom of the card.
Both LEDs on each card in use should be lit,
indicating that power is being supplied to the axis Figure 8-3: Driver Card
driver. If one of the LEDs is not lit, proceed to LEDs
Item 8.
7. Robot does not find Home position in one or all of the axes.
• Make sure the homing command was properly issued.
• Make sure the robot cable is properly connected to the controller.
• Make sure system homing parameters are properly set.
Make sure system homing parameters have not been erased.

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• Check the microswitch for this axis.
Manually move the faulty axis (from teach pendant or keyboard) and use
the LSON and SHOW DIN commands to check the microswitch. The
value will change to either 1 or 0 when the microswitch is detected.
Use the commands LSON and TEST. Or prepare and continuously run a
simple ACL program to test the microswitches, as follows:
LSON
LABEL 1
PRINTLN IN[n]
DELAY 200
GOTO 1
If values do not change, check the microswitch itself.
Use a small screwdriver to press down on the microswitch. You should
hear it click and see it pop back up. If this does not happen, the
microswitch should be fixed or replaced.
If the microswitch has clicked, depress it again and, with an ohmeter,
check whether the microswitch shorts its two poles.
If there is a short, depress the switch again and check the wires between
the microswitch and D50 connector.
If there is a short, depress the switch and check the two microswitch pins
in the D50 connector. (Refer to Chapter 10 for wiring and pin
information).
If there is a short, replace the driver card for that specific axis.
• If the problem persists, replace the main board.
(Alternately check ICs U88, U93, U98, U82 and U87.)
8. One of the axes does not function.

• Make sure you have performed all steps in Item 5 and Item 6.
• If the driver card LED for this axis is not lit, check the corresponding fuse on
the axis driver card. (Refer to Figure 8-12 later in this chapter.)
Turn off the controller and open the cover.
Check the fuse on the top of
the driver card for the faulty
axis. (Refer to Figure 8-4). If
the fuse has blown, replace it.
(Earlier models of Controller-A
have semi-automatic fuses on
the driver cards; simply press
the switch on those fuses to
Figure 8-4: Driver Card Fuse
reset.)

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• Check the motor drive circuitry.
Drive the motor in open loop for a few seconds only.
Use the command: SET ANOUT [n]=DAC
n is the axis number
DAC is the drive level: –5000 ≤ DAC ≤ 5000
Note the following DAC values and their effect:
DAC value Motor Speed
+5000 + full speed
+2500 + half speed
0 motor stops
–2500 – half speed
–5000 – full speed
DAC values of 1500–2000 are recommended for this test.
Use extreme caution when applying the SET ANOUT command to robot axes
or accessories whose movements are mechanically restricted. High DAC
values may cause unwanted mechanical impact and can damage the robot or
accessory.
To cancel the SET ANOUT command, use an Abort command, or enter
the command: SET ANOUT [n]=0.
To help you perform the motor test, you can also prepare and run a simple
ACL program which contains the following routine:
SET ANOUT [n]=1500
DELAY 200
SET ANOUT[n]=0
If the axis does not rotate, the problem can be either in the arm (motor,
transmission, cabling) or in the controller (driver card, main board,
communication card, or flat cable connections).
If the axis rotates as expected in both directions, proceed to check the
encoder feedback readings.
• Check the encoder.
Enter the command SHOW ENCO to display the encoder readings.
Enter the command COFF (to disable servo control) and then physically
move the axis in question in both directions.
The encoder reading should rise for rotation in one direction and fall for
rotation in the opposite direction.
If the encoder readings do not change, the problem is caused by a faulty
encoder, a break in the encoder wiring, or a faulty connection on a PCB
within the robot. Follow the procedures in Item 9 and Item 10.

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9. Errors in the accuracy of the robot.
Controller does not read the encoder (fails to respond to command SHOW ENCO).
• Using an oscilloscope, check the signals (P0 and P1) received from the
encoder’s two phototransistors. Figure 8-5 shows the wave diagrams which
emanate from the two channels of
the encoder (P0 and P1) with respect
to the time axis. The top two signals
should be clean square waves:
VL (low) value should be 0.4V or
less.
VH (high) value should exceed 4 V.
In addition, check the third wave,
which shows the sum of the two
waves. The diagram reflects a time
shift of a quarter cylce between the
two waves.
If the waves are distorted with an
incorrect shift between them, the
encoder is faulty and should be
adjusted or replaced.
Figure 8-5: Encoder Signals
10. Errors in the repeatability of the robot.

• Try to identify the faulty axis. If many or all axes are faulty, look for an
electrical noise source in your environment.
• Check the encoder. Follow the procedures in Item 8 and Item 9.
• If no problem found by means of Items 8 and 9, do the following:
Bring the robot to a starting position. Using a pencil, draw a fine,
continuous line on the robot which crosses from one link to the adjacent
link at the joint in question.
Enter the command SHOW ENCO to display the encoder readings.
Enter the command COFF to disable servo control.
Physically move the axis to another position. Then return to the starting
position marked by the line you drew. Check the encoder reading for the
axis again. It should be within several counts of the first reading. Repeat
this step a number of times. If the error in the encoder reading
accumulates, the encoder needs to be replaced.
• Check the transmission for loose points or damage. Check for continuity of
movement in all the relevant transmission components (gears and belts
moving together with the drive shaft of the motor).

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11. One axis turns constantly in one direction.
• Reset the controller by pressing and releasing the Emergency button.
Then give the command to home the robot.
• If problem persists, replace the driver card.
12. Axis/axes vibrating, too weak to carry load, motion not smooth, or jerks during or
at end of motion.
• System parameters are not properly adjusted.
Refer to the ACL Reference Guide.
• If problem persists, replace the driver card.
13. Electric gripper does not respond at all.

• Make sure the jumper cable is connected at the rear of controller from axis 6
port to the one marked GRIPPER.
• Check whether the gripper is defined as axis 6 by typing the ACL
command: CONFIG ?
• Check the value of PAR 75. It should be within 3000-4000.
• If problem persists, proceed with corrective actions recommended for other
axes.
14. Gripper opens and closes but does not react properly to JAW command.
• The problem is probably in the feedback. Check the encoder, the wiring, and
the driver card. Follow the procedures in Item 8 and Item 9.
15. Gripper opens and closes too freely; weak gripping force; or the gripper motor
rotates endlessly.
• The Oldham coupling in the gripper assembly is loose. Follow the instructions
in the section, “ Adjustments and Repairs,” later in this chapter.
• Alternately, the gripper gear is broken. Replace it.
16. Too much freedom (backlash) in the base axis.

• Refer to the section, “ Adjustments and Repairs,” later in this chapter.

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17. Unusual noise.
• Loose screws.
• Poor lubrication.
• Worn motor brushes.
• Worn timing belt.
18. Controller does not receive an input signal.

• Make sure motors switch is on and make sure user power supply is +12VDC.
If not, none of the inputs will be operative.
• To determine whether the problem is in the controller or a user application,
enter the command: SHOW DIN. Zeros and ones appear on the screen,
corresponding to the status of the 16 inputs (0=OFF and 1=ON).
Short the specific input:
If the input is configured as NPN (default): Short the specific input to a
ground connection.
If the input is configured as PNP: Short the specific input to the 12V user
power supply.
Again enter the command SHOW DIN Look for a status change. If the status
of the input changes, the problem is in the user application.
• If the status of the input does not change, check the flat cable connections
between:
Display card and main board (J11).
I/O card and main board (J10).
• If the input LED also does not light up, refer to Item 20.
• If, when checking the homeswitches (LSON) , the input LED lights up and
home is found (only the input is not functioning), replace the main board.
(Alternately, check U99, U100, U101, U102, U88, U93, U98.)

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19. I/O display LEDs do not light up.
• Refer to Figure 8-6. Check the flat cable connection between:
Display card and main board (J11).
I/O card and main board (J10).
• If the input or output functions, but not the LED, replace the LED or the
display card PC7300.
• Replace the I/O card PC7400A.
(Alternately, check U1, U2, U3, U4, U5, U6, U7.)
• Replace the main board.
(Alternatively check: for inputs: U99, U100, U101, U102, U88, U93, U98;
for outputs: U76, U77, U78, U79, U80, U81, U103, U108.)
Figure 8-6: Main Board - Connectors

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20. Controller does not give output signal.
Relay Outputs
• For Outputs 1-4, check whether the relays have been switched (LED is lit):
In output OFF, NC is shorted to COM, NO is disconnected from COM.
In output ON, NO is shorted to COM, NC is disconnected from COM.
• Refer to Figure 8-6. If outputs have not been switched, check the flat cable
connection between the I/O card and the main board (J10).
Open Collector Outputs
• For Outputs 5-16, check whether the load and voltage source have been properly
connected. (If the supply has been connected directly to the output terminal,
the output transistor will blow out immediately).
• Refer to Figure 8-6. Check the flat cable connection between the I/O card and
the main board (J10).
(Alternately check the ICs which drive the open collector outputs signals:
U76, U77, U78.)
21. Pneumatic gripper or end effector does not respond.

• Make sure all air hoses are connected properly.
• Make sure the gripper/device is connected to the proper controller output.
• Check the relay output to which the gripper is connected according to the
instructions in Item 21.

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Error Messages
Following is a alphabetical listing of system messages which indicate a problem
or error in the operation of the robot arm. Refer to the ACL Reference Guide for
additional error messages.
Axis disabled.
(1) A movement command could not be executed because servo control of
the arm has been disabled (COFF).
(2) A previous movement of the arm resulted in an Impact or Trajectory
error, thereby activating COFF and disabling the arm.
Check the movements of the robot, and correct the command(s).
CONTROL DISABLED.
Motors have been disconnected from servo control. Possible causes:
(1) COFF (control off) command was issued.
(2) CON (control on) has not been issued; motors have not been activated.
(3) A previous error (such as Impact Protection, Thermic Overload or
Trajectory Error) activated COFF, thereby disabling the arm.
*** HOME FAILURE AXIS n.
The homing procedure failed for the specified axis. Possible causes:
(1) The home microswitch was not found.
(2) The motor power supply is switched off.
(3) Hardware fault on this axis.
*** IMPACT PROTECTION axis n
The controller has detected a position error which is too large. The system
aborted all movements of that axis group, and disabled all axes of that
group. Possible causes:
(1) An obstacle prevented the movement of the arm.
(2) An axis driver fuse has shut off.
(3) An encoder fault.
(4) A mechanical fault.
(5) The axis is not connected.
Determine and correct the cause of the position error. Then reenable servo
control of the motors (CON), and restart the program.
*** LOWER LIMIT AXIS n.
During keyboard or TP manual movement of the specified axis, its
encoder attained its minimum allowed value.
Move the axis in the opposite direction.

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*** THERMIC OVERLOAD axis n
Through a software simulation of motor temperature, the system has
detected a dangerous condition for that motor. The system aborted all
movements of that axis group, and disabled all axes of that group.
Possible causes:
(1) The arm attempted to reach a position, which could not be reached due
to an obstacle (for example, a position defined as being above a table, but
actually slightly below the table’s surface). The impact protection is not
activated because the obstacle is close to the target position. However,
integral feedback will increase the motor current and the motor will
overheat, subsequently causing the Thermic Protection to be activated.
(2) An axis driver is faulty or its fuse has shut off.
(3) The robot arm is near to the target position, but does not succeed in
reaching it, due to a driver fault. The software will then detect an
abnormal situation.
(4) The Thermic Protection parameters are improperly set, or have been
corrupted by improper loading of parameters.
Check the positions, the axis driver card and parameters. Reenable servo
control of the motors ( CON ).
*** TRAJECTORY ERROR !
During movement, the robot arm reached its envelope limits, and the
system aborted the movement. Since the trajectory is not computed prior to
motion, the movement may exceed the limits of the working envelope.
Modify the coordinate values of the positions which define the trajectory.
*** UPPER LIMIT AXIS n
During keyboard or TP manual movement of the specified axis, its
encoder attained its maximum allowed value.
Move the axis in the opposite direction.

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Adjustments and Repairs
These procedures are to be performed only by a qualified technician who has
received proper training and certification from the manufacturer.
Adjusting the Timing Belts

When you check the tension of robot arm belts, as indicated in Figure 8-1 at the
beginning of this chapter, the slack should be no greater than 2mm (0.08").
Tighten the belts only if you are absolutely certain they are slipping or retarding
the motors.
• Figure 8-7 shows how to tighten the belts in the forearm which move the
wrist axes (pitch and roll). Loosen the two screws (1) which hold the tension
shaft. Press down on the shaft and retighten the screws.
• Figure 8-8 shows how to tighten the belts in the upper arm which move the
wrist axes (2), and the belt which moves the elbow axis (3).
• Figure 8-9 shows how to tighten the two belts in the robot base which move
the wrist axes. First, loosen the screw (5), and then loosen either one or both
screws (4). Then, to tighten the belts, simultaneously pull the appropriate
motor and retighten screw(s) (4). Finally,
retighten screw 5.
Figure 8-7: Tightening Belts in Forearm
Figure 8-8: Tightening Belts in Upper Arm
Figure 8-9: Tightening Belts in Robot Base

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Adjusting Base Anti-Backlash
Refer to the exploded views of the robot in Figures 9-3 and 9-4.
1. Refer to Figure 8-10. Remove the shoulder cover:
• Remove the top three screws on each side of the

shoulder cover.
• Loosen (or remove) the bottom screw on each side.
2. Refer to Figure 9-4. Remove the base lock nut (S286).
3. Refer to Figure 9-3.
• Remove the two socket head cap screws (S19), and
detach the base motor from the base plate (12).
Figure 8-10: Shoulder
• Check the set screw (S151) that holds the spur gear Cover Screws
(S25) to the base motor gear (S309). If it is loose,
tighten it.
• Reattach the base motor to the base plate.
4. Refer to Figure 9-3. The anti-backlash unit has four gears. Two gears (22 and 27)
are on top of one other with a spring (23) fitted in between. Stretch the
anti-backlash spring in the base transmission:
• Make sure the robot is bolted in place.
• Remove the outermost gear (20). The gear (22) is now free. Note the small
unused hole on the base plate near the gears (22 and 27). It will enable you to
lock the gear (22) in the next step.
• To prevent the gear (22) from moving during the following steps, lock the
gear by inserting a short pin through this hole and into a groove in this gear.
Make sure the pin does not touch the gear (27) and that the gear (27) is free to
rotate.
• Mark the two teeth which are directly above one another on the gears (22 and
27), one on the upper gear and one on the lower gear.
• Manually turn the robot counterclockwise a distance of six teeth between the
marked teeth. The spring should now be correctly stretched.
• Return the gear (20) to its position and fasten the screw.
• Remove the locking pin.
5. Replace the base lock nut (S286).
6. Replace the shoulder cover.

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Tightening the Oldham Coupling in Gripper
Refer to the exploded view of the gripper assembly in Figure 9-1 .
Gripper Disassembly
1. Remove the gripper motor (S312) from the plate (112) by unscrewing the three
bolts (2 bolts S12 and one bolt S14). The Oldham coupling (S313) has three
parts—two metal parts fitted with bolts and an intermediate plastic part. When
you remove the motor, one metal piece of the coupling stays attached to the shaft.
The second metal piece of the coupling stays attached to the lead screw (94). The
plastic piece remains attached to either one of the two metal pieces.
2. Remove the lead screw (94) from within the shaft (105) by turning it
counterclockwise.
3. Fasten both metal pieces to their respective shafts by firmly tightening the Allen
screws (one piece to the motor output shaft; the other to the lead screw.)
Note: When tightening the coupling piece to the motor output shaft, make sure
the coupling is 1.5mm to 2mm away from the plate (112).
Gripper Reassembly
1. Make sure the coupling’s plastic piece is attached to the metal piece attached to
the lead screw (94). Keep the gripper fingers closed. Screw the lead screw (94)
with the coupling piece attached, clockwise into the shaft (105), as tightly as
possible. Now release the gripper fingers.
2. Refit the motor by aligning the coupling fitted to the motor output shaft together
with the plastic coupling piece attached to the metal piece attached to the lead
screw (94).
3. When all the coupling sections are aligned and attached, turn the motor body until
the holes in the plate (112) align with those in the gear motor support (91).
Reinsert and tighten the three bolts which you removed at the beginning of the
procedure.

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Opening the Controller Cover
1. Turn off the controller’s power switch.
2. Unscrew the 4 Phillips screws which hold the cover.
Unscrewing just the two screws at the front of the controller and lifting up the
cover is possible, but not recommended, as it prevents access to the rear
(connector) panel of the controller.
3. Carefully lift off the cover and set it aside.
Changing the Voltage Setting

To change the controller’s voltage setting, you must change the controller’s
power transformer fuse and the voltage switches. Refer to Figure 8-11.
1. Open the controller cover and replace the power transformer fuse (1).
100/110V requires 4A (SB) fuse.
220V requires 2.5A (SB) fuse.
This fuse is accessed from the side of the transformer housing. Using a
screwdriver, push down on the fuse holder cover while turning it
counterclockwise. Remove the fuse holder and replace the fuse. Reinsert the fuse
holder, and retighten it clockwise, until it is securely in place.
2. Change the two switches inside the controller:
• Using a small tool, push the red switch (2) on the transformer housing to the
opposite side.
• Manually push the switch (3) on the logic power supply to the proper setting.
Figure 8-11: Controller Voltage Setting

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Replacing Fuses
Warning! Before you begin to check or remove fuses, turn off the controller’s
power switch, and disconnect the power cable from the AC power source.
Logic Power Supply Fuse

One 4A (220/110V) fuse inside the logic power supply.
The logic power supply is an IBM/PC type power supply. It will not “wake up” if
it is not loaded, and it is protected against short load. Therefore, when searching
for a blown fuse, be sure you are trying to operate the logic power supply under
loaded conditions.
To replace this fuse:
• Disconnect the cable from the logic power supply to the main board (J9).
• Remove the power supply from the controller by unscrewing the four screws
on the rear panel of the controller.
• Open the power supply and change the fuse, which is mounted in a standard
fuse holder.
Power Transformer Fuse

One 2.5A (SB) fuse (220V) or 4A (SB) fuse (110V), on the side of the
transformer housing. Feeds AC power to the transformer, from which the motors
and user’s power supplies are produced.
To replace this fuse:
• Using a screwdriver, push down on the fuse holder cover while turning it
counterclockwise.
• Remove the fuse holder and replace the fuse.
• Reinsert the fuse holder, and retighten it clockwise, until it is securely in place.
User Power Supply Fuse

One 2A (12VDC) fuse on the power supply card PC7500 inside the transformer
housing. Protects the user’s power supply.
To replace this fuse you must open the transformer housing.
Warning! The large motors capacitor may be loaded with an electrical charge
even after you have disconnected power. Be careful not to touch or short it.

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Driver Card Fuses
Each driver card has two slow blow (SB) fuses (one fuse per axis). See
Figures 8-4 and 8-13.
• The first three driver cards, for axes 1 through 6, have a 2A (24VDC) fuse for
each axis.
• The fourth driver card, for peripheral axes 7 and 8, has a 6A (24VDC) fuse
for the top axis (axes 7) and a 2A fuse for the lower axis (axis 8).
• Additional driver cards, for axes 9 through 11, can have either 2A or 4A fuses.
A driver card fuse can be replaced without removing the driver card from the
controller. To replace a driver card fuse, simply grasp it and extract it from its
holder. You may need to use a tweezers. Insert the new fuse into the holder, and
make sure it is firmly in place.
(Driver cards in earlier models of Controller-A have two automatic fuses (one
fuse per axis). These fuses should not need to be replaced, only reset. However, if
you do replace such a fuse, solder it only when in the open state.)

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Changing the I/O Logic Mode
The I/O logic mode can be set individually for each input and open collector
output terminal by means of jumpers on the I/O card PC7400A, as shown in
Figure 8-12.
The jumpers are marked I1 to I16 and O5 to O16. Note that the relay outputs do
not require jumpers.
Use tweezers or a fine-tip pliers to lift off the jumpers and reset them. You do not
need to remove the I/O card from the controller.
• NPN Logic
Shorting the two pins on the left sets the corresponding terminal to negative
(NPN) logic. All inputs and outputs area factory configured for operation in
negative (NPN) logic mode.
ON = low voltage or ground
OFF = high voltage
• PNP Logic
Shorting the two pins on the right sets the corresponding terminal to positive
(PNP) logic.
ON = high voltage
OFF = low voltage or ground
Figure 8-12: I/O Card - Logic Jumpers

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Replacing or Adding a Driver Card
Refer to Figure 8-13.
(Skip Steps 4 and 5 when adding a driver card.)
1. Turn off the controller and disconnect the power cable from the power outlet.
2. Remove the cover of the controller.
3. Remove the long bracket which extends across the driver cards:
• Remove the screw which holds the long bracket to the transformer cover (see
Figure 8-10).
• Using pliers to grip the self-locking washer from inside the controller frame,
remove the screw that fastens the bracket to the side of the controller.
• Remove the screws and washers which hold the long bracket to each driver
card.
4. Note the location of each driver cards (you will replace them later in these same
positions). Remove the screw at the top of each driver card bracket to detach the
driver card from the connector slot.
5. Holding the card with two hands, lift it out very carefully.
Figure 8-13: Axis Driver Card

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6. Before inserting the new driver card, make sure none of the 64 pins in the male
DIN connector is bent. Then, make sure the driver card is directly above the
female DIN connector on the main board, and that the metal bracket fits the rear
panel. Firmly but gently press the driver card into the driver card slot.
7. Reattach the long bracket to the transformer housing and the controller frame.
Reattach each driver card to the long bracket and its connector slot. Retighten all
the screws.
8. Check and adjust the current limit, according to the instructions in the following
section.
Adjusting Driver Card Current Limit

Refer to Figure 8-13.
1. Turn off the controller.
2. Connect the common probe of the voltmeter to the middle point in TP (marked
GND in Figure 8-13).
3. Turn on the controller.
4. Using a small screwdriver, rotate POT 1 (for upper axis) or POT 2 (for lower axis).
Rotating clockwise reduces the level of the current limit;
Rotating counterclockwise increases the level of the current limit.
Watch the voltmeter reading; the voltmeter reading reflects the amperage of the
current limit level. Adjust the current limit as follows:
Current
Robot Axes Driver Cards
Limit
SCORBOT-ER Vplus Upper Axis (Axes 1, 2, 3) -2.25 V
SCORBOT-ER Vplus Lower Axis (Axes 4, 5, 6) -2.25 V
Peripheral Axes Driver Cards
Peripheral Device Upper Axis (Axes 7, 9, 11) -4.0 V
Peripheral Device Lower Axis (Axes 8, 10) -2.25 V
Driver Card Jumper Configuration

Note the configuration of the two jumpers, W2 and W3, on the driver card, shown
in Figure 8-13.
The jumpers must be mounted in the lower position when connecting the
SCORBOT-ER Vplus and peripheral devices.
(Conversely, the jumpers must be in the upper position when connecting a
SCORBOT-ER VII robot to the controller.)

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Installing the Auxiliary RS232 Communication Card
An auxiliary (multiport) RS232 communication card may be installed in the
controller to provide additional RS232 communication channels. The cable
leading from the card may have either two or eight D25 connectors. Refer to Figures
4-3 and 8-14.
Figure 8-14: Auxiliary RS232 Communication Card
1. First, make sure Pins 1 and 2 are shorted on the card’s Jumper JP1 (1).
Jumper JP1 allows the software to determine whether or not the communication
card has been installed in the controller.
Default factory setting: Pin 1 and pin 2 shorted.
2. Turn off the controller.
3. Remove the cover of the controller.
4. Remove the blank bracket at the back of the controller on the slot (J7) for the
auxiliary RS232 card.
5. Before inserting the auxiliary RS232 card, first check that none of the 64 pins in
the male DIN connector is bent. Then, make sure the card is directly above the
female DIN connector (J7) on the main board, and that the metal bracket fits the
rear panel. Firmly but gently press the card into the slot.
6. Tighten the bracket screw.
7. Make the cable connections:
• Connect the D37 connector from the multiport connector cable to the
auxiliary RS232 port on the controller.
• Connect the D25 connectors on the multiport connector cable to the
corresponding COM ports on the other controllers or computers.
8. The controller must be reconfigured for the auxiliary RS232 card.

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Before you perform the configuration, you must backup to disk the entire
contents of the controller, including all parameters.
Power on the system. From the ATS Backup Manager menu, select the options
“ Backup ALL” and “ BACKUP to disk (F3).”
9. Perform the configuration, using either of the following methods.
• Use the command <Ctrl>+F1, as described in the section, “ Controller
Configuration,” in Chapter 4; or
• Use the ACL command CONFIG, as described in the ACL Reference Manual.
10. Reload the contents of the controller, including all parameters, which you backed
up to disk. From the ATS Backup Manager menu, select the options “ Restore
ALL” and “ RESTORE from disk (F5).”

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CHAPTER 9
Parts Lists
This chapter contains isometric drawings of the robot arm and the controller.
Note that the exploded views of the robot arm show the SCORBOT-ER V robot.
The SCORBOT-ER Vplus robot arm has several enhanced features which do
not appear in these drawings. They are:
• Improved encoders on all motors provide greater accuracy. The encoder disk
has 20 slots; the encoder housing and circuitry have also been upgraded.
• The motor supports (items 34 and 35) for the shoulder and elbow axes been
improved; their dimensions have changed, and counter bearings have been
added, to increase strength and stability.
• Plates have been added to the robot arm frame, across the forearm and upper
arm, and around the shoulder, to increase strength and stability.

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Figure 9-1: Gripper Assembly

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Figure 9-2: Robot Arm Assembly

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Figure 9-3: Anti-Backlash Assembly

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Figure 9-4: Base and Motors Assembly

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Robot
Dwg # Cat # Description
1 113012 Bearing housing cover (plastic)
2 111401 Main shaft base
S2 306003 Socket head cap screw #4-40 X 1/4
4 113004 Base plate
5 113001 Base
S8 306002 Socket head cap screw #2-56 x 3/8
11 111906 Spur gear (120 teeth)
S 11 306204 Socket head cap screw #8-32 x 1/4
12 112103 Bottom Plate - shoulder
15 112401 Support base - motors 4+5
16 112403 Support clamp - motors 4+5
17 110205 Right side plate - shoulder
18 110210 Left side plate - shoulder
20 111901 Anti-backlash spur gear (transfer)
22 111902 Anti-backlash spur gear (upper)
23 113501 Anti-backlash spring
24 107003 Washer
S 25 321001 Ball bearing (motor 1 gear)
S 26 306602 Socket head cap screw #1/4-20 x 1
27 111903 Anti-backlash spur gear (base)
S 27 306602 Socket head cap screw #1/4-20 x 5/8
28 111907 Spur gear (base motor)
S 31 306414 Socket head cap screw #10-32 x 3/4 x 1/4 shoulder
32 319404 Spur gear (motors 2+3)
34 112405 Motor support (motor 2) [differs in ER Vplus]
35 112404 Motor support (motor 3) [differs in ER Vplus]
37 112402 Motor support (motors 4+5)
38 319406 Timing belt pulley (motors 4+5)
40 111606 Rear cross bar [not used in ER Vplus]

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46 111402 Main shoulder shaft
47 111909 Timing belt pulley
49 111905 Spur gear (72 teeth)
52 111405 First tension shaft
53 113013 Tension wheel
55 111406 Second tension shaft
56 113014 Tension pulley
57 112406 Clamp – lower arm – left side plate
58 110215 Upper arm – right side plate
60 111904 spur gear (right – 72 teeth)
61 110220 Upper arm – left side plate
63 112407 Clamp – lower arm – left side plate
64 111403 Middle shaft
67 107001 Aluminium spacer
S 70 306007 Flat head socket screw #4-40 x 1/4
72 111407 Third tension shaft
74 111404 Gripper axis
76 112439 Stopper (motors 4+5)
77 110705 Baseplate limit switch
82 113008 Timing belt pulley + miter gear
84 110228 Forearm left side plate
87 112114 Flange
88 110223 Forearm – right side plate
91 112408 Gripper gear motor support
94 113801 Lead screw
96 112117 Gripper bridge
97 112118 Gripper finger (inner)
98 112119 Gripper finger (outer)
99 112120 Gripper finger (short)
100 112113 Gripper clamp
101 110703 Mounting plate – gripper
102 113201 Rubber pad – gripper
103 111409 Pivot pin
105 111408 Main shaft – gripper
107 113802 Lead nut – gripper
108 112115 Bearing housing
109 112116 Bearing housing cover

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112 110229 Gripper motor base plate
113 113505 Spring 120 g. (gripper motor) [not used in ER Vplus]
S 115 45007 Encoder circuitry (3 slots) [differs in ER Vplus]
116 113009 Miter gear (bottom)
S 116 45006 Encoder circuitry (6 slots) [differs in ER Vplus]
127 107009 Spacer washer (for base bearing)
S 139 306008 Socket head set screw #4-40 x 1/8
S 153 306214 Socket head set screw #8-32 x 1/4 (without head)
S 187 302002 Socket binding head screw M2 x 10 (limit switch)
S 188 302001 Slotted binding head screw M2 x 8 (limit switch)
S 189 302006 Slotted binding head screw M2x20 (encoder housing)
S 206 313001 Washer (for screw #4-40)
S 207 107012 Washer (black); internal; for plastic cover ∅ 12.5 x ∅ 5.5 x 0.6
S 208 313004 Washer for screw #10-32
S 209 313005 Washer for screw ∅1/4
S 212 314508 Washer lock; black; external ∅ 5
S 215 314002 Spring washer (for screw #4-40)
S 219 314006 Spring washer (for screw ∅ 1/4)
S 225 314503 Lock washer M2
S 227 313003 Washer (for screw #8-32)
S 232 107008 Teflon washer ∅ 1/4" x ∅ 3/8" x 0.6mm
S 233 107007 Teflon washer ∅ 1/4" x ∅ 1/2" x 0.6mm
S 234 113016 Nylon washer ∅ 11 x ª 4 [not used in ER Vplus]
S 240 310001 Hexagonal nut M2
S 253 316006 E-Ring ∅ 1/8 DIN 6799
S 254 316003 Retaining ring ∅ 10 DIN 471
S 260 320005 Ball bearing ∅ 8 x ∅ 22 x 7
S 261 320004 Ball bearing ∅ 10 x ∅ 19 x 5
S 262 320006 Ball bearing ∅ 10 x ∅ 26 x 8
S 263 320203 Ball bearing ∅ 25 x ∅ 47 x 8
S 268 320701 Needle bearing ∅ 12 x ∅ 16 x 10
S 270 320705 Bushing for #320704
S 275 320501 Thrust bearing ∅ 10 x ∅ 24 x 2
S 276 320502 Thrust washer ∅ 10 x ∅ 24 x 1
S 277 320503 Thrust washer ∅ 10 x ∅ 24 x 2.5

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S 278 320504 Thrust bearing ∅ 12 x ∅ 26 x 2
S 279 320505 Thrust washer ∅ 12 x ∅ 26 x 1
S 283 314501 Lock washer
S 285 310401 Lock nut – gripper
S 286 310402 Lock nut – base KM 5
S 288 100706 Washer ∅ 10.5 x ∅ 20 x 0.5
S 289 100705 Washer ∅ 12.5 x ∅ 22 x 0.5
S 293 319201 Timing belt
S 300 315202 Flange – timing belt pulley
S 301 315201 Flange – timing belt pulley
S 308 317501 Pivot pin ∅ 1/8" x 3/8"
S 309 430901 Motor Gear - base; 127.7:1
S 310 430901 Motor Gear - shoulder/elbow; 127.7:1
S 311 430902 Motor Gear - pitch/wrist 65.5:1
S 312 430903 Motor Gear - gripper
S 313 319001 Coupling
S 315 410802 Limit switch
S 316 310802 Nut for harness
S 317 300006 Harness clamp
S 318 113006 Rubber plug (base)
S 319 300007 Harness clamp
S 320 314007 Conical washer
S 322 113203 Rubber grommet
S 324 113202 O-ring (rubber)
S 325 113204 Rubber stopper
S 350 317801 Roll pin ∅ 1/8 x 1 1/4
S 351 317502 Ball bearing ∅ - 3.5 mm
414 105001 Encoder disk (3 slots) - gripper [differs in ER Vplus]
427 113005 Encoder housing (plastic) [differs in ER Vplus]
429 105002 Encoder disk (6 slots) [differs in ER Vplus]

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Figure 9-5: Controller-A

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Controller
110715 Metal case - lower part
110717 Metal case - upper part
113002 Controller front panel
110719 Metal case - rear panel
110723 Coil fastener
102501 Lexan tags for front panel
110725 Long bracket - driver card support
107204 Blank brackets
12 110721 Transformer cover
13 35008 Logic power supply (220/110VAC)
9 35006 24V/12V Transformer (100VAC)
10 35003 Gripper coil assembly
2 35001 Fan plus cabling and connector
19 450541 Main board
15-17 45018 Driver cards for robot
18 45019 Driver cards for accessories
3 45011 Display card
4 45013 I/O card
11 45023 User power supply card
14 45009 Communication card
5-6 45003 Power LED card plus motors switch plus cabling
1 40004 Emergency switch plus cabling
40018 +24VDC feed cable (from J12 to capacitor J12)
40007 Diode bridge cabling
40005 Switching cable (from J20 to user power supply.)
411807 Flat cable (from J10 to I/O card)
411806 Flat cable (from J13 to communicationcard)
411808 Flat cable (from J11 to display card)
411805 Flat cable (from J8 to communication card)
40017 Gripper cable (jumper)
40010 Grounding cable for capacitor
40009 Grounding cable for transformer metal cover
40006 Resistors cable for capacitor
7 408102 Diode bridge
8 404501 10,000 µF/63V capacitor
45024 Teach pendant card [inside teach pendant]

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CHAPTER 10
Wiring
Robot Wiring
The robot is connected to the controller by means of a cable which runs from the
robot base to the D50 connector marked ROBOT on the rear panel of the
controller. See Figure 10-1.
The leads from the five motors on the robot body and their encoders are
connected directly to the D50 connector on the robot cable. The leads from the
gripper motor and the microswitches on the arm reach the D50 connector via a
square 12-pin Molex connector in the base of the robot; these leads are
particularly flexible and resistant to breakage, even after extensive movement of
the robot arm.
The following table details the wiring for the various
electrical components in the SCORBOT-ER Vplus robot.
(* indicates two wires on same pin.)
Figure 10-1: Robot

D50 Connector

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SCORBOT-ER Vplus Wiring
Lead to Molex Lead to
Robot Arm Signal
12-pin Connector D50 Connector
Axis Motor Encoder Pad # Microsw. Color Pin# Color Pin #
+ white 50
1
– gray/green 17
+ white 49
2
– white/green 16
+ white 48
3
– orange/brown 15
+ white 47
4
– orange/green 14
+ white 46
5
– orange/gray 13
+ gray 8 white 45
Gripper
– yellow 7 orange/blue 12
GND 1 white 33*
P1 3 white/gray 5
1
VLED 2 yellow 11
P0 4 brown 2
GND 1 white 32*
P1 3 white/orange 21
2
VLED 2 yellow 27
P0 4 gray 1
GND 1 white 31*
P1 3 brown/blue 4
3
VLED 2 yellow 10
P0 4 green 36
GND 1 white 30*
P1 3 green/brown 20
4
VLED 2 yellow 26
P0 4 orange 35
GND 1 white 29*
P1 3 green/blue 3
5
VLED 2 yellow 9
P0 4 blue 18
GND 1 black 12 white 28*
P1 3 green 11 gray/blue 19
Gripper
VLED 2 yellow 10 white 25
P0 4 brown 9 white/blue 34

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SCORBOT-ER Vplus Wiring
Lead to Molex Lead to
Robot Arm Signal
12-pin Connector D50 Connector
Axis Motor Encoder Pad # Microsw. Color Pin# Color Pin #
GND white 33*
1
MS brown 23
GND white 32*
2
MS gray 7
GND white 1 white 31*
3
MS white 2 orange 24
GND blue 3 white 30*
4
MS blue 4 green 8
GND orange 5 white 29*
5
MS orange 6 blue 6
no white 28*
Gripper connection
brown/gray 22
Single Axis Wiring

In addition to the robot’s six motors, the controller can control five additional
motors (axis drivers 7 through 11) which operate peripheral devices. Moreover,
by disconnecting the gripper cable at the rear of the controller, axis driver 6 can
be used for other applications. These additional motors are connected to the
controller by means of the driver cards’ D9 connector ports. (Refer to the
installation instructions in Chapter 4.)
The following table details the wiring for a motor, encoder, and (optional)
microswitch when connnected to an axis driver card by means of a D9 connector.
Refer to Figures 10-2 and 10-3.
Figure 10-2: Motor Wiring Figure 10-3: Motor with D9 Connector

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The last column in the table shows the colors of the leads used in the accessory
Motor Kit.
Encoder D9 Connector Motor Kit
Function
(PC510) Pad # Pin # Lead Color
Motor Power (+) 1 red
Motor Power (–) 9 green
Encoder Phototransistor (P0) 4 8 brown
Encoder Phototransistor (P1) 3 6 white
Encoder LED voltage (VLED) 2 3 yellow
Encoder Ground (GND) 1 5 + Shield black
Microswitch Signal (MS) * 4 orange
Microswitch (GND) * 5 orange
Controller-Computer RS232 Cable

The computer and controller communicate on the RS232 channel at 9600 baud,
with 8 data bits, 1 stop bit, no parity and XON/XOFF protocol.
The RS232 cable connections between the computer and controller are as
follows:
Computer Controller
D25 female connector D25 male connector
Pin 2 (Transmit) Pin 3 (Receive)
Pin 3 (Receive) Pin 2 (Transmit)
Pin 7 (Logic GND) Pin 7 (Logic GND)
Pin 4 to Pin 5
Pin 6 to Pin 8 and 20

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APPENDIX A
Theory of Control
The function of the controller is to instruct the movements of the robot arm or
other devices in the robotic system, to monitor these movements, and to make
adjustments automatically in order to correct any errors.
Servo Control
Open Loop Control
In open-loop (non-servo) control, the system does not check whether the actual
output (position or velocity) equals the desired output.
In open-loop control systems the controller output signal (Ur) is determined only
by the input signal (r). If the system response is incorrectly predicted, or if the
output signal is affected by other factors, deviations from the desired state will
occur. Since no feedback exists, the system is unable to correct output errors.
In open loop robotic control, power is applied to the motors according to a
predefined program. The path and speed cannot be precisely predicted, since they
are determined by the torque and load on the motors, and other environmental
factors.
Closed-Loop Control
In closed-loop control, the control system measures the output signal (C),
compares it with the input (desired) signal (r), and corrects any errors.
Figure A-1 compares schematic diagrams of open-loop and closed-loop control
systems.
In servo control systems, a feedback device, commonly an optical encoder,
measures the output (C) (the amount, speed and direction of motor rotation),
converts it to an output signal (Ub), and transmits it to the comparator.
A comparator (⊗) connects the input and feedback signals, produces an error
signal equal to the algebraic difference of its two input signals. The comparator
output—the error signal—is generally denoted as Ue .
User’s Manual SCORBOT-ER Vplus A-1

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Figure A-1: Open-Loop and Closed-Loop Control
The error signal is the most important value in the closed-loop system. The
system aims to reduce Ue to the smallest possible value. When Ue = 0, the output
signal (the actual state) is equal to the input signal (the desired state).
Digital Control
Unlike analog control systems, in which all signals within the controller are
continous analog signals, digital control systems are those in which some of the
signals within the controller are discrete digital signals, due to the presence of
microprocessors.
In digital control systems, the controller must be capable of converting between
analog and digital signals. For the microprocessor to read an analog signal, the
signal must first pass through an Analog to Digital Converter. The ADC
samples—that is, reads—the signal at periodic intervals and stores the value for
the processor to read. For the microprocessor to transmit an analog signal, it must
send the discrete values of the signal to a Digital to Analog Converter. The DAC
holds the output continuously until given a new value.
Controllers use microprocessors to calculate the state (position, velocity, etc.)
error (e) for each motor and the control signal (Uc) which is sent to the motors to
correct the error. The control signal is converted to an analog signal by a DAC
and then amplified before driving the motor.
A-2 SCORBOT-ER Vplus User’s Manual

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Figure A-2: Analog and Digital Signals
The feedback device measures the actual state and produces an analog signal. The
feedback signal is converted by a ADC so that the processor can read it to
compute e.
A digital control system can be programmed to compute any number of control
equations. The processor’s control program is a continuous loop whose basic steps
are as follows:
1. Read desired state from memory.
2. Read actual state from feedback device.
3. Calculate the state error (e).
4. Calculate control signal from control equation.
5. Go back to step 1.
The main difference between digital and analog controllers is the time delay
caused by the processor’s computations. This time delay is, in effect, the
sampling time of the DAC and of the output control signal it produces. If the
processor can complete a loop within a few milliseconds, the sampling time will
be rapid, and the digital controller will produce an output similar to the equivalent
analog controller.
On the other hand, if the processor is slow to make the computations, the
controller will be unaware of fast changes in the feedback signal and the control
signal will be based on “ old” measurements. The greater the delay, the more the
response will oscillate, eventually becoming unstable.

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Transient and Steady State Responses
When the desired input signal (r) changes suddenly, the system will react in two
phases, as shown in Figure A-3. The initial reaction to a change in the input
signal is called the transient response. The second part of the reaction is known as
the steady state response. Once the input signal (r) has remained constant for
some time, and the error between the input and output signals has stabilized, the
system is said to be in steady state. The transition from transient to steady state is
not a cleanly defined break.
Figure A-3: Transient and Steady States
This constant error, known as the steady state error, should be reduced as much as
possible by the control system.
Increasing the amplitude of the controller output signal (that is, increasing the
controller gain) can reduce the steady state error and enable a more rapid
approach to the steady state value. The greater the controller gain, the faster the
system reacts.
However, excessive gain may lead to a phenomenon called overshoot—a rise in
the controlled value to a point above the desired value, followed by a drop below
the desired value, repeated several times before stabilization. This, in effect,
causes the actual value to oscillate around the desired value. Further increase of
the controller gain may lead to instability of the entire system— that is,
uncontrollable oscillation.
A control system is damped when it reaches steady state without overshoot. A
critically damped response is the fastest approach to steady state without
overshooting; an overdamped response is a slow approach to steady state.
Figure A-4 shows different transient responses.

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Figure A-4: Transient State Responses
Figure A-5: Controller-A Control Loop

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Controller-A Control Process
The basic steps of the Controller-A control loop are described below. Refer to
Figure A-5. The entire control cycle takes 10ms.
The processor calculates the command position and speed once per cycle. It
outputs a digital value to the DAC unit in the range of ±5000.
The analog unit creates a series of pulses, resulting in an average voltage value
proportional to the DAC input.
The power unit drives the motor by switching ±24V to it at 20KHz , according to
the input pulse. The motor cannot react to this high frequency of switching and is
therefore affected by only the average value of the voltage.
This method of controlling the time during which current flows through the
motor, rather than controlling the value of the current, is known as PWM (Pulse
Width Modulation) control. Refer to Figure A-6.
Once per cycle the processor reads the encoder’s count and calculates the motor’s
position and speed (rate of encoder counts). The processor then compares the
actual (output) position and speed values with the desired (input) ones,
determines the error values and takes the necessary action to cancel them.
Figure A-6: Controller-A Control Signals

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Trajectory Control
For better path performance (that is, to accurately reach the desired state and
avoid overshoots), trajectory control profiles, may be programmed into the
control system. Controller-A offers two profiles: paraboloid and trapezoid. Refer
to Figure A-7.
Paraboloid
The paraboloid profile causes the motors to accelerate slowly until maximum
speed is reached, then decelerate at the same rate.
Trapezoid
The trapezoid profile causes the motors to accelerate and decelerate quickly at the
start and end of movement, with a constant speed along the path.
Figure A-7: Trajectory Control Profiles
Path Control
It is desirable that the path and speed of a robot between taught points be
predictable. Ideally, the path between consecutive points is traversed at a constant
velocity with defined acceleration and deceleration segments.
Along the path, motion of all joints should be proportional, so that all the joints
start and finish moving at the same time. The method of coordinating the
movement of the joints so that all joints reach the desired location simultaneously
is termed joint interpolation.
Point-to-Point Control
Point-to-point control (PTP) involves the positioning of the robot’s end effector at
given points, without defining the exact path of the end effector between any two
points.

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Point-to-point control is suitable for applications which require an exact and static
position of the end effector at the points where operations will be performed.
In principle, point-to-point control can be used to guide the robot through a large
array of positions, thus resulting in a complex path. In order to obtain such a path,
points must be defined and recorded in a very close sequence. The number of
positions will be limited, however, by the capacity of the control system to
maintain positions in memory.
Continuous Path Control

Continuous path control (CP) involves the movement of the end effector between
two points along a path defined by a mathematical formula. This method of
control is suitable for applications in which the end effector executes operations
along a precise trajectory.
During program execution, the control system calculates and plans the path, and
instructs the robot motors to move accordingly.
When continuous path control is required, the processor divides the path into
short segments, and interpolates the motion of the joints as frequently as possible.
Three type of CP control are possible.
• Joint Control: Each axis moves according to the trajectory profile. The
gripper path is not defined; only the start and end points are defined.
All axes start and stop movement at same time.
• Linear Path Control: The axes are coordinated in order to move the TCP
(tool center point; tip of the gripper) in a straight line according to the
trajectory profile.
• Circular Path Control: The axes are coordinated in order to move the TCP
along a circular path according to the trajectory profile.

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The Control Parameters
In the robotic system controller by Controller-A, as in common in closed-loop
systems, the controlled value (C) is measured by an optical encoder. The encoder
signals serve as feedback to the controller, enabling it to correct any deviations
from the desired value.
Since control systems cannot react immediately to the input signal, there will
always be a lag between the generation of an error signal and the actual correction
of the controlled value.
The PID (proportional, integral, differential) control parameters allow the
controller to adapt to various conditions of operation, such as overcoming
nonlinear functions in the system.
Proportional Control
The proportional parameter is the gain of the control system. Its value determines
the reaction time to position errors.
When a position error exists (that is, the actual motor position is off by a certain
amount of encoder counts), the processor multiplies the error by the proportional
parameter and adds the product to the DAC value, thereby reducing the error.
The proportional parameter is the parameter in the PID control system which acts
most quickly in reducing the position error, especially during motion. It is also
the first parameter to respond to position errors when the robot has stopped at a
target position.
The greater the proportional parameter, the faster the sytem responds and reduces
the error. But, using too great a value for the proportional parameter will cause
the axis to oscillate.
The main disadvantage of proportional control is that it cannot completely cancel
the error, because once it has reduced the error it cannot generate enough power
to overcome friction in the system and propel the axis to its target position.
Even in steady state, under load, the controlled value (output signal) will always
be different from the desired value (input signal). The steady state error can be
reduced by increasing the gain, but this will increase the oscillation and reduce
stability.

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Differential Control
In differential control, the controller output (C) is a function of the rate at which
the error (Ue) changes. The faster the rate of change of the error, the greater the
controller output (C). In other words, the controller is sensitive to the slope of the
error signal.
The differential parameter is responsible for reducing the speed error. The control
system calculates the actual speed once per cycle and compares it to the desired
value. While the robot is accelerating (during the first part of path) the differential
acts as a driving factor.
While the robot is decelerating (during the second, and last, part of path), the
differential acts as a braking factor. A good differential setting will result in a
clean and smooth motion along the entire path. Lack of the differential will cause
overshoot at the end of path. High differential values will cause small vibrations
along the path.
In this control method, the controller predicts the value of the error in accordance
with the error signal slope, and causes the correction to take place in advance.
However, if the error is constant and unchanging, differential control will not be
able to reduce the error to zero.
Integral Control
In integral control, all the state errors which have been recorded each cycle are
totalled and their sum is multiplied by the integral parameter value.
In integral control, the controller output (C) reduces the error signal (Ue) to zero
at a rate proportional to the size and duration of the error. In other words, the
greater the error, the greater the controller output; and, the longer the duration of
the error, the greater the controller output.
The main advantage of integral control is that the steady state error is always
reduced to zero since its value increases each cycle, thus strengthening the control
system’s ability to react and reduce the error. However, using too great a value
for the integral parameter may cause overshoots, while too small a value may
prevent the cancellation of a steady state error.
Unlike the proportional parameter, the integral parameter takes effect more
slowly and is less noticeable during motion. However, when the axis comes to a
complete stop and the proportional parameter can no longer reduce the steady
state error, the integral parameter takes over and can cancel the error completely.
A - 10 SCORBOT-ER Vplus User’s Manual

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Proportional–Integral–Differential Control
The PID control method enables optimal exploitation of all three types of
control—proportion, integral and differential. In this manner, it creates an output
response which follows the input signal closely, without gaps or lags, in both
slow and rapid processes, including those in which the load is in a constant state
of change. In summary, the PID control parameters serve the following functions:
• Proportional Parameter: Enables fast and powerful reactions of the arm to
movement commands. Responsible for the repeatability of the motion.
• Integral Parameter: Assists the proportional parameter in eliminating steady
state errors.
• Differential Parameter: Provides the required damping.
Offset
Control theories often assume complete linearity; that is, the speed is proportional
to the power supplied to the motor.
However, at low levels of power, the motor will not move, mainly due to friction;
that is, the static friction is higher than the dynamic friction. This is a
non-linearity. Figure A-8 shows linearity and non-linearity.
The offset is a threshold level of the DAC. Above this DAC value the control
system acts as a linear system. Below this value, the control system acts as an
on/off system. Figure A-9 shows the offset.
Figure A-8: Figure A-9:

Linearity and Non-Linearity Control System Offset
User’s Manual SCORBOT-ER Vplus A - 11

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Changing Parameter Values
The control system parameters of Controller-A are factory-set, and are suitable
for most robotic applications.
Although parameter values can be manipulated by user commands, only
experienced users should attempt to do so.
For more details refer to the ACL Reference Guide.
A - 12 SCORBOT-ER Vplus User’s Manual

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Manual Scrobot V

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SCORBOT-ER 5Plus

CHAPTER 1 General Information 1-1

CHAPTER 2 The Robot Arm 2-1

CHAPTER 3 The Controller 3-1

CHAPTER 4 Installation 4-1

User’s Manual SCORBOT-ER Vplus v

CHAPTER 6 Operating the Robot 6-1

CHAPTER 7 Programming with ACL 7-1

vi SCORBOT-ER Vplus User’s Manual

CHAPTER 8 Maintenance 8-1

User’s Manual SCORBOT-ER Vplus vii

CHAPTER 10 Wiring 10-1

APPENDIX A Theory of Control A-1

viii SCORBOT-ER Vplus User’s Manual

User’s Manual SCORBOT-ER Vplus ix

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Lift and carry the controller by

User’s Manual SCORBOT-ER Vplus 1-1

SCORBOT-ER Vplus Standard Package (Catalog # 403)

ATS (Advanced Terminal Software):

The following table is a sampling of the optional accessories which are

1-2 SCORBOT-ER Vplus User’s Manual

User’s Manual SCORBOT-ER Vplus 1-3

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Figure 2-1: SCORBOT-ER Vplus Robot Arm

User’s Manual SCORBOT-ER Vplus 2-1

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Axis No. Joint Name Motion Motor No.

User’s Manual SCORBOT-ER Vplus 2-3

Figure 2-4: Operating Range (Top View)

Figure 2-5: Operating Range (Side View)

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Figure 2-6: Motor

Figure 2-7: Encoder

User’s Manual SCORBOT-ER Vplus 2-5

Figure 2-8: Microswitch

Figure 2-9: Transmissions

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Figure 2-10: SCORBOT-ER Vplus

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Figure 3-1: Controller-A

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Figure 3-2: Controller Front Panel

Power On/Off Switch and LED

Motors and User Power Supply Switch and LED

User’s Manual SCORBOT-ER Vplus 3-5

Emergency Switch and Lamp

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Input and Output Terminals and LEDs

Figure 3-3: Input Terminals

Inputs can be operated in either of two modes:

User’s Manual SCORBOT-ER Vplus 3-7