No.

1L22152V-E-2

series

INSTRUCTION MANUAL

INTERFACE PANEL

■ Read and follow these instructions and all safety blocks carefully.
■ Have only trained and qualified persons install, operate, or service this unit.

■ Give this manual to the operator.

■ For help, call your distributor.

 Be Sure to Read Instruction Manuals Before Use
Thank you for selecting DAIHEN arc welding robot Almega series.
Almega series are the robots with high performance and various functions developed by making full use of the
latest technology. Since the knowledge of welding peculiar to a welding machine maker is applied to both
hardware and software, we are sure that each user can be fully satisfied
In order to use the superior performance and the abundant functions safely and fully, be sure to read the
following instruction manuals including this manual and other attached documents, and understand the
knowledge of the machines, safety information, and notes thoroughly.
Instruction manuals related to the manipulator “V/B/H series”, and the robot control unit “FD11” are as follows.

■Standard Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
QUICK START Point on Safety, Transportation and Installation,
1L21700A
Turning the power on/off and manual operation, etc.
SETUP Safety precautions, installing & connecting method,
1L21700B starting up, periodical inspection, solution at the time
of failure
CONTROLLER MAINTENANCE Specifications of controller, explanation of each parts
1L21700K
and maintenance, parts list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11130A
（NB4 / NB4L / NB15 / NV6 / NV6L / NV20 / NH5） list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11312A
（NV50） list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11306A
（NV166 / NV210） list, etc.
BASIC OPERATIONS Explanation of manual operation, teaching, automatic
1L21700C operation, file utilities, backing-up data, basic
operations of Arc/Spot welding application, etc.
EXTERNAL INPUT/OUTPUT Interfacing method with external control device, list of
1L21700H
I/O signals and start/halt the automatic operation, etc.
Software PLC Create program,Input/output relay lists,List of
1L21700J
command words, etc.
CONTROL AND MAINTENANCE Edit logging,User Check,Troubleshooting, etc.
1L21700L
FUNCTION

■Application Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700F
(ARC WELDING) technic, etc.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700E
(SPOT WELDING) technic, etc.
Instruction manuals are available other than the above for each optional function that you have purchased.

[Notes] 1. Specifications and information contained in these manuals are subject to change at any time without notice.
2. The screen display of a teach pendant shown in the manual are described as examples, which may be different from the actual
ones.
3. Although we cautiously compiled this standard specifications to eliminate as much error as possible, we do not take any
responsibility for damages resulting from neither direct nor indirect errors.
4. The manual is a part of robot products. When transferring or selling off a robot, be sure to append the manual.
5. No part of this manual may be reproduced without permission.
6. Prohibited altering or remodeling
- Do not alter or remodel our products.
- You may get injured or have your equipment damaged because of fire, failure or malfunction caused by altering or
remodeling the product.
The warranty does not cover any altered or remodeled products.

-1-
 Notice

Notes on Safety
Before installation, operation, be sure to read "Chapter 1 Points on Safety" in SETUP manual and other attached
documents thoroughly and acquire all the knowledge of machines, safety information, and precautions.
Furthermore, before maintenance, inspection, and trouble scene, be sure to read CONTROLLER
MAINTENANCE manual and MANIPULATOR manual and other attached documents thoroughly and acquire all
the knowledge of machines, safety information, and precautions.
If operating machines in a wrong way, the accident resulting in various ranks of injury or death, or damage may
occur.
In order to call attention to wrong handling, the following four ranks of safety notes (“DANGER”, “WARNING”,
“CAUTION”, and “IMPORTANT”) are provided.

Cases where a mistake made in handling is likely to cause the user to be exposed to
the danger of death or serious injury and where the degree of the urgency
(imminence) of the warning given for the danger to occur is at the high end of the
DANGER scale (including high-level danger).

Cases where a mistake made in handling is likely to cause the user to be exposed to
the danger of death or serious injury.
WARNING

Cases where a mistake made in handling is likely to cause the user to be exposed to
the danger of minor injuries or of property damage only.
CAUTION

The following symbol is also used for particularly important checkpoints:

This is a particularly important checkpoint.

IMPORTANT

Note that even the matters which are described as CAUTION can result in serious accident depending on the conditions.
Be sure to keep the safety notes since they describe very important matters.

The meanings of “Serious injury”, “Minor injury”, and “Damage” described above are as follows.

Serious injury ： Injury which has the aftereffect by loss of eyesight, an injury, the burn (high/low
temperature), an electric shock, fracture, poisoning, etc. and that which requires
hospitalization and long-term treatment as an outpatient.

Minor injury ： Injury which does not require either hospitalization or long-term treatment as an outpatient,
a burn (high temperature, low temperature), and an electric shock.

Damage ： Direct and indirect damage in connection with damage of property and equipment.

-2-
 Table of Contents

Table of Contents

Chapter 1 Outline
1.1 General Description of Interface Panel Function....................................................................... 1-1
1.1.1 General description ........................................................................................................... 1-1
1.1.2 Specification ...................................................................................................................... 1-1
1.1.3 Signal attributes................................................................................................................. 1-2
1.2 Operations from Designing Screens to Using Them ................................................................. 1-3
1.2.1 Designing screens ............................................................................................................. 1-3
1.2.2 Deciding on the operation method .................................................................................... 1-4
1.2.3 Operation ........................................................................................................................... 1-4

Chapter 2 Condition Settings

2.1 Condition Settings...................................................................................................................... 2-1
2.1.1 Select whether the screen is displayed ............................................................................. 2-1
2.1.2 Display the screen with input signal .................................................................................. 2-2
2.1.3 Setting of the initial status of the common switch.............................................................. 2-2
2.1.4 Setting of Enable/Disable of functionless code switch name setting ................................ 2-3
2.1.5 Setting of signal duplication check .................................................................................... 2-4
2.1.6 Setting of Enable/Disable of operations of f keys on touch panel ..................................... 2-4
2.1.7 Controlling the common switch using an input signal ....................................................... 2-5
2.1.8 Checking the status of the common switch ....................................................................... 2-6
2.1.9 Setting of softkey output signal for general purpose usage .............................................. 2-6

Chapter 3 Screen Design

3.1 Screen Design Basics................................................................................................................ 3-1
3.1.1 Number of screens and layout of operation switches ....................................................... 3-1
3.1.2 Reserved switch in upper right-hand corner...................................................................... 3-1
3.2 Operation Switch Design ........................................................................................................... 3-2
3.2.1 Basic operations for operation switch design .................................................................... 3-2
3.2.2 Round lamps and square lamps........................................................................................ 3-7
3.2.3 Push buttons...................................................................................................................... 3-8
3.2.4 Flash push buttons ............................................................................................................ 3-9
3.2.5 Selector switches (ON/OFF)............................................................................................ 3-10
3.2.6 Selector switches (2-contact type)................................................................................... 3-10
3.2.7 Displays ........................................................................................................................... 3-11
3.2.8 Digital switches (data input)............................................................................................. 3-12
3.3 Editing Using an External Personal Computer ........................................................................ 3-13
3.3.1 Outline ............................................................................................................................. 3-13
3.3.2 Editing using a personal computer .................................................................................. 3-13
3.3.3 Loading screens designed using a personal computer (Import) ..................................... 3-18
3.3.4 Writing screens for editing by a personal computer (Export) .......................................... 3-20

Chapter 4 Utilization of the Interface Panel

1
Table of Contents

4.1 Basic Operation ......................................................................................................................... 4-1

4.1.1 Opening the interface panel and changing the pages....................................................... 4-1
4.1.2 Using operation switches................................................................................................... 4-3

2
Chapter 1 Outline

This chapter gives a general description of the interface panel function. This is an
extremely useful function that enables the push buttons, lamps, etc. to be
displayed on the touch panel of the teach pendant.

1.1 General Description of Interface Panel Function ........................................1-1

1.1.1 General description ...............................................................................1-1
1.1.2 Specification..........................................................................................1-1
1.1.3 Signal attributes ....................................................................................1-2
1.2 Operations from Designing Screens to Using Them ...................................1-3
1.2.1 Designing screens ................................................................................1-3
1.2.2 Deciding on the operation method ........................................................1-4
1.2.3 Operation ..............................................................................................1-4
 1.1 General Description of Interface Panel Function

1.1 General Description of Interface Panel Function

1.1.1 General description

By laying out the push buttons, lamps, etc. on the touch panel type of teach pendant, the interface panel function
assists the interlocking with the line controller and controlling of the peripheral equipments. The layout of the
operation switches, indicator lamps, etc., which used to be actualized by hardware circuits, on the touch panel type
of teach pendant helps to reduce costs.

Interface panel

Can be laid out in

any way

Operation items (icons)

Function keys Operation switches

Fig. 1.1.1 Outline of interface panel function

1.1.2 Specification
An overview of the interface panel function specifications is given in Table 1.1.1 Specifications of interface panel function.
Since a total of 248 switches can be designed exactly as desired on up to 8 screens, screens can be designed
flexibly to suit the applications.

Table 1.1.1 Specifications of interface panel function

Item Specification
Teach pendant Teach pendant with touch panel specifications required
Number of screens Max. 8
(panels)
Number of soft keys Max. 31 keys per screen x 8 screens = 248 keys
Size of soft keys 80 (L) x 80 (W) dots, fixed
(A 6-digit indicator is double-sized in width)
Types of operation items Function keys
that can be laid out All function keys can be laid out.
Operation switches
Lamps (round, square)
Push buttons
Flash push buttons
Selector switches (ON/OFF type, contacts type)
Displays (3 digits, 6-digits)
Digital switches (3 digits, 6-digits)
Title No more than 16 full-size characters or 32 half-size characters
Colors Lighted colors, extinguished colors or base colors selected from 16 colors

1-1
1.1 General Description of Interface Panel Function

Item Specification
Editing method Recorded with teach pendant
Editing also possible on a personal computer using commercially available
text editor
Display method Single-action touch ON/OFF display operation using dedicated key
Display also possible with input signals

1.1.3 Signal attributes

An overview of the input/output signals involved with the interface panel function is shown in Fig. 1.1.2 Overview of
input/output signals used by interface panel.
As with the "starting," "servo ON" and other status output signals, the logical output signals are allocated for use as
the interface panel outputs, that is to say, as the signals which are output to the external device when the push
buttons and selector switches are operated.
Similarly, as with the "start" instruction, "servo ON" instruction and other status input signals, the logical input signals are
allocated for use as the interface panel inputs, that is to say, as the input signals which are used for the lamp, display and
other indications, and in addition, logical output signals and internal control variables can be displayed as well. (Not only
the input signals from external sources but the output signals of the controller itself can be displayed.)

2048 external input signals

General-purpose input signals Software

2048 logical input signals

PLC
"Start" instruction, "servo ON" instruction
Status input signals

and other status input signals

Individually
Interface panel inputs
set
Lamps, displays, etc.

Internal control
variables

2048 external output signals

General-purpose output signals
2048 logical output signals

"Start" instruction, "servo ON" instruction

Status output signals

and other status output signals

Interface panel outputs

Push buttons, selector switches, etc.

Fig. 1.1.2 Overview of input/output signals used by interface panel

It is not possible to operate the logical input signals directly by operating the interface panel outputs, that is to say,
the push buttons, selector switches, etc. on the panel. (The "start" instruction and "servo ON" instruction cannot be
executed from the interface panel.)
However, as is shown in the figure, when a software PLC is used, the fore-mentioned restrictions do not apply, and
any of the interface panel input/outputs can be connected to any input/output signals.
Output signals, which have been already allocated, cannot be set to the output signals of the interface panel. By
contraries, output signals set with the interface panel cannot be allocated as output signals having different
functions.
Signal which is already allocated to the other purpose usage can be allocated to the interface panel display
(duplicate allocation). Refer to “2.1.5 Setting of signals duplication check” for detail.

1-2
 1.2 Operations from Designing Screens to Using Them

1.2 Operations from Designing Screens to Using Them

This section provides an outline of the procedure to be followed starting with the design of the interface panel
screens and ending with their use.

1.2.1 Designing screens

There are two ways to design an interface panel screen. One way is to use the robot controller, and the other is to
use an external personal computer.
It is also possible to use both methods (by using one of them to change the screens designed by the other).

Table 1.2.1 Two methods of designing screens

Item General description
Designing screens using the The layout, button types, colors and other factors can easily be set by
robot controller following the menu guide. There is no need to bother about the constants
file format.
Designing screens using an Since the design information is stored in text files (INI format), a
external personal computer commercially available text editor is used to edit the information in
accordance with the prescribed rules.
When a completed file is loaded into the robot controller, its syntax and
other features are checked.

The setting information of the interface panel screens is divided into two constants files (the controller general
constants file and I/O constants file) and stores the files in the memory. This is because the information does not only
involve the screen display but it extends to the input/output signals as well. However, when designing the interface
panel screens with a commercially available text editor that runs on an external personal computer, one file (interface
panel file AC**IFP.CON), in which only the interface panel screen information is defined, is created. This interface
panel file is not referenced directly when it is displayed.
By way of operations referred to as reading (import) and writing (export), the interface panel file is converted into two
constants files in the internal memory.

The setting information on the interface panel screens is

divided into the control unit general constants files and
I/O constants files, and stored in the memory.

Controller
general I/O Displa
constants constants
files files

Interface panel files edited

Direct editing
by personal computer
(using a commercially
available text editor) Read

Interface
panel
files

AC**IFP.CON Write

Fig. 1.2.1 Designing screens using an external personal computer

When the setting information on the interface panel screen which was set using one robot controller is to be copied
into a multiple number of other robot controllers, it is easier to use the interface panel file.

1-3
1.2 Operations from Designing Screens to Using Them

1.2.2 Deciding on the operation method

Define the method to be used to open the interface panel screen, the default values of the common switches and
other contents.

1.2.3 Operation
Open the interface panel screen, and check the lamp lighting/extinguishing, switch ON/OFF operations, etc.

1-4
Chapter 2 Condition Settings

This chapter describes how to set conditions for using the interface panel
screens.

2.1 Condition Settings.......................................................................................2-1

2.1.1 Select whether the screen is displayed .................................................2-1
2.1.2 Display the screen with input signal ......................................................2-2
2.1.3 Setting of the initial status of the common switch..................................2-2
2.1.4 Setting of Enable/Disable of functionless code switch name setting.....2-3
2.1.5 Setting of signal duplication check ........................................................2-4
2.1.6 Setting of Enable/Disable of operations of f keys on touch panel .........2-4
2.1.7 Controlling the common switch using an input signal............................2-5
2.1.8 Checking the status of the common switch ...........................................2-6
2.1.9 Setting of softkey output signal for general purpose usage...................2-6
 2.1 Condition Settings

2.1 Condition Settings

This section describes how to open the interface panel screen, how to perform initial setting of the switch reserved
by the system (selector switch to enable/disable the operation), etc.

2.1.1 Select whether the screen is displayed

Select whether the interface panel itself is used (enabled to be displayed) or not (disabled to be displayed).

1 Select <Constant Setting> in the teach mode.

Select [22 I/F Panel on Touch Screen] from the menu which is displayed.
>> The interface panel constants menu such as the one shown below appears.

2 Select [1 Touch Panel Conditions].

>> A setting screen such as the one shown below appears.

3 Align the cursor with "Interface Panel," and select the "Use" setting using the
＋ [ENABLE] and [Left] or [Right] cursor keys.

Settings Details
Use The interface panel itself can be displayed.
Not use Even if an operation to open the interface panel is performed, the
screen is not displayed. When an erroneous manipulation should be
avoided, such as during peripheral devices setup, set to <Not Use>.

4 Upon completion of the settings, press f12 <Complete>.

The settings are saved in the constants files (S**SIGL.CON I/O constants file and
C**CTRL.CON controller general constants file).
(To stop editing at any time, press the [RESET/R] key.)

2-1
2.1 Condition Settings

2.1.2 Display the screen with input signal

Define the method to open the interface panel screen.
The teach pendant has dedicated keys used normally to open the interface panel screen, but it is also possible to
open and close the screen with input signals from the external source.
Select and allocate the input signals to be used.

1 On the same setting screen, align the cursor with "Auto Disp", and set the desired
status.

Settings Details
Enabled Auto display of the interface panel screen is enabled by the external
input signal.
Disabled Auto display of the interface panel screen is disabled by the external
input signal.

2 When the "AutoDisp" is enabled, allocate here the input signals to be used to
control display of the interface panel screen.
Align the cursor with "InputSignal", and allocate 4-bit page selection signals and a
strobe signal (a signal which determines the timing at which the signal is read).
>> A 4-bit page selection signal is interpreted as a binary data. The signal 1 is the
lowest, and the signal 4 is the highest. If all bits are set to off, the page number is set
to 0, that is to say, the interface panel screen is closed.
The timing at which the page selection signals and the strobe signal are input is
shown below.

More than 20msec

More than 10msec
Page selection
signal 1 to 4

STRB signal

After entering the page bits (4-bit page selection signal), input the
STRB (strobe) signal, and hold the status of the page bits signal for at
least 10ms after the STRB signal has turned ON. Hold the STRB
signal for at least 20ms.

Fig. 2.1.1 Automatic display of the interface panel

Even if "AutoDisp" is disabled, it is still possible to allocate input signals. However, the
input signals allocated when "AutoDisp" is disabled cannot be used as general-purpose
input signals.

3 By pressing f8 <Input Ref>, the allocation of the input signals can be checked.

4 Upon completion of the settings, press f12 <Complete>.

2.1.3 Setting of the initial status of the common switch

Set the initial status of "selector switch for enabling/disabling operations" always provided at upper right-hand corner
(1H) of each page by the system.

2-2
 2.1 Condition Settings

Fig. 2.1.2 Selector switch for enabling/disabling operations always provided

at upper right-hand corner of each page

1 On the same setting screen, align the cursor with "Common Switch", and set the
desired status.

Settings Details
Previous No. Restore the status in which the power is previously turned off.
Disabled The switch is always set to "Disabled" when the power is turned on.

2 Put the cursor on “Common switch ON direction”, and set it to the desired status.

Settings Details
Left Inhibit operations on the left side.

Right Inhibit operations on the right side.

3 Put the cursor on “Common switch operation method”, and set it to the desired
status.

Settings Details
Standard Enable operation without pressing the [ENABLE] key.

Enable No operations are enabled unless the [ENABLE] key is pressed.

4 Upon completion of settings mentioned above, press the f12 <Complete> key.

2.1.4 Setting of Enable/Disable of functionless code switch name setting

Using the “Interface panel design” menu, make setting of whether or not the name setting of switches, to which the
functionless code (0) is set, is to be enabled.

1 On the same setting screen, put the cursor on “Functionless code name setting”,
and set it to the desired status.

Settings Details
Hide Make setting so that the name setting of switch, to which the
functionless code has been set, will not be displayed. The name
setting will also be disabled.

Display Make setting so that the name setting of switch, to which the
functionless code has been set, will be displayed. The name setting
will also be enabled.

2 Upon completion of settings mentioned above, press the f12 <Complete> key.

2-3
2.1 Condition Settings

2.1.5 Setting of signal duplication check

This function is used to make setting of whether or not it is to be checked that input signal numbers and output signal
numbers to be set with the interface panel or T/P keys duplicate signal numbers that have been allocated by other
functions.

1 On the same setting screen, put the cursor on “Signal duplicate check”, and set it
to the desired status.

Settings Details
Unused Make setting so that no errors occur even if the signal numbers that
have been allocated by other functions are used for the interface
panel setting.
Used Make setting so that the warning screen will be displayed to disable
the setting if the signal numbers that have been allocated by other
functions are used for the interface panel setting.

2 Upon completion of settings mentioned above, press the f12 <Complete> key.

2.1.6 Setting of Enable/Disable of operations of f keys on touch panel

Make setting of whether the operations of soft keys, which have been allocated to f1 to f12, are to be enabled or
disabled on the touch panel.

1 On the same setting screen, put the cursor on “F key on TP”, and set it to the
desired status.

Settings Details
Enabled Make setting so that the soft keys, which have been allocated to f1 to
f12, can be operated by pressing icons on the touch panel. In this
case, pressing f1 to f12 or f key icons on the touch panel makes it
possible to operate the soft keys, respectively.
Disabled Make setting so that the soft keys, which have been allocated to f1 to
f12, cannot be operated even by pressing the icons on the touch
panel. In this case, only pressing f1 to f12 makes it possible to
operate the soft keys, respectively.

2 Upon completion of settings mentioned above, press the f12 <Complete> key.

2-4
 2.1 Condition Settings

2.1.7 Controlling the common switch using an input signal

This function is used to control the [Operation Disabled / Enabled switch] (Common switch) located on the most
upper right side on the screen by the external input signal.
When it is not necessary to control the common switch using the external input signal, this setting is unnecessary.
But, if it is necessary to confirm the status of the common switch from external devices, please refer to [2.1.8
Checking the status of the common switch].

1 On the same screen, put cursor on [Signal of common SW], and set it to the
desired status.

Settings Details
Disabled The touch panel controls common switch.
Enabled Common switch is controlled by the external input signals.
(1)
When enabled, the following settings are disabled.
[The status of the common switch when turning ON the primary power]
This depends on the signal status at the timing of the power ON.

[Operation of the common switch]

Because the common switch is controlled by the input signal, the
operation for this switch on the touch panel is ignored.

(2)
When enabled, the graphical icon of the switch on the most upper right side is
displayed like shown below. (Hatched icon)

2 If [Signal of common SW] is set to [Enabled], please allocate an input signal that is
used to control the common switch on this screen. Put the cursor to [Input of
common SW], and allocate one input signal.

When the allocated signal is OFF, the common switch is [Disabled]

When the allocated signal is ON, the common switch is [Enabled]

3 By pressing f8 <Input Ref>, the allocation of the input signals can be checked.

4 Upon completion of settings mentioned above, press f12 <Complete> key.

When controlling the Disabled/Enabled status of the common switch using the input signal,
there would be a possibility in which the operator presses the button in mistake. Therefore,
IMPORTANT please use the function carefully considering the enabling conditions etc.

2-5
2.1 Condition Settings

2.1.8 Checking the status of the common switch

This function is used to check the status of the [Operation Disabled / Enabled switch] (Common switch) located on
the most upper right side on the screen from the external devices.

1 To check the status of the common switch from the external devices, allocate an
output signal on this screen. Put the cursor to [Output of common SW], and
allocate one output signal.
When the allocated signal is OFF, the common switch is [Disabled]
When the allocated signal is ON, the common switch is [Enabled]

2 By pressing f9 <Output Ref>, the allocation of the output signals can be checked.

3 Upon completion of settings mentioned above, press f12 <Complete> key.

2.1.9 Setting of softkey output signal for general purpose usage

Make setting of whether or not output signals assigned to the output usage softkeys (indicated in Table 2.1.1 set for
interface panel or T/P keys) can be also available to use as the general purpose usage output signals. When used
for general purpose usage, this signal cab be controlled ON/OFF by the function recorded in the robot program step.

Table 2.1.1 Function that can be used for general purpose usage
code description code description
3002 Push Buttons (alternation type) 3010 Selector switch (ON/OFF)
3003 Push Button (momentary type) 3030 Input 3digits
3004 Flash Push Button (alternation type) 3030 Input 6digits (only for interface panel)
3005 Flash Push Button (momentary type)
(notes) Double contact selector switch can not be used for general purpose usage.

1 On the same screen, put cursor on [Softkey outsignal general use], and set it to
the desired status.
Settings Details
Unused Output signals assigned for softkey are used for fixed output signals.
(These signals can not be controlled ON/OFF by the function
recorded in the robot program step.)
Used Output signals assigned for softkey are used for general purpose
output signals.

(Notes) If this is set to “Used”, duplicate signal setting is now possible in case
that plural softkeys indicated in Table 2.1.1 are defined. But it is not possible to
define with application signals at the same time.

2 Upon completion of settings mentioned above, press f12 [Complete] key.

When this is set to “Used”,

Both robot program and softkey operation can control ON/OFF of one signal. Beware in mind
to avoid mis-operation with using enable key and or so.
CAUTION

When this is set to “Used” and same output signal is assigned to the duplicate (different)
softkey, Unexpected softkey may change its status because of the softkey’s own ON/OFF
control or the operation of softkey.
CAUTION When duplicate setting is made, bear in mind to consider those control sequence clearly.

2-6
Chapter 3 Screen Design

This chapter describes how to design the interface panel screens. One of two
methods can be selected: one method uses the teach pendant for design, and the
other uses a commercially available text editor and runs on an external personal
computer.

3.1 Screen Design Basics.................................................................................3-1

3.1.1 Number of screens and layout of operation switches............................3-1
3.1.2 Reserved switch in upper right-hand corner..........................................3-1
3.2 Operation Switch Design ............................................................................3-2
3.2.1 Basic operations for operation switch design ........................................3-2
3.2.2 Round lamps and square lamps ...........................................................3-7
3.2.3 Push buttons .........................................................................................3-8
3.2.4 Flash push buttons................................................................................3-9
3.2.5 Selector switches (ON/OFF) ...............................................................3-10
3.2.6 Selector switches (2-contact type) ......................................................3-10
3.2.7 Displays .............................................................................................. 3-11
3.2.8 Digital switches (data input) ................................................................3-12
3.3 Editing Using an External Personal Computer..........................................3-13
3.3.1 Outline ................................................................................................3-13
3.3.2 Editing using a personal computer ......................................................3-13
3.3.3 Loading screens designed using a personal computer (Import)..........3-18
3.3.4 Writing screens for editing by a personal computer (Export)...............3-20
 3.1 Screen Design Basics

3.1 Screen Design Basics

3.1.1 Number of screens and layout of operation switches

Up to 8 screens each with a maximum of 31 keys can be designed. This means that a total of 248 keys (31 keys per
screen x 8 screens) can be laid out.
There is no need to use all 8 screens. Define only those screens required to suit the desired operation method.
When opening the screens, the ones on which no soft keys have been defined will not be displayed.

The operation switches and other soft keys laid out on the screens are each identified by a number that consists of
the screen page number and position number as shown in the figure below, and the screens are designed by
specifying these numbers.

Example:
Key in upper left-hand
Interface corner of first screen
(P1-1A)
panel

Ｐ１
1A 1B 1C 1D 1E 1F 1G 1H Ｐ２
Ｐ３
2A 2B 2C 2D 2E 2F 2G 2H Ｐ４
3A 3B 3C 3D 3E 3F 3G 3H Ｐ５
Ｐ６
4A 4B 4C 4D 4E 4F 4G 4H Ｐ７
Ｐ８

Fig. 3.1.1 Key layout on interface panel screen

3.1.2 Reserved switch in upper right-hand corner

The position in the upper right-hand corner (1H) of each page is always reserved by the system for a switch that
executes a specific application, and it cannot be changed.
This is the selector switch that enables or disables interface panel operations. This switch functions when it is
pressed together with the [ENABLE] key or individually by itself, according to the setting of “Common switch
operation method” item in the “Interface panel condition setting” menu. If the “Common switch operation method”
item is set to “Standard”, the switch will function individually by itself. If the item is set to “Enable simultaneous”, the
switch will function by pressing it together with the [ENABLE] key. Furthermore, according to the setting of “Common
switch ON direction” item in the “Interface panel condition setting” menu, whether the switch is inhibited to operate in
the left or the right direction can be set as well.
Since the interface panel uses a touch panel, just touching the touch panel will execute the function. Use this switch
to lock the touch panel so that the actuator will not perform an unintended operation due to mishandling or the
interface panel will not function when the surface of the LCD display is cleaned. However, panels that have been
registered by switching the “operation inhibit” item while in detailed setting to “Disable” are able to surely operate
regardless of the status of this reserved switch.

Fig. 3.1.2 Selector switch for enabling/disabling operations always

provided at upper right-hand corner of each page

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3.2 Operation Switch Design

3.2 Operation Switch Design

3.2.1 Basic operations for operation switch design

Described below is the method used to lay out the operation switches on the interface panel screens after designing
each of them.
The setting screen will differ slightly depending on the type of operation switch concerned. A description of individual
operation switches is given for each type of switch on the following pages.

1 Select <Constant Setting> in the teach mode.

Select [22 I/F Panel on Touch Screen] from the menu which is displayed.
>> The interface panel constants menu such as the one shown below appears.

2 Select [2 Interface Panel Design].

>> The operation switch design screen (list screen) such as the one shown below
appears. (The example displayed shows the statuses already established upon
completion of some of the settings. All the keys are set to "No Function" at the
default setting.)

At the far left, the layout numbers of the keys are indicated as a combination of the page
number and position number, and to the right of these numbers are indicated the
external appearance of the keys, their names and other important information.
Detailed settings are not displayed on this screen.

3 Using the [ENABLE] and [Up] or [Down] cursor keys, it is possible to switch the
＋ list from the switch located at the top left of screen page 1 (P1-1A) to the switch
positioned at the bottom right of screen page 8 (P8-4H).

4 First, align the cursor with "CODE", and input a number to indicate the type of
operation switch (lamp, push button switch or function key) to be laid out at the
position concerned.
Number Refer to Table 3.2.2 List of operation switch keys for the code numbers which
are to be input.
If "0" is input, the corresponding switch has no function (only a gray background
appears).
>> When a number is input, its title is displayed in the "Function" field on the right.

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 3.2 Operation Switch Design

5 If the code number to be input is not known, press the f8 <Code List> key.
>> The contents of Table 3.2.2 List of operation switch keys now appears in the list on
the right side of the screen.

There are two lists. One is a list of the lamps, push buttons and other operation switches
whereas the other is a list of the functions which are allocated to the f keys on both sides
of the mode screen.
Any kind of key can be laid out anywhere on the interface panel screens.

To select the list to be displayed, select the radio button at the top of the screen
＋ by pressing the [ENABLE] and [Left] or [Right] cursor keys.

Kinds = Function Kinds = Operation switch

f keys on both sides of mode screen Lamps, push buttons, etc.

Select the desired item from the code list using the [Up] or [Down] cursor key and
press the [Enter] key to insert the code.
Alternatively, the original setting screen can be restored by pressing the
[RESET/R] key.

6 Align the cursor with "Name", and input the name to be displayed.
＋ The soft keyboard is started up by pressing [ENABLE] and [EDIT].
>> Names consisting of 16 full-size characters or 32 half-size characters can be recorded.
If the “Functionless code name setting” item in the “Interface panel condition setting”
menu is set to “Display”, the name setting can be made even with “0” set to the code.

7 Next, set the data for the details other than the names and font size.
Align the cursor with the target line, and press the f9 <Refer> key.
>> The operation switch detail setting screen such as the one shown below now appears.

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3.2 Operation Switch Design

On this screen, set the color, input/output signals and other detail data.
In the example presented above, the setting screen for a round lamp is shown. The
contents of the setting screen will differ depending on the type of operation switch
concerned.

8 Align the cursor with "Color", and press the [Enter] key.
Sixteen color options are displayed. Select the desired color using the [Up] or
[Down] cursor key, and then press the [Enter] key.
In the case of a round lamp, for example, select one color to indicate ON and
another color to indicate OFF.
Table 3.2.1 List of colors
Color no. Color name Color no. Color name
0 Black 8 Medium gray
1 Dark red 9 Red
2 Dark green 10 Green
3 Dark yellow 11 Yellow
4 Dark blue 12 Blue
5 Dark magenta 13 Magenta
6 Dark cyan 14 Cyan
7 Light gray 15 White

9 Next, set the input and output signals.

Align the cursor with "InputSignal" or "OutputSignal", and input the number of
the signal.
Number
As a general rule, logical input signals are allocated as the lamp, display and
other interface panel inputs and logical output signals are allocated to the push
buttons, selector switches and other interface panel outputs.
However, as explained in "Chapter 1 General description", either logical input
signals or logical output signals can be used for the interface panel inputs, and in
addition, internal control variables can be applied to some of the interface panel
inputs.
With the interface panel inputs, first specify the input sources using "Display
data", and then set the numbers of the logical input (or output) signals.
Display data selection
Individually set
Interface panel inputs 2048
Lamps, displays, etc. logical
input
signals

Internal control
variables Outside

Interface panel outputs 2048

Push buttons, selector switches, etc. logical
output
signals

Fig. 3.2.1 Overview of input/output signals used by interface panel

When "0" is set as the signal number, no input/output operations are executed. (Only
the operation switch display appears.)

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 3.2 Operation Switch Design

10 Align the cursor with the last "! mark," and specify the ! mark display method.
＋ This is a useful interface panel function which works with some of the interface
panel inputs.
If, for instance, an ON position status is a normal operation status, by indicating
the "! mark" for the reverse OFF position, the operator can identify at a glance
which switches have settings that differ from the normal status.

Settings Details
don't show The ! mark is not shown.
when "ON" The ! mark appears when the input/output signal concerned is in the
ON status.
when "OFF" The ! mark appears when the input/output signal concerned is in the
OFF status.

Fig. 3.2.2 ! mark shown for an interface panel input

11 Upon completion of the settings, press f12 <Complete>.

≫ Operation returns to the list display screen in step 2.
The contents set on the detailed setting screen have already been reflected, but at this
point they have not yet been saved in a file.

12 Follow the same steps to perform the settings for all the operation switches on all
the screens to be used.

However, the position in the upper right-hand corner (1H) of each page is always
reserved by the system for the switch that enables and disables the operations.
It cannot be deleted or changed.

13 Upon completion of the settings, press f12 <Complete>.

The settings are saved in the constants files (S**SIGL.CON I/O constants file and
C**CTRL.CON controller general constants file).
(To stop editing at any time, press the [RESET/R] key.)

When the settings are saved, the following contents are checked.
If any of the following applies, the corresponding message appears, and the
settings are not saved in the files. In this case, revise the settings and save them
again.

 When a different item has been already set to the target area even though an item
using multiple soft key areas for a single code has been selected
(Example: In order to set the “input 6-digit” soft key to the p1-1A soft key area, use the
p1-1B area beside the p1-1A area. At this time, if a different soft key is set to the
p1-1B area, the “input 6-digit” soft key set to the p1-1A area will be disabled.)

 When an attempt has been made to position in the H (far right) column an icon which
must occupy two blocks side by side

 When the same number which was set for an output signal has been used (the
duplication of not only the interface panel signals but all the status output signals as
well is checked)

 When the same number which was set for an input signal has been used (duplication
of not only the interface panel signals but all the status input signals as well is
checked)

3-5
3.2 Operation Switch Design

Table 3.2.2 List of operation switch keys

Description of
Code External appearance Outline
function
3000 Round lamp ON/OFF display lamp
These lamps display the ON/OFF statuses of input
signals or output signals.

3001 Square lamp ON/OFF display lamp

These lamps display the ON/OFF statuses of input
signals or output signals.

3002 Push Buttons Push button switch (operation holding type)

(alternation These buttons turn the output signals ON or OFF when
type) operated by the operator.

3003 Push Button Push button switch (operation non-holding type)

(momentary These buttons turn the output signals ON or OFF when
type) operated by the operator.

3004 Flash Push Push button switch (operation holding type) + square
Button lamp
(alternation These buttons turn the output signals ON or OFF when
type) operated by the operator, and display the ON or OFF
statuses of the input signals or output signals.
3005 Flash Push Push button switch (operation non-holding type) +
Button square lamp
(momentary These buttons turn the output signals ON or OFF when
type) operated by the operator, and display the ON or OFF
statuses of the input signals or output signals.
3010 Selector Output signal ON/OFF selector switch
switch These buttons turn the output signals ON or OFF when
(ON/OFF) operated by the operator.
3011 Contacts 2 output signal ON/OFF selector switch
switch These switches turn the output signals ON only when
their contacts are selected.
These buttons turn the output signals ON or OFF when
operated by the operator.
3020 Displays This displays input signals or variable integers.
(3 digits) Display range: 0 to 999
These displays indicate the statuses of the input signals,
output signals or variable integers using 3 digits.

Left Displays This displays input signals or variable integers.

side: (6 digits) Display range: 0 to 999999
3021 These displays indicate the statuses of the input signals,
Right output signals or variable integers using 6 digits.
side: (They use two spaces side by side.)
13021
3030 Input 3digits This reflects the values input by the operator in the
output signals.
Input range: 0 to 999
These buttons turn the output signals ON or OFF when
operated by the operator.
Left Input 6digits This reflects the values input by the operator in the
side output signals.
3031 Input range: 0 to 999999
Right These buttons turn the output signals ON or OFF when
side operated by the operator.
13031 (They use two spaces side by side.)

3-6
 3.2 Operation Switch Design

3.2.2 Round lamps and square lamps

[Details] setting screen

Description External
Code Outline Parameter Initial value
of function appearance
3000 Round lamp Top comes on. ON/OFF Color of "OFF" White
Bottom goes off. display lamp Color of "ON" White
Display data
Input signal/output signal Input signal
Input Signal 1bit [0~2048] 0
Output Signal 1bit [0~2048] 0
! mark
don't show/when "ON"/when "OFF" don't show

Top comes on. ON/OFF

Bottom goes off. display lamp (Same as above) (Same as
above)

3001 Square lamp

3-7
3.2 Operation Switch Design

3.2.3 Push buttons

[Details] setting screen

Description External
Code Outline Parameter Initial value
of function appearance
3002 Top is normal Push button Color of "ON" White
position. switch (operation Color of "OFF" White
Bottom is holding type) Output Signal 1bit [0~2048] 0
pressed. Operation method: Standard
Push Button Standard/Enable
(alternation ! mark
type) don't show/when "ON"/when "OFF" don't show
Operation inhibit
Enabled/Disabled Enabled
Touch panel button
Enabled/Disabled Enabled
3003 Top is normal Push button
position. switch (operation (Same as above) (Same as
Bottom is non-holding above)
Push Button pressed. type)
(momentary
type)

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 3.2 Operation Switch Design

3.2.4 Flash push buttons

[Details] setting screen

Description External
Code Outline Parameter Initial value
of function appearance
3004 Top is normal Push button Color of "ON" White
position. switch (operation Color of "OFF" White
Bottom is holding type) + Display data
pressed. square lamp Input signal/output signal Input signal
Input Signals, 1bit [0 to 2048] 0
The color Output Signals, 1bit [0 to 2048] 0
Flash Push
changes Output Signal 0
Button
depending on Operation method:
(alternation
the input signal Standard/Enable Standard
type)
only (the change ! mark
has nothing to don't show/when "ON"/when "OFF" don't show
do with Operation inhibit
touching). Enable/Disabled Enabled
Touch panel button
Enable/Disabled Enabled
3005 Top is normal Push button
position. switch (operation (Same as above) (Same as
Bottom is non-holding above)
pressed. type)
+ square lamp
Flash Push
Button The color
(momentary changes
type) depending on
the input signal
only (the change
has nothing to
do with
touching).

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3.2 Operation Switch Design

3.2.5 Selector switches (ON/OFF)

[Details] setting screen

Description External
Code Outline Parameter Initial value
of function appearance
3010 "ON/OFF" Output signal Base color Black
switch ON/OFF selector Lever color White
switch The place of "ON": Right/Left Right
Output Signal, 1 bit [0 to 2048] 0
Operation method:
Standard/Enable Standard
Operation inhibit
Enabled/Disabled Enabled

3.2.6 Selector switches (2-contact type)

[Details] setting screen

Description External
Code Outline Parameter Initial value
of function appearance
3011 Contacts 2 output signal Base color Black
switch ON/OFF selector Lever color White
(two switch Output Signal 1 (left contact)
contacts) 1bit [0 to 2048] 0
Output signal Output Signal 2 (right contact)
ON only when 1bit [0 to 2048] 0
contact is Operation method:
selected Standard/Enable Standard
Operation inhibit
Enabled/Disabled Enabled

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 3.2 Operation Switch Design

3.2.7 Displays
[Details] setting screen

Description External
Code Outline Parameter Initial value
of function appearance
3020 Displays 3dgt This displays Base color White
input signals or Display data
variable Input Signal/Output Signal / Input signal
integers. Variable Int
Display range: Method of read
0 to 999 Data format: Binary/BCD Binary
Input Signal [0 to 2048]
*** displayed 12bit (1:LSB 12:MSB) All "0"
when numerical Output Signal [0 to 2048]
value displayed 12bit (1: LSB 12: MSB) All "0"
is not in display Variable integer
range or if "0" Global variable only [0 to 200] 0
has been set for
all input/output
signals
Left Displays 6dgt This displays
side: input signals or (Input signals: 24 bits; No. of (Same as
3021 variable display digits: 6; otherwise same above)
integers. as above)
Right 2 blocks Display range:
side: which are 0 to 999999
13021 side by side
occupied ****** displayed
when numerical
value displayed
is not in display
range or if "0"
has been set for
all input/output
signals

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3.2 Operation Switch Design

3.2.8 Digital switches (data input)

[Details] setting screen

Description External
Code Outline Parameter Initial value
of function appearance
3030 Input 3digits This reflects the Base color White
values input by
the operator in Method of Output: Binary/BCD Binary
the output Output Signal [0 to 2048]
signals. 12bit (1: LSB 12: MSB) All "0"
Input range: Operation inhibit
0 to 999 Enabled/Disabled Enabled
Left Input 6digits This reflects the
side values input by (Output signals: 24 bits; No. of (Same as
3031 the operator in display digits: 6; otherwise same above)
the output as above)
Right 2 blocks signals.
side which are Input range:
13031 side by side 0 to 999999
occupied

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 3.3 Editing Using an External Personal Computer

3.3 Editing Using an External Personal Computer

3.3.1 Outline
The setting information of the interface panel screens is divided into two constants files (the controller general
constants file and I/O constants file) and stores the files in the memory. This is because the information does not only
involve the screen display but it extends to the input/output signals as well. However, when designing the interface
panel screens with a commercially available text editor that runs on an external personal computer, one file (interface
panel file AC**IFP.CON), in which only the interface panel screen information is defined, is created. This interface
panel file is not referenced directly when it is displayed.
By way of operations referred to as reading (impose) and writing (expose), interface panel files are first converted
into two constants files in the internal memory, and used.

The setting information on the interface panel screens is

divided into the controller general constants files and I/O
constants files, and stored in the memory.

Controller
general I/O Displa
constants constants
files files

Interface panel files

Direct editing
edited by personal
computer (using a
commercially available Read

Interface
panel
files

AC**IFP.CON Write

Fig. 3.3.1 Designing screens using an external personal computer

3.3.2 Editing using a personal computer

When using a personal computer to design screens, the predetermined format must be followed. The this controller
uses the Windows standard parameter file format called the "INI file format". The "INI file format" is a text format. A
commercially available text editor is used for creating and editing files. And, it is necessary to designate the
character code for the language to be used. If the character code and the language mismatch each other,
unexpected operation can happen e.g. incorrect display etc. In a case like that, please change the character code by
referring the following table.
Table 3.3.1 Character code list
Language Character code
Japanese Shift JIS
Simplified Chinese GB2312 (Simplified Chinese GBK)
Traditional Chinese BIG5 (Traditional Chinese)
Korean EUC-KR (Korean)
Western European Language ISO-8859-1 (Western European Language)
including English (Latin1)

To confirm the character code, use Internet Explorer. First, rename ***.con file to
POINT ***.txt and open the file using Internet Explorer. Then select [Display][Encode] menu
and character code by referring the table shown above. If the characters are displayed
correctly, the file is made under the correct character code.

(NOTE) Windows and Internet Explorer are trademarks of Microsoft Corporation.

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3.3 Editing Using an External Personal Computer

[CNT_TOUCHPANEL]
ENABLED=0
AUTODISP=1
COMMON_SW=1
CSW_DIRECTION=0
CSW_EKEY=1
[IN_ASSIGN]
IN_TouchStrb=0
IN_TouchPageBit=0,0,0,0

[TOUCHINI]
P1_1A=3000
P1_1A_NAME=" Auto"
P1_1A_DATA=15, 15, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
- Omitted -
- Omitted -

P1_1G=3000
P1_1G_NAME=" Air pressure drop"
P1_1G_DATA=9, 9, 0, 28, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
P1_1H=3010
P1_1H_NAME=" Operation ¥rDis En
P1_1H_DATA=0, 8, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0

- Omitted -

P8_4F=0
P8_4F_NAME=""
P8_4F_DATA=0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
P8_4G=0
P8_4G_NAME=""
P8_4G_DATA=0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
P8_4H=0
P8_4H_NAME=""
P8_4H_DATA=0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0

Fig. 3.3.2 Sample of interface panel file

Prepare interface panel files in the INI file format under the filenames of AC**IFP.CON (where "**" denotes a
2-digit integer), and load them into the robot controller using a Compact Flash module or other such media. It is
also possible, depending on the applications concerned, to make the interface panel files (AC**IFP.con) resident in
the memory and load them as necessary, as shown below for example:
Ac01ifp.con············ Interface panel screen for spot welding
Ac02ifp.con············ Interface panel screen for arc welding
Ac03ifp.con············ Interface panel screen for material handling

Rather than describing files from the beginning while referencing the format, it is easier - and
POINT the results are more assured - to design provisional interface panel screens using the teach
pendant, expose them and then edit them using an external personal computer.

The INI format is described below.

 Condition settings
The settings for Constant Setting / 22 I/F Panel on Touch Screen / 1 Touch Panel Conditions settings will be
described.

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 3.3 Editing Using an External Personal Computer

Sample of format Explanation

[CNT_TOUCHPANEL] [CNT_TOUCHPANEL] must be described without fail.

ENABLED=0 Following "ENABLED=," the "Interface Panel" setting is described.

0: Use; 1: Not Use
AUTODISP=1 Following AUTODISP=, the "AutoDisp" setting is described.
0: Enabled; 1: Disabled
COMMON_SW=1 Following COMMON_SW=, the "Common Switch" setting is described.
0: Previous No.; 1: Disabled
CSW_DIRECTION=0 CSW_DIRECTION=, the "Common Switch ON Direction" setting is
described.
CSW_EKEY=0 0; Left､1; Right
CSW_EKEY=, the "Common Switch Operation Method" setting is
[IN_ASSIGN] described.
0; Standard､1; Enable
IN_TouchStrb=0 [IN_ASSIGN] must be described without fail.

Following IN_TouchStrb=, the "Strobe input signal number" setting is

IN_TouchPageBit=0,0,0,0 described.

Following IN_TouchPageBit=, four "Page selection input signal numbers"

are described using commas as delimiters.

Fig. 3.3.3 Format for condition settings

 Operation switches
Following the [TOUCHINI] key name, the parameters for the operation switches are listed.
Even if an operation switch is not going to be used, it must be described without fail.

Sample of format Explanation

[TOUCHINI] [TOUCHINI] must be described without fail (at the top only).

P1_1A=3000 Following "the page number_position number=," the "Operation switch

code numbers" are described. Refer to Table 3.2.2 List of operation
switch keys for the code numbers.

P1_1A_NAME=" Auto" Following "the page number_position number_NAME=," the "operation

switch display names (standard)" are described inside double quotation
marks.

P1_1A_DATA=15, 15, 0, 0, Following "the page number_position number_DATA=," the "operation switch
0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, detailed data" is described using a succession of numbers and commas.
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, The number of parameters varies with the types of operation switches.
0, 0, 0, 0 If there are not many parameters described, an error will occur when a file
import is executed, executing no file conversions.
For details, refer to information in Table 3.3.1 Format for detailed data of
operation switches.

Fig. 3.3.4 Format for operation switches

Refer to the table below for the format which is used for the detailed data of the operation switches (the group of
parameters following P*_**_DATA=).

Table 3.3.1 Format for detailed data of operation switches

Description of
Code External appearance Format
function
3000 Round lamp In sequence from the first parameter:
1: Color when ON
2: Color when OFF
3: Display data selection (0: Input signal/1: Output signal)

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3.3 Editing Using an External Personal Computer

Description of
Code External appearance Format
function
3001 Square lamp 4: Input signal to be displayed
5: Output signal to be displayed
6: ! mark display (0: don't show/1: When ON/2: When OFF)
7: “0”
No descriptions are required for all parameters from
8 onward.

3002 Push Button In sequence from the first parameter:

(alternation 1: Color when ON
type) 2: Color when OFF
3: Output signal
4: Operation method (0: Standard/1: Enable)
5: ! mark display (0: don't show/1: When ON/2: When OFF)
6: Operation inhibit (0: Enabled / 1: Disabled)
3003 Push Button
7: Touch panel button (0: Enabled / 1: Disabled)
(momentary
8: “0”
type)
No descriptions are required for all parameters from
9 onward.

3004 Flash Push In sequence from the first parameter:

Button 1: Color when ON
(alternation 2: Color when OFF
type) 3: Display data selection (0: Input signal/1: Output signal)
4: Input signal to be displayed
5: Output signal to be displayed
3005 Flash Push 6: Output signal
Button 7: Operation method (0: Standard/1: Enable)
(momentary 8: ! mark display (0: don't show/1: When ON/2: When OFF)
type) 9: Operation inhibit (0: Enabled / 1: Disabled)
10: Touch panel button (0: Enabled / 1: Disabled)
11: “0”
No descriptions are required for all parameters from 12
onward.
3010 Selector switch In sequence from the first parameter:
(ON/OFF) 1: Base color
2: Lever color
3: ON position (0: Left/1: Right)
4: Output signal
5: Operation method (0: Standard/1: Enable)
6: Operation inhibit (0: Enabled / 1: Disabled)
7: “0”
No descriptions are required for all parameters from
8 onward.

3011 Contacts In sequence from the first parameter:

switch (two 1: Base color
contacts) 2: Lever color
3: Output signal 1
4: Output signal 2
5: Operation method (0: Standard/1: Enable)
6: Operation inhibit (0: Enabled / 1: Disabled)
7: “0”
No descriptions are required for all parameters from
8 onward.

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 3.3 Editing Using an External Personal Computer

Description of
Code External appearance Format
function
3020 Displays In sequence from the first parameter:
1: Base color
(3 digits) 2: Display data selection (0: Input signal/1: Output
signal/2: Variable Int)
3: Method of read (0: Binary/1: BCD)
4: Input signal to be displayed 1
:
15: Input signal to be displayed 12
16: Output signal to be displayed 1
:
27: Output signal to be displayed 12
28: Variable integer to be displayed
29: “0”
No descriptions are required for all parameters from
30 onward.
Left Displays  3021 (display 6 digits, left side)
side In sequence from the first parameter:
3021 (6 digits) 1: Base color
2: Display data selection (0: Input signal/1: Output
Right signal/2: Variable Int)
side 3: Method of read (0: Binary/1: BCD)
13021 4: Input signal to be displayed 1
:
27: Input signal to be displayed 24
28: “0”
No descriptions are required for all parameters from
29 onward.

 13021 (display 6 digits, right side)

In sequence from the first parameter:
1: Output signal to be displayed 1
:
24: Output signal to be displayed 24
25: Variable integer to be displayed
"0" is set for all subsequent parameters starting with
parameter 26.
3030 Input 3digits In sequence from the first parameter:
1: Base color
2: Output data format (0: Binary/1: BCD)
3: Output signal 1
:
14: Output signal 12
15: Operation inhibit (0: Enabled / 1: Disabled)
16: “0”
No descriptions are required for all parameters from
17 onward.
Left Input 6digits  3031 (input 6 digits, left side)
side In sequence from the first parameter:
3031 1: Base color
2: Output data format (0: Binary/1: BCD)
Right 3: Output signal 1
side :
13031 26: Output signal 24
27: Operation inhibit (0: Enabled / 1: Disabled)
28: “0”
No descriptions are required for all parameters from
29 onward.

 13031 (input 6 digits, right side)

No setting.
All parameters are set to 0.

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3.3 Editing Using an External Personal Computer

3.3.3 Loading screens designed using a personal computer (Import)

Load the screens designed using a personal computer into the robot controller.
The validity of the format is checked at this time. If it is correct, the screens are loaded into the internal memory.

1 Save the interface panel files (AC**IFP.CON), whose design has been completed,
on a Compact Flash module or other storage device, and install it in the robot
controller.

2 Display the interface panel design list.

It does not matter which page the list display is on.

3 Press f10 <import>.

>> The file operation screen such as the one below appears.

4 Select the device or directory in which the interface panel file to be read is stored,
select the files to be loaded from the file list, and press [Enter] or f12 <Execute>.
(A list of only the AC**IFP.CON files in the selected device or directory is
displayed.)
>> The validity of the format used by the selected interface panel files is checked, and
operation returns to the list screen in step 2.

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 3.3 Editing Using an External Personal Computer

5 Check whether the contents of the list screen displayed are as expected for all the
pages.
>> If there is a format or other error in the parameters described in the interface panel
files, the corresponding part will be replaced with a "0." For all switches on all the
pages, check whether such parts exist.

CAUTION
At this point, the files have not yet been stored or loaded into the internal memory.
If import is failed, please correct the character code referring the list of 3.3.2 Editing
using a personal computer.

6 If everything is OK, press f12 <Complete>.

The settings are saved in the constants files (S**SIGL.CON I/O constants file and
C**CTRL.CON controller general constants file).
(To stop editing at any time, press the [RESET/R] key.)

When a file impose is executed, if the conversion source file has any erroneous description,
INFO. keywords on lines with erroneous display contents of import results will be all displayed.
Referring to this display, make corrections to the conversion source file.
Furthermore, if the file import does not normally end, the display will return to setting prior to
the execution of the import.
The following section shows causes, due to which the import does not normally end.
 Parameter values are inappropriate or fall outside of the setting range.
 The specification of input and output signal numbers has been already allocated.
 Input and output having the same signal number are found within the interface panel
setting.
 Parameters following the parameter P__DATA are short on numbers.
 There are no descriptions on the parameter P__DATA corresponding to P_.
 There are no descriptions on the parameter P_ corresponding to P__DATA.
 There are no descriptions on the parameter P_ corresponding to P__NAME.
 There are no descriptions on the parameter P__DATA corresponding to
P__NAME.

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3.3 Editing Using an External Personal Computer

3.3.4 Writing screens for editing by a personal computer (Export)

Interface panel screens designed and edited by the robot controller can be written in interface panel files
(AC**IFP.CON) so that they may be edited using a personal computer.

1 Install the Compact Flash module or other storage device on which the interface
panel files are to be saved into the robot controller.

2 Display the interface panel design list.

It does not matter which page the list display is on.

3 Press [ENABLE] + f10 <Export>.

＋ >> The same kind of file operation screen as with impose appears.

4 Select the device or directory in which the interface panel files are to be saved as
the copy destination.
To overwrite an existing interface panel file, use the cursor to select the file to be
written, and press [Enter].
To create a new interface panel file, do not select any of the existing files.

5 Press the f12 <Execute> key.

6 When creating a new interface panel file, the file version (the number indicated by
"**" in AC**IFP.CON) must be specified.
A popup window now appears to ask:

Number

In response, input the 2-digit number, and press [Enter].

>> If expose is completed successfully, operation returns to the list screen in step 2.

If the “Functionless code name setting” item is set to “Not display”, data on switches with “0”
INFO. set to the code will not be written in the conversion destination file. Furthermore, if the item is
set to “Display”, the name settings of switches with “0” set to the code will be written in the
conversion destination file with data “¥r¥r” that means to start two new lines.

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Chapter 4 Utilization of the
Interface Panel

This chapter describes how to utilize the interface panel.

4.1 Basic Operation ..........................................................................................4-1

4.1.1 Opening the interface panel and changing the pages ...........................4-1
4.1.2 Using operation switches ......................................................................4-3
 4.1 Basic Operation

4.1 Basic Operation

4.1.1 Opening the interface panel and changing the pages

There are two methods to open/close the interface panel: using dedicated keys on the teach pendant, and using
input signals from external sources. It is the same with changing the pages.
Which method is used is to be set in Constant Setting/22 I/F Panel on Touch Screen/1 Touch Panel Conditions.

 Using dedicated keys on the teach pendant

1 Either teach or playback mode may be selected. It does not matter even if a robot
playback operation is already underway.
Set the top screen (with f-keys displayed on both sides) displayed.

2 Press the [I/F] key on the teach pendant once.

>> The interface panel is displayed as follows. If the interface panel is opened for the
first time since the last setting, the first page is displayed. Otherwise, the page
displayed when the panel was closed last time is displayed.
If the panel is not displayed, check "Touch Panel Conditions" to see if the interface
panel is disabled.

 At the far right of the

title bar is displayed the
page number of the
interface panel.

>> F-key operations are disabled when the interface panel is displayed.

4-1
4.1 Basic Operation

3 Pressing [ENABLE] and [Up] or [Down] cursor keys enables to change pages of
＋ the interface panel one by one.
>> A page where no item (except 1H) is set is skipped.

POINT Bear in mind that pressing [ENABLE] and [Up] or [Down] cursor keys when the interface panel
is not open can change the current step.

4 Press the [I/F] key on the teach pendant once again.

>> The top screen of the teach/playback mode is restored.

 Using input signals from external sources

Refer to the time chart in "2.1.2 Display the screen with input signal" in "Chapter 2 Condition settings".

4-2
 4.1 Basic Operation

4.1.2 Using operation switches

1 First, operations on the interface panel screen must be enabled.

＋ Press the Operation Disable/Enable switch at the upper right-hand corner
(Position 1H) once. If the “Common switch operation method” is set to “Enable
simultaneous”, operate the switch while pressing the [ENABLE] key.
>> The selector switch for enabling/disabling operations turns to "Enabled".
Now operations of all switches on the interface panel screen are enabled.

2 Operate the operation switches.

Description of External appearance Operation

function
Lamp (No operation performed)

Push button Pressing this key switches the status

between ON/OFF in the alternation or
momentary mode.
(Operation with [ENABLE] also available)

Flash push Pressing this key switches the status

button between ON/OFF in the alternation or
momentary mode.
(Operation with [ENABLE] also available)

Selector switch Pressing this key switches the position

between right and left.
(Operation with [ENABLE] also available)

Display (No operation performed)

Digital switches When touched, an input dialog box

(data input) shown below is displayed. Input the
desired data in this box and press [Enter].

If no data is to be set, press [RESET/R] to

close the dialog box.

3 If no operation is to be performed, to ensure safety disable all operations on the

＋ interface panel. Press the Operation Disable/Enable switch at the upper
right-hand corner (Position 1H) once. If the “Common switch operation method” is
set to “Enable simultaneous”, operate the switch while pressing the [ENABLE]
key.
>> The selector switch for enabling/disabling operations turns to "Disabled".
Now operations of all switches on the interface panel screen are disabled.

4-3
4.1 Basic Operation

NOTE

4-4