Industrial Robot

System Operation
Manual

Please ensure that the relevant manuals are in the

hands of the end user of this product.

Zhejiang Qianjiang Robot Co., Ltd

www.qj-robot.com
 Preface
■ Before operating the robot, please read this Manual carefully and follow all
safety-related matters and instructions set forth in this document.
■ The installation, operation, and maintenance of this robot shall be carried
out by the personnel who have participated in the training courses of our
Company.

■ Please be sure to give this Manual to the personnel who actually operate the
robot.
■ If you have any doubt about any part of this Manual or the after-sales
service of the robot, please contact the Service Center directly. please see
the back cover for the contact information.

Attention:
1. The contents of this Manual are subject to change without prior notice.
2. The illustrated screen of operation button console of the teach pendant stipulated in this
Manual is an example written by the author, and if there is any difference from the actual
screen, please give understanding.
3. Whilst every care is taken to ensure that the contents recorded in this Manual are correct, no
liability can be accepted by the Company for any direct or indirect damage caused by any
errors in, or omissions from, the contents given.
4. The Operation Manual shall be deemed as part of the robot product. When moving,
transferring or selling the robot, please attach the Operation Manual.
5. All or part of the contents of the Operation Manual shall not be reproduced without the
consent of the Company.
6. About product transformation
・ It is strictly prohibited to carry out any transformation or modification to the products of
the Company.
・ Fire, failure and malfunction due to transformation may cause personnel injury and
machine damage.
・ The transformation of the product carried out by the customer is beyond the warranty
scope of our Company, therefore, no liability can be accepted by our Company for such
transformation.
Reversion Record of Operation Manual
Version No. (Month), (Year) Content of the changes

V1.0 August 2018 1. Reformatting; 2. Content modification.

 Zhejiang Qianjiang Robot Co., Ltd

Chapter 1 Operating Instructions of Teaching Software

1 System Hardware Introduction

1.1 System Overview

CTR-86-ECAT motion controller is a combination of the advanced PC technology and motion control technology. The
system processor of this motion controller adopts the Intel four-core processor J1900, which is based on the X86
infrastructure, and the main frequency is up to 2.4 GHz. The motion controller is an ideal integrated solution for FPGA
customers. In addition to provide such general computer interfaces for the user as VGA, LAN, USB2.0 / 3.0, etc., the
CTR-86-ECAT motion controller can realize the basic functions of general PC, the special interfaces such as ECAT
communication interface are provided as well. The memory supports up to 8GB of low-power DDR3, and supports a 32G
CFast2.0 solid-state disk (SSD) for storing user data, configuration information, operating system and the like. Four RS-422
/ 485 isolated serial communication interfaces are provided for transmission from the DB37 connector to the DB9
connector.

1.2 System function description

Function Detailed description

Servo control cycle 1ms ECAT communication cycle

Control cycle 900us control cycle

Support the communication protocol of Panasonic ECAT, TX is

connected to external RX interface, RX is connected to external TX
interface, support various control modes such as positioning, speed
ECAT communication
mode, torque, etc., it can realize control of up to 16 nodes, please refer to
ECAT communication protocol for details.

(1) A PCI interface: the PCI interface is used to connect the control card
External extension of ECAT master station.
(2) A PCIExl interface: the PCIExl interface is used for users to connect
different external extension devices according to different requirements;

VGA display Connect the monitor via the VGA interface.

(1) Three LAN interfaces: LAN1, LAN2, LAN3:

LAN (2) Network speed: 10 / 100 / 1000Mbps, Intel 1211, support Wakeup On
LAN (WOL).
(1) COM1〜COM2: Support 5V / 12V power supply, jumper setting
Serial communication (default setting is no power supply)
(2) USB2.0：two USB2.0 interfaces
(3) USB3.0：one USB3.0 interface

Digital I / O 15-way digital input, 15-way digital output

communication

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2 Teach Pendant Appearance

Front view of teach pendant

Rear view of teach pendant

2.1 Emergency stop

Press the emergency stop button of the robot in an abnormal situation.

Rotate the emergency stop button along the
direction shown as the RESET key to release it.
Emergency stop button

2.2 Mode selection switch

By employing this switch, the user could

select the robot operating mode. In this
system, there are three modes for selection:
TEACH, PLAY, and REMOTE.

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2.3 Safety switch

In teach state (TEACH), if the safety switch is located in the middle gear, the robot is
powered on; if the safety switch is firmly gripped or released, the power supply of the robot is
turned off, and the motor is in the braking state. The safety switch is divided into three gears,
the outermost gear and the innermost gear are designed to cut off the power supply of the
robot, and the middle gear is designed to turn on the power supply of the robot.

2.4 Coordinate key

Manually control each joint of the robot in the teach state (TEACH).

2.5 Left function key

The function of each key is marked on the key film, is the standby function key.

2.6 Lower function key

The function of each key is marked on the key film, the details are shown as below:

This key is the back key, which is used for reverse operation of TEACH mode, no reservation state at present.

This key is the forward key, which is used for forward operation of TEACH mode and trial operation, no
reservation state at present.

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The key is the stop (pause) key, and the system pause and stop sharing the same state, that is, the system is in
the stop (pause) state after being pressed.

This key is the standby function key.

2.7 Cursor key

Move the cursor to conduct program selection, parameter selection, as well as the
program and parameter editing; at the same time, the left and right keys can be used to
control the rise and fall of speed magnification (sometimes, it's referred to as “Override”).

3 Screen display of teach pendant

3.1 Home screen (main interface)

This teach pendant adopts the TFT display screen, and its display interface is mainly divided into three parts (general
display area, monitoring area, information prompt area), and the other four boundaries mainly covering such areas as Main
menu, Status control, Coordinate, Status display, and Sub-menu.
The specific distribution is shown as below, and the color-changing area is in the selected state:

3.2 General display

The general display area is mainly used for setting such contents as program list, program editing, parameter,
coordinate setting, process, etc.; in addition, when displaying the program list and program editing, the general display area
will be automatically compressed into half-width when the monitoring window is opened, when the monitoring window is
closed, it is automatically expanded to full-width display; when used for setting the process interface, the general display
area automatically covers the monitoring area, shortcut key area, status control area, information prompt area and main
menu area, and becomes full-width display.

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4 System Icons & Functions Description

, , : switch operation mode: single-step, continuous, cycle

, ：switch wire feeding mode of welding machine：continuous wire feeding, jog wire feeding

, ：control robot motion enable: disable motion and enable motion.

, ：control robot welding mode: simulated welding and actual welding.

Indicate the current motion state of the robot, the motion state including: (run), (pause), (stopping),
(stop).
Indicate the current servo state, the servo state including : (servo ON), (servo OFF)
Indicate the current work mode of the robot, and the work mode including: ( teach), ( play), ( remote),
( emergency stop), and( alarm)
Indicate the current authority of the robot, and the authority including: (Manufacturer), (administer),
and (operator).
Indicate the user coordinate number currently in use.
Indicate the tool coordinate number currently in use.
Indicate the selected coordinate system in the teach state, including: (joint), (right-angle),

(user), and (tool).

Indicate the current rapid override (OVR).
Indicate the current working mechanism. The working mechanism is divided into ( robot) and (
positioner).

5 Correct Operating Gesture of Teach Pendant

1. Use your left hand to hold the black soft-rubber handle with the safety switch on the back of the teach pendant, and
put your middle finger on the safety switch (hand press) position. As shown in the figure below:

2. Lift the teach pendant with your left hand, then turn it over, thus the display interface is upward, and hold the teach
pendant at the position above your left arm. Use your right hand to operate the teach pendant’s keys, switches, etc. As
shown in the figure below:

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3. Standing position: the operator shall stand outside the range of motion of the robot, and stand at the robot front or
side, where is convenient to watch the movement of the robot. At the same time, pay close attention to whether there are
obstacles or personnel entering the area. In case of emergency, press the emergency button immediately to stop the robot.

6 Simple Manual Operation

1. Turn on the power supply of the robot control cabinet and power on the robot.
2. Ensure no alarm or warning information is found in the “information prompt” column.

3. Switch the mode switch to the teach mode .

4.Switch the motion enable switch at the status control area to the “allow motion” state.

5.Press the “hand press” button, and the servo is energized. After the servo is energized, the icon is displayed as: .
6. Click the running speed in the status display area, and the speed adjustment window will pop up. It is recommended
to adjust to 6% -10%.
7. Select the appropriate coordinate system, it is recommended to select joint coordinates.
8. Move each joint slowly through the corresponding coordinate +, - keys.

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Chapter 2 Program Editing

1 New Program
（1） Switch the mode switch to the Teach mode.
（2） Select the appropriate tool coordinate system.
（3） Enter the program list interface.
Click < File Operation > - < Program File Management > to enter the program list interface.

（4） Click the button in the sub-menu area.

（5） Enter the name of the new program (e.g. 002) in the pop-up window.

After the file name is entered, click OK. In this case, the new program will be displayed in the program list interface as
follows:

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Note: If the program name you entered is a new program name, the system will create a new program with the name
you just entered in the list and the blue cursor bar will be highlighted.
If you enter a program name that already exists in the list, a warning box pops up, and select YES to overwrite the
original file with the same name. The cursor jumps directly to the blue cursor bar highlighted on the program corresponding
to the program name; select No to exit the new operation.

(1) Click the key in the sub-menu area.

(2) Press and hold the safety switch, then move the robot end to the position of program point 1

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through the coordinate key on the teach pendant, and click the sub-menu < Motion > - < MJ >.Pop-up
instruction editing window.

Desc
ript
1. Use the < ← > < → > key to switch the cursor to move between windows.
ion:
2. This window is a selection window whose contents are selected by
using < ↑ > < ↓ >.
3. This window is an input window, in which data is input.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in
the program editing window as follows:

2 Program command
Category English command Chinese command

1 MJ 关节移动

1 Motion 2 ML 直线运动

3 MC 圆弧运动

2 Logic 1 IF 1 IF

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2 ELSEIF
条件选择
3 ELSE

4 ENDIF

1 WHILE
2 WHILE
条件循环
2 ENDWHILE

1 FOR
3 FOR
固定次数循环
2 ENDFOR

1 SWITCH

2 CASE

3 DEFAULT 多分支选择
4 SWITCH

4 BREAK

5
ENDSWITCH

1 WAIT 条件等待

2 LB 定义跳转标示

3 GOTO 跳转

4 CALL 调用子程序

3 Auxiliary 5 RETURN 返回

6 DO 数字 IO 输出

7 SLEEP 延时

8 NOTE 注释

9 AO 模拟量输出

1 ADD 加法

2 SUB 减法

4 Expression 3 MUL 乘法

4 DIV 除法

5 SET 赋值

6 INC 自加

7 DEC 自减

8 MOD 求余

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1 ARCSTART 起弧

2 ARCEND 熄弧

3 WEAVEON 摆弧开始

4 WEAVE END 摆弧结束

5 SCALESTART 鱼鳞焊开始

6 SCALEEND 鱼鳞焊结束

5 Welding command 7 ArcIVC 突变电流电压

8 ArcIVSlowC 渐变电流电压

9 OPENLASER 打开激光

10 CLOSELASER 关闭激光

11 SEARCHLASER 打开激光搜寻

12 OPENLASERTRACK 打开跟踪

13 CLOSELASERTRACK 关闭跟踪

1 ArcTrackStart 电弧跟踪开始
6 Arc welding command - arc
track
2 ArcTrackEnd 电弧跟踪结束

1 SearchStart 接触寻位-搜索开始

2 MLSearch 接触寻位-搜索

7 Arc welding command - arc

3 SearchEnd 接触寻位-搜索结束
search

4 TouchOffset 接触寻位-点位偏移开始

5 TouchOffsetEnd 接触寻位-点位偏移结束

blank indicates
[command] not to use [additional item]

There are

data
据

unit
mode data mode
据

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Descriptions of additional item:

Format and definition of Descriptions:
additional item

V <percentage>%: Percentage The unit is 1%, and the maximum value is 100%. Actual running speed = the
of running speed highest speed in the parameter × V × Auto. override

V <running speed> mm/s: The unit is mm/s, and the maximum value represents the maximum speed of linear
linear running speed motion set by the parameter. Actual running speed = V × Auto. override

A <percentage> %: The unit is 1%, and the maximum value is 100%. Actual running acceleration = the
Percentage of running highest acceleration in the parameter × A × Auto. override
acceleration

A <running acceleration> The unit is mm/s, and the maximum value represents the maximum acceleration of
mm/s2: linear operating linear motion set by the parameter. Actual running speed =A × Auto. override
acceleration.

D <percentage> %: The unit is 1%, and the maximum value is 100%. Actual running
percentage of running deceleration = the highest deceleration in the parameter × D × Auto.
deceleration. override

D <running deceleration> The unit is mm/s2, and the maximum value represents the maximum
mm/s2: linear running deceleration of linear motion set by the parameter. Actual running
deceleration deceleration = D × Auto. override

<Smoothness>: Range 0-100. In a nutshell, it is the arc of the transition that determines
smoothness whether you are transitioning at right angles or in arcs. If two straight lines
are to be connected and how they are to be connected, you will need to set
this variable. Refer to the figure below for B value selection.

DI <variable number>: General-purpose input X interface, corresponding to the hardware physical

General-purpose input interface, is a state variable (ON = 1, OFF = 0)
interface ,range 8-27. The interface status can be viewed in "Monitoring" - "IO
Interface" - "General-purpose Input Interface Monitoring".
Please refer to the Hardware Operating Instruction for variable numbers.
LP <Variable number>: Its value records relevant position data such as posture and coordinates of
Local P variable each joint of the robot, and it’s a combination of multiple data. Variable
number range: 0-999, when different programs call the same variable
number, their corresponding data are different, not interfere with each
other, and independent of each other. For example, one program calls
variable LPO, another program also calls the variable LPO, the two LPO
do not interfere with each other, and are independent. This variable
appears in the Variable Table only when the calling program is opened.
DO <variable number>: General-purpose output Y interface, corresponding to the hardware
General-purpose output physical interface, is a state variable (ON = 1, OFF = 0)
interface , range 3-3. This interface status can be viewed in "Monitoring" - "IO
Interface" - "General-purpose Output Interface Monitoring"

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. Please refer to the Hardware Operating Instruction for variable numbers.

VA <Variable Number>: Custom data variables, where the variables are specific data entered by the
Custom Data Variable user. This data can be signed and a decimal can be entered.
==：Equal To judge whether the variables before and after are equal or consistent, the
data variables or state variables can be judged. For example: VA1 = VA3,
etc.
>：Greater than To judge whether the preceding variable is greater than the succeeding
variable, the data variable can be judged. For example: VA1>VA3, etc.
<：Less than To judge whether the preceding variable is less than the succeeding
variable, the data variable can be judged. For example: VA1< VA3, etc.
>=：Greater than or equal To judge whether the preceding variable is greater than or equal to the
to succeeding variable, the data variable can be judged. For example,
VA1>=VA3, etc.
.
<=：Less than or equal to To judge whether the preceding variable is less than or equal to the
succeeding variable, the data variable can be judged. For example,
VA1<=VA3, etc.
.
=：Assignment character Assign the preceding variable to one data or expression or set it to a
subsequent state, such as VA0 = 19,
VA0=VA1+VA3，DO3=1, etc.
1 Motion command
There are three motion commands: MJ, ML, and MC.

Command
Move to the teaching position by means of joint interpolation.
function

[Blank]
Position data, this column displays blank on the screen.
LP<Variable
LP Variable, variable number: 0-999
number>

V velocity-proportional, percentage:0-100. Each joint is

V=<percentage>
set to speed according to its axis × V × Auto. override

A=<percentage> A acceleration-proportional, percentage:0-100.

D=<percentage> D deceleration-proportional, percentage:0-100.

1 Joint movement
B=<smoothness> B smoothness：0-100
(MJ) Additional
item T=<tool
coordinate Selected tool coordinate system number: 0-50
number>

U=<user
coordinate Selected user coordinate system number: 0-50
number>

No use of this item

Non-collaboration
Collaboration1 Additional axis 1 Independent collaboration Additional
Collaboration2 axis 2 Independent collaboration

Full-collaboration Synchronous collaboration of additional axis 1 and

additional axis 2

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For MJ V=40
example: U=1

Command
Move to the teaching position by means of linear interpolation.
function

[Blank]
Position data, this column displays blank on the screen.
LP<Variable
LP Variable, variable number: 0-999
number>

V velocity-proportional, percentage:0-100. Each joint is

set to speed according to its axis × V × Auto. Override,
and conducts linear interpolation motion.
V=<percentage>
The unit of linear running velocity is mm/s, and the
V=<linear maximum value represents the maximum velocity of
running velocity> linear motion set by the parameter.
Each joint is set to the speed V × Auto. Override, and
conducts linear interpolation motion.

A=<percentage> A acceleration-proportional, percentage:0-100.

A=<linear The unit of linear running acceleration is mm/s, and the
running maximum value represents the maximum acceleration of
acceleration> linear motion set by the parameter.

Additional D=<percentage> D deceleration-proportional, percentage:0-100.

2 Linear motion
item D=<linear The unit of linear running deceleration is mm/s, and the
(ML) running maximum value represents the maximum deceleration of
deceleration> linear motion set by the parameter.

B=<smoothness> B smoothness：0-100

T=<tool
coordinate Selected tool coordinate system number 0-50
number>

U=<user
coordinate Selected user coordinate system number 0-50
number>

No use of this item

Non-collaboration
Additional axis 1 Independent collaboration Additional
Collaboration 1
axis 2 Independent collaboration
Collaboration 2
Full-collaboration Synchronous collaboration of additional axis 1 and
additional axis 2

Example of ML V=720mm/s A=360mm/s2 D=360mm/s2 B=0 T=1 U=1

program: ML LP0 V=40

Move to the teaching position by means of arc interpolation. The whole circle
3 Circular motion Command shall be composed of two segments of arc, and at least four segments of arc
(MC) function commands shall be used. For details, please refer to the comprehensive
example.

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[Blank]
Position data, this column displays blank on the screen.
LP <Variable
LP Variable, variable number: 0-999
number>

V velocity-proportional, percentage:0-100. Each joint is

set to speed according to its axis × V × Auto. Override,
and conducts arc interpolation motion.
V=<percentage>
The unit of linear running velocity is mm/s, and the
V=<linear maximum value represents the maximum velocity of
running velocity> linear motion set by the parameter.
Each joint is set to the speed V × Auto. Override, and
conducts arc interpolation motion.

A=<percentage> A acceleration-proportional, percentage:0-100.

A=<linear The unit of linear running acceleration is mm/s, and the
running maximum value represents the maximum acceleration of
acceleration> linear motion set by the parameter.

Additional D=<percentage> D deceleration-proportional, percentage:0-100.

item
D=<linear The unit of linear running deceleration is mm/s, and the
running maximum value represents the maximum deceleration of
deceleration> linear motion set by the parameter.

B=<smoothness> B smoothness：0-100

T=<tool
coordinate Selected tool coordinate system number 0-50
number>

U=<user
coordinate Selected user coordinate system number 0-50
number>

No use of this item

Non-collaboration
Collaboration 1 Additional axis 1 Independent collaboration Additional
Collaboration 2 axis 2 Independent collaboration

Full-collaboration Synchronous collaboration of additional axis 1 and

additional axis 2

Example of
program: MC LPO V=40% A=20% B=0 T=1 U=1

Comprehensive example of arc:

For the whole circle, use A, B, C and C, D, A, both ends arc, the robot end is located at the starting point, and the
program is as follows:

ML V=720mm/s B=0 T=1 U=1 Run from the starting point to point A, the point A shall be considered as the
first point of the arc.

MC V=720mm/s B=0 T=1 U=1 Run from the point A to point B, the point B shall be considered as the second
point of the arc.

MC V=720mm/s B=0 T=1 U=1 Run from the point B to point C, the point C shall be considered as the third
point of the arc.
At the same time, the point C shall be considered as the first point of the arc.

MC V=720mm/s B=0 T=1 U=1 Run from the point C to point D, the point D shall be considered as the second

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point of the arc.

MC V=720mm/s B=0 T=1 U=1 Run from the point D to point A, the point A shall be considered as the third
point of the arc.

2 Logic command

IF condition selection command. The complete structure of this command is

composed of IF, ELSEIF (which can be omitted or reused), ELSE and ENDIF.
First, it is judged whether the IF condition is satisfied; if the IF condition is
satisfied, the block after the IF is executed. If the IF condition is not satisfied, then
the condition after ELSEIF is judged (this command line can be used or not used
according to actual selection; if ELSEIF condition is satisfied, then the program
Command function after ELSEIF is executed; if ELSEIF condition is not satisfied, then the program
after ELSE is executed.

Use ENDIF at the end of the program.

The IF command must end with ENDIF and form a complete structure).

1 Conditions For the IF condition selection

command, if the condition is
(IF→IF) satisfied, the program after the
block is executed.
DI <Variable If the condition is not satisfied,
Number> == DI <Variable number> the ELSEIF condition is
DO <Variable > executed.
DO <Variable number>
Number>
＜ If the condition after ELSEIF
Additional item VA <Variable number>
VA <Variable is satisfied, the program after
Number> ＞= LP<Variable number> ELSEIF is executed.
LP <Variable If the conditions after IF and
＜= <Data>
Number> ELSEIF are not satisfied, the
<Data> program after ELSE is
executed.
Use the command ENDIF to
finish the IF judgment.

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IF(VA0 < 2) If VA0 < 2，execute

VA1 = 1 VA1 = 1
ELSEIF(VA0<3) If VA0 < 3，execute
Example of program VA1 = 2 VA1 = 2
ELSE If all conditions are not satisfied, execute
VA1 = 3 VA1 = 3
ENDIF IF command end

,
IF condition selection command. The complete structure of this command is
composed of IF, ELSEIF (which can be omitted or reused), ELSE and ENDIF.

First, it is judged whether the IF condition is satisfied; if the IF condition is

satisfied, the block after the IF is executed. If the IF condition is not satisfied,
then the condition after ELSEIF is judged (this command line can be used or not
used according to actual selection; if ELSEIF condition is satisfied, then the
Command function program after ELSEIF is executed; if ELSEIF condition is not satisfied, then the
program after ELSE is executed.

Use ENDIF at the end of the program.

The ELSEIF command cannot exist independently and must be within the IF
structure.

1 Conditions
For the IF condition selection
(IF → ELSEIF)
command, if the condition is
satisfied, the program after the
DI <Variable block is executed.
Number>
DO == DI <Variable number> If the condition is not satisfied,
<Variable the ELSEIF condition is
> DO <Variable number> executed.
Number>
Additional item VA ＜ VA <Variable number> If the condition after ELSEIF is
<Variable satisfied, the program after
Number> LP ＞= <Variable number> ELSEIF is executed.
<Variable
Number> ＜= LP<Data> If the conditions after IF and
ELSEIF are not satisfied, the
<Data> program after ELSE is executed.
Use the command ENDIF to
finish the IF judgment.

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IF(DI8 =1) If DI8 =1，execute

VA1 ++ VA1 ++
ELSEIF(DI9=1) If DI9 =1，execute
VA2 ++ VA2 ++

Example of program ELSEIF(DI10=1) If DI10 =1，execute

VA4 ++ VA4 ++
ELSE If all conditions are not satisfied,
execute
VA0 ++ VA0 ++
ENDIF IF command end

IF condition selection command. The complete structure of this command

is composed of IF, ELSEIF (which can be omitted or reused), ELSE and
ENDIF.
First, it is judged whether the IF condition is satisfied; if the IF condition
is satisfied, the block after the IF is executed. If the IF condition is not
satisfied, then the condition after ELSEIF is judged (this command line
can be used or not used according to actual selection); if the ELSEIF
Command
condition is satisfied, then the program after ELSEIF is executed; if the
function
ELSEIF condition is not satisfied, then the program after ELSE is
executed.

Use ENDIF at the end of the program.

The ELSE command cannot exist independently and must be within the
IF structure.
1 Conditions
(IF→ELSE) IF(DI8=1) If DI8 =1，execute
VA1=1 VA1 = 1
ELSE Otherwise, execute
VA1=2 VA1 = 2

Example of ENDIF IF(DI8=0) IF command end

program: If DI8 =0， If DI8 =0 execute
VA1 =3 VA1 = 3
ELSE Otherwise, execute
VA1 =4 VA1 = 4
ENDIF IF command end

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1 Conditions Command IF condition selection command The complete structure of this command
（IF→ENDIF） function is composed of IF, ELSEIF (which can be omitted or reused), ELSE and
ENDIF.
First, it is judged whether the IF condition is satisfied; if the IF condition
is satisfied, the block after the IF is executed. If the IF condition is not
satisfied, then the condition after ELSEIF is judged (this command line
can be used or not used according to actual selection); if the ELSEIF
condition is satisfied, then the program after ELSEIF is executed; if the
ELSEIF condition is not satisfied, then the program after ELSE is
executed. Use ENDIF at the end of the program.
This command cannot be used alone and must be used in pairs with the IF
command.

IF(DI8 =1) If DI8 =1，execute

Example of
program: VA1 = 1 VA1 = 1
ELSE Otherwise, execute
VA1 = 2 VA1 = 2
ENDIF IF command end
IF(DI8 =0) If DI8 =0，execute
VA1 = 3 VA1 = 3
ELSE Otherwise, execute
VA1 = 4 VA1 = 4
ENDIF IF command end

WHILE conditional loop command, the complete structure of this command is

composed of WHILE and ENDWHILE.
If the conditions after WHILE meet the requirements, that is, when the conditions
Command function are ON, execute the programs in WHILE and ENDWHILE, and exit the loop until
the commands after WHILE conditions do not meet the requirements.
The conditions must be set in the loop section, otherwise, it will be an endless
(infinite) loop.

2 Conditional loop
If the conditions after WHILE
(W H I L E → meet the requirements, that is,
DI <Variable when the conditions are ON,
WHILE） Number> execute the programs in
== DI <Variable Number> WHILE and ENDWHILE,
DO <Variable
> and exit the loop until the
Number> DO <Variable Number>
commands after WHILE
VA <Variable ＜ VA <Variable Number> conditions do not meet the
Additional item Number> requirements.
＞= LP <Variable Number>
LP <Variable
Number> ＜= <Data>
The conditions must be set in
<Data> the loop section, otherwise it
will be an endless (infinite)
loop.

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Example of VA0 = 0 Set VA0 = 0

program: VA1 = 0 Set VA0 = 0
WHILE(V<=4) If VA1 < = 4, execute the IF block
IF(DI11=1) IF judgment：If DI11= 1, execute
VA1 ++ VA1=VA1+1
ELSE Otherwise, execute
VA1 =5 VA1 =5
ENDIF IF command end
VA0 ++ VA0=VA0+1
ENDWHILE If VA1 > 4，execute
VA2 =5 VA2 =5

WHILE conditional loop command: the complete structure of this command

is composed of WHILE and ENDWHILE.

If the conditions after WHILE meet the requirements, that is, when the
Command
conditions are ON, execute the programs WHILE and ENDWHILE, and exit
function
the loop until the commands after WHILE conditions do not meet the
requirements.
The conditions must be set in the loop section, otherwise it will be an
endless (infinite) loop.
2 Conditional loop VA0 = 0 Set VA0 = 0
(W H I L E → VA1 = 0 Set VA1 = 0
ENDWHILE) WHILE(VA1 <= 4) If VA1 <= 4，execute the IF block
IF(DI11= 1) IF judgment：if DI11= 1, execute
VA1 ++ VA1=VA1+1
Example of
program: ELSE Otherwise, execute
VA1 =5 VA1 =5
ENDIF IF command end
VA0 ++ VA0=VA0+1
ENDWHILE If VA1 > 4，execute
VA2 =5 VA2 =5

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Loop command with fixed cycle times The command must end with ENDFOR and
form a complete structure.

Command Set the start value for the loop variable, when the loop variable satisfies the
function conditions, execute the programs in FOR and ENDFOR, and at the same time, the
loop variable is changed progressively by step until the loop variable does not meet
the requirements, then exit the loop.

The loop body controls the value of variable for the number of
3 Fixed number of VA <Variable cycles, currently supporting only the VA variable.
loop (FOR → number>
FOR) Variable number Range: 0-99
Additional
item <Start value> VA variable value of loop start

<End value> VA variable value of loop end

<Step> The value of each increment or decrement of a variable.

FOR(VA1=0;VA1<9;VA1+=3) VA1=0 ， If VA1<9 ， VA1= VA1+3 ，

Example of execute VA0 ++ VA0= VA0+1
program:
ENDFOR If not meet VA1<9，FOR loop end.

This command cannot be used alone and must be used in pairs with the FOR
command. Constitute a complete loop structure with a fixed cycle times.

Command Set the start value for the loop variable, when the loop variable satisfies the
function conditions, execute the programs in FOR and ENDFOR, and at the same time,
3 Loop command the loop variable is changed progressively by step until the loop variable does
with fixed cycle not meet the requirements, then exit the loop.
times (FOR →
ENDFOR）

FOR(VA1=0;VA1<9;VA1+=3) VA1=0，if VA1<9，VA1= VA1+3，execute

Example of
VA0 ++ VA0= VA0+1
program:
ENDFOR If not meet VA1<9, FOR loop end.

SWITCH condition selection command: the complete structure of this command is

composed of SWITCH, CASE (reusable), BREAK, DEFAULT and ENDSWITCH.

Calculate the value of variable after SWITCH, and judge which value is equal to the
4 Condition
value after CASE. When an equal CASE is found, the program starts execution at the
selection
Command location and ends execution at the first BREAK, and jumps to the ENDSWITCH line.
(S W I T C H function
→ SWITCH)

If an equal value is not found, it shall go to the DEFAULT command line to start
execution until ENDSWITCH ends.

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Pay attention to the location of BREAK; if the location of BREAK is different, the
result of the operation will be different as well.

Data variable, CASE content is specific data.

Additional VA <Variable
item number> This command currently only supports the VA variable as a
condition for judgment.

SWITCH(VA0) SWITCHS data variable VA0

CASE 1: CASE 1, that is, VA0 = 1 execution
VA1 = 1 VA1 = 1
BREAK CASE 1 end, Skip to ENDSWITCH
CASE 2: CASE 2, that is, VA0 = 2 execution
VA1 = 2 VA1 = 2
Example of
BREAK CASE 2 end, Skip to ENDSWITCH
program:
CASE 3: CASE 3, that is, VA0 = 3 execution
VA1 = 3 VA1 = 3
BREAK CASE 3 end, , Skip to ENDSWITCH
DEFAULT Result of VA0 is not equal to the above value, execute
VA1 = 4 execute VA1 = 4
ENDSWITCH SWITCH command end

SWITCH condition selection command: the complete structure of this command is

composed of SWITCH, CASE (reusable), BREAK, DEFAULT and ENDSWITCH.

Calculate the value of variable after SWITCH, and judge which value is equal to the
value after CASE.

When an equal CASE is found, the program starts execution at the location and ends
Command execution at the first BREAK, and jumps to the ENDSWITCH line.
function BREAK end, and skip to ENDSWITCH command line.

4 Condition selection
If an equal value is not found, it shall go to the DEFAULT command line to start
(SWITCH→ execution until ENDSWITCH ends.
CASE)

Pay attention to the location of BREAK; if the location of BREAK is different, the
result of the operation will be different as well.

Additional
<Data> Possible values of variables after SWITCH.
item

SWITCH(VA0) SWITCH data variable VA0

CASE 1: CASE 1, that is, VA0 = 1 execution

Example of
program:
VA1 = 1 VA1 = 1

BREAK Skip to ENDSWITCH after CASE 1 end

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CASE 2: CASE 2, that is, VA0 = 2 execution

VA1 = 2 VA1 = 2

BREAK Skip to ENDSWITCH after CASE 2 end

CASE 3: CASE 3, that is, VA0 = 3 execution

VA1 = 3 VA1 = 3

BREAK Skip to ENDSWITCH after CASE 3 end

If the result of VA0 is not equal to the above value, execute

DEFAULT VA1 = 4VA1= 4
ENDSWITCH
SWITCH command end

SWITCH condition selection command: the complete structure of this command is

composed of SWITCH, CASE (reusable), BREAK, DEFAULT and ENDSWITCH.

Calculate the value of variable after SWITCH, and judge which value is equal to
the value after CASE.

Command When an equal CASE is found, the program starts execution at the location and
function ends execution at the first BREAK, and jumps to the ENDSWITCH line.
BREAK end, and skip to ENDSWITCH command line.

If an equal value is not found, it shall go to the DEFAULT command line to start
execution until ENDSWITCH ends.

Pay attention to the location of BREAK; if the location of BREAK is different, the
result of the operation will be different as well.
4 Condition selection
SWITCH(VA0) SWITCH data variable VA0
(S W I T C H
→ DEFAULT CASE 1: CASE 1, that is, VA0 = 1 execution

) VA1 = 1 VA1 = 1

BREAK Skip to ENDSWITCH after CASE 1 end

CASE 2: CASE 2, that is, VA0 = 2 execution

VA1 = 2 VA1 = 2

Example of BREAK Skip to ENDSWITCH after CASE 2 end

program:
CASE 3: CASE 3, that is, VA0 = 3 execution

VA1 = 3 VA1 = 3

BREAK Skip to ENDSWITCH after CASE 3 end

If the result of VA0 is not equal to the above value,

DEFAULT
execute

execute VA1 = 4
VA1 = 4 ENDSWITCH
SWITCH command end

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SWITCH condition selection command: the complete structure of this

command is composed of SWITCH, CASE (reusable), BREAK, DEFAULT
and ENDSWITCH.
SWITCH condition selection command: the complete structure of this
command is composed of SWITCH, CASE (reusable), BREAK, DEFAULT
and ENDSWITCH.
Calculate the value of variable after SWITCH, and judge which value is
Command equal to the value after CASE. When an equal CASE is found, the program
function starts execution at the location and ends execution at the first BREAK, and
jumps to the ENDSWITCH line.
BREAK end, and skip to ENDSWITCH command line.
If an equal value is not found, it shall go to the DEFAULT command line to
start execution until ENDSWITCH ends.
Pay attention to the location of BREAK; if the location of BREAK is
different, the result of the operation will be different as well.
4 Condition
SWITCH(VA0) SWITCH data variable VA0
selection
(S W I T C H CASE 1: CASE 1, that is, VA0 = 1 execution

→ BREAK) VA1 = 1 VA1 = 1

BREAK Skip to ENDSWITCH after CASE 1 end

CASE 2: CASE 2, that is, VA0 = 2 execution

VA1 = 2 VA1 = 2
Example of
program: BREAK Skip to ENDSWITCH after CASE 2 end

CASE 3: CASE 3, that is, VA0 = 3 execution

VA1 = 3 VA1 = 3

BREAK Skip to ENDSWITCH after CASE 3 end

If the result of VA0 is not equal to the above value,

DEFAULT VA1 = 4execute VA1= 4
ENDSWITCH
SWITCH command end

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SWITCH condition selection command: the complete structure of this command is

composed of SWITCH, CASE (reusable), BREAK, DEFAULT and ENDSWITCH.
Calculate the value of variable after SWITCH, and judge which value is equal to the
value after CASE.
When an equal CASE is found, the program starts execution at the location and ends
execution at the first BREAK, and jumps to the ENDSWITCH line.
Command
function BREAK end, and skip to ENDSWITCH command line.
If an equal value is not found, it shall go to the DEFAULT command line to start
execution until ENDSWITCH ends.

Pay attention to the location of BREAK; if the location of BREAK is different, the
result of the operation will be different as well.

4 Condition
selection
(S W I T C H SWITCH(VA0) CASE 1: SWITCH data variable VA0
→ VA1 = 1 CASE 1, that is, VA0 = 1 execute VA1 = 1
ENDSWITCH)
BREAK Skip to ENDSWITCH after CASE 1 end

CASE 2: CASE 2, that is, VA0 = 2 execution

VA1 = 2 VA1 = 2

BREAK Skip to ENDSWITCH after CASE 2 end

Example of
program: CASE 3: CASE 3, that is, VA0 = 3 execution

VA1 = 3 VA1 = 3

BREAK Skip to ENDSWITCH after CASE 3 end

If the result of VA0 is not equal to the above value,

DEFAULT
execute

execute VA1 = 4
VA1 = 4 ENDSWITCH
SWITCH command end

3.Auxiliary command

Command If the conditions you set are met, the program goes down; if the conditions you set are
1 WAIT
function not met, the program stops here until the conditions you set are met.

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<Variable> <Variable>
VA <Variable == VA <Variable
number> number> If the conditions you set are met, the
＞
DO<Variable DO<Variable program goes down; if the conditions you
Additional set are not met, the program stops here
number> ＜ number>
item until the conditions you set are met.
DI<Variable ＞= DI<Variable
number> number>
＜=
AI0<Variable AI0<Variable
number> number>

Example of WAIT(VA5 = 3), wait the variable VA5 = 3 condition to be valid. WAIT(AIO = 5),
program: wait the analog input interface AI0 input 5V to be valid.

Command Mark the GOTO jump position, and it shall be used in cooperation with
function GOTO command.

2 Jump label Additional

LB<Variable> Variables are numbers, ranging from 0 to 99 9
item
(LB)

Example of L001 Mark the jump position 001

program: ……

Program jump command

Descriptions:
1.When using this command, it shall be used in cooperation with label
Command command (LB). The label line is the position where you want to jump the
function program to.

2. No additional conditions, once the program is executed to this line,

jump directly to the position where the label is located
.

3. Program A jump label, indicating the program shall jump

GOTO<Variable>
jump command Additional to a position having LB < variable >;
item
（GOTO) Variables are numbers, ranging from 0 to 999

1 ……

……

5 IF(DI10=1) If the status of input interface X10 is ON

Example of
program:
6 GOTO L001 Jump to the label 1 position

7 ELSE Otherwise, execute

…… Subsequent programs

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14 ENDIF IF command end

15 L001 Label 1 position

…… Subsequent programs

Subprogram call command, call unconditionally. Descriptions:

The only difference between the creation of a subprogram and a main program is
that after all the programs have been written, a RETURN command is added at the
Command end of the subprogram.
function

4 Subprogram 2. This is the program you want to call. If the program is executed to this
call (CALL) command line, the subprogram is called directly.

It means the name of the subprogram called by the

Additional item CALL<program name>
program.

Example of
CALL 125 Calling a subprogram with a program name of 125
program:

The RETURN instruction is added at the end of the program to indicate

that the current program is a subprogram. Once the system runs to this
Command command, it shall return to the main program.
function
5Sub-program
(Return)
Additional item None

……
Example of
RETURN Subprogram return
program

It’s mainly used to control the state of variable. There are only two forms of
Command digital quantity, so there are only two states when the command is used, that is, "1
function (valid)" and "0 (invalid)."

6Digital IO output 1 Control the state (i.e. 1 or 0) of output interface Y

(DO) <variable number>, or set the variable state of other
Additional <Variable 0
output interfaces. Please refer to the Hardware
item number>=
DO<Variable Operating Instruction for the range of variable
number> number.

Example of
DO3=1 Set the output interface Y3 to the ON state.
program

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Command If this command is executed, the program will pause for the set time, and
function then continue to run.

7 Sleep Additional
<Variable> Sleep time, unit: millisecond
command item

Example of
SLEEP(2000) Sleep 2 seconds
program

Command introduction and description. When this program is executed, the

Command
contents of this part are not executed, just describe the command meanings to the
function
user, thus it is convenient for the user to understand the program more easily.
8Note
Additional <Note It refers to the content noted by the user himself. Easy for user to
(NOTE) item content> check and understand the program.

Example of
# ljpd note content ljpd, this command doesn’t execute.
program

Command
Analog voltage of the analog output interface.
function

Specify the analog interface number to be output, with

<Variable number>=
a range of four channels A1-A4
9 Analog output Additional
(AO) item
Variable is the analog voltage value to be output,
<Variable>
range -10 ~ 10.

Example of AO1=0.000 The analog voltage of the output A1 interface is 0V

program AO2=10.000 The analog voltage of the output A2 interface is 10V.

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4. Expression command

Add the previous variable to the next variable and assign the result to another
Command variable. This command can only use data variables.
function

1 Addition <Variable> + <Variable> Add the previous variable to

(ADD) VA <Variable
VA <Variable VA <Variable the next variable and assign
Additional item number>= the result to another variable.
number>- number>

Example of VA2 = VAO+VA1 Add the variable VA0 to the variable VA1, and assign the
program result to the variable VA2.

Subtract the next variable from the previous variable and assign the result to
Command another variable. This command can only use data variables.
function

Subtract the next variable

2 Subtraction <Variable> - <Variable>
from the previous variable and
VA <Variable assign the result to another
(SUB) Additional VA <Variable VA <Variable variable.
number>=
item number>- number>

Example of VA2 = VAO- VA1 Subtract the variable VA1 from the variable VA0, and
program assign the result to the variable VA2.

Multiply the previous variable by the next variable, and assign the result to
Command another variable. This command can only use data variables.
function

Multiply the previous variable

3 Multiplication <Variable>* <Variable>
by the next variable, and
Additional VA <Variable assign the result to another
(MUL) VA <Variable VA <Variable variable.
item number>=
number>* number>

Example of VA2 = VAO* VA1 Multiply the variable VA0 by the variable VA1, and assign
program the result to the variable VA2.

Divide the previous variable by the next variable, and assign the result to
Command another variable. This command can only use data variables.
function
4 Division
(DIV) VA <Variable <Variable>/ <Variable> Divide the previous variable
Additional number>=
VA <Variable VA <Variable by the next variable, and
item assign the result to another
number>/ number>
variable.

Example VA2 = VAO/ VA1 Divide the variable VA0 by the variable VA1,
of and assign the result to the variable VA2.
program

Command Add a number 1 to the variable, and the result is assigned to the variable.
5Increment function This command can only use data variables.
(INC）
Additional VA <Variable Add 1 to the variable, and the result is assigned to the
item number>++ variable.

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Example
VA0 ++ VA0 = VA0 + 1
of program

Subtract 1 from the variable and assign the result to the variable. This
Command command can only use data variables.
6. Decrement function
(DEC)
Additional VA <Variable Subtract 1 from the variable and assign the result to
item number>-- the variable.
Example VA0 -- VA0 = VA0 - 1
of
program

Assign the next variable to the previous variable. This command can only
Command use data variables.
function
7 Assignment VA <Variable <Variable> Assign the next variable to the
(set) Additional number>= previous variable.
item VA <Variable
number>
VA0 = 5 Assign 5 to the variable VA0.
Example VA2 = Assign the variable VA0 to the variable VA2.
of
VA0
program

8 Mod Divide the previous variable by the next variable, carry out the MOD
Command operation to the obtained result and assign it to another variable. This
function command can only use data variables.

VA <Variable <Variable> <Variable> Divide the previous variable

Additional number>= VA <Variable VA <Variable by the next variable, carry
item number> number>
out the MOD operation to
the obtained result and
assign it to another variable
.
Example VA2 = VAO / VA1 Divide the variable VA0 by the variable VA1,
of carry out the MOD operation to the obtained
program result and assign it to the variable VA2.

5 Arc welding command

When running this command, the program will call the preset basic
Command parameter, and arc start. The variable number is the file number of basic
function parameter, ranging from 1 to 10.
The two commands are used in pairs.

Arc start Additional <Variable The variable number is the file number of basic parameter
item number> to be called.
Arc end
ArcStart (1,1.0) Call the welding file 1, and arc start.

Example of …… start welding

program ArcEnd End of arc start and completion of welding

When running this command, the program will call the preset WEVA
Command parameter, and the WEVA variable number is the file number of WEVA
WEVA ON function parameter, ranging from 1-10.
WEAVE END The two commands are used in pairs.

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Additional <Variable The variable number is the file number of WEVA

item number> parameter paired with the WEVA command.

WevaOn (1,1.0) Call the Weva parameter file 1, and Weva on.

Example of …… Weva path

program WevaOff Weva end

When running this command, the program will call the preset SCALE
Command parameter, and the SCALE variable number is the file number of SCALE
function parameter, ranging from 1-10.
The two commands are used in pairs.
SCALESTART
SCALEEND Additional <Variable The variable number is the file number of SCALE
item number> parameter paired with the SCALE command.

ScaleStart (1,1.0) Call the Scale parameter file 1, and Scale start.

Example of …… Scale (T.I.G Welding) path

program SCALEEND Scale end

6 Arc welding command - arc track

When running this command, the program will call the preset arc tracking
Command parameter, and the variable number is the arc track file number, ranging from
function 1-10.
The two commands are used in pairs.

Additional <Variable
The variable number is the arc tracking file number.
1 ArcTrackStart item number>

2.ArcTrackEnd

ArcTrackStart (1) Call the arc track file 1, and the arc track start.
Example of
……
program
2.ArcTrackEnd ArcTrackEnd

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7 Arc welding command - search

When running this command, the program will call the preset search
Command parameter, and arc start. The variable number is the file number of basic
function parameter to be called, ranging from 1 to 10. The three commands are
used together.

Additional <Variable The variable number is the file number of basic parameter
item number> to be called.
Search start
SearchStart File[1] P[1] Call the search file number 1 with offset
MLSearch parameter P [1] to start search.
SearchEnd

Example of ……
program ML V=50.00mm/s T=17 U=0 Search + XPos [1] Search for the direction
of specified search coordinate system
……
SearchEnd Search end

When running this command, the program will call the preset offset
Command parameter, and the variable number is the called offset parameter number,
function ranging from 1-10.
The two commands are used in pairs.
TouchOffset
TouchOffsetEnd Additional <Variable The variable number is the called offset parameter
item number> number.

Offset P[1] Call the offset parameter P[1], offset starts

Example of ……
program OffsetEnd Offset End

Comprehensive example of welding

ArcStart (1,1.0) Call the No. 1 welding parameter to carry out welding

WevaOn (1,1.0) Call the No. 1 WEVA parameter

ML V=100mm/s A=50mm/s2 D=50mm/s2 B=0 T=1 U=1 Start welding and complete the whole welding track

WevaOff WevaOff

ArcEnd End of No.1 welding process

3 Teaching programming
Teaching programming means that in the TEACH mode, the user employs the following procedures to generate a user
program: ensure the teach pendant is working in the TEACH mode; select the coordinate system; manually moving the
robot end to a desired position; then call such commands as current coordinate data (not visible), motion track, machining

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process, etc. by a specific operation (such as click a button to select the command, etc.), thereby generating a user program.
・ In case the variables are not used, the program line of motion command contains such data as the motion
command, additional speed, acceleration, smoothness, selected tool number and user number, as well as
the robot joint data(this data program editing interface is not visible).
・ In case the variables are used, the robot shut-down data shall be included in the variables.
・ The examples of teaching programming steps are illustrated in later sections. For more programming
examples, please refer to the Process Manual.

3.1 Teaching programming of welding

The schematic diagram is shown as follows:

Teaching point (program point)
Processing path
Dry running path

Program point 4
Weld seam

Relevant commands:
MJ: joint motion ML: linear motion ARCSTART: arc start ARCEND: arc end

3.1.1 Program List

Program command line Descriptions:

In the tool coordinate system T = 17, according to the MJ joint

U=0 movement mode, V = 50 velocity, B= 90 smoothness, move to
the program point 1 and reach the preparation point.

In the tool coordinate system T = 17, according to the MJ joint

U=0 movement, V = 50 velocity, B= 90 smoothness, move to the
program point 2 and close to the work-piece.

In the tool coordinate system T = 17, according to the MJ joint

U=0 movement, V = 25 velocity, B= 0 smoothness, move to the
program point 3 and touch the work-piece.

ArcStart (1,1.0) Acr start

ML V=100 mm/s A=50 mm/s2 D=50 In the tool coordinate system T = 17, according to the MJ joint
mm/s2 B=0 T=17 U=0 movement, V =100mm/s velocity, B= 0 smoothness, move to
the program point 4, and it starts welding the machining path.

ArcEnd Arc end

In the tool coordinate system T = 17, according to the MJ joint

U=0 movement, V = 50 velocity, B= 0 smoothness, move to the
 Zhejiang Qianjiang Robot Co., Ltd

program point 5 and leave the work-piece.

In the tool coordinate system T = 17, according to the MJ joint

U=0 movement, V = 50 velocity, B= 0 smoothness, move to the
program point 1 and return to the preparation point.

3.1.2 Teaching programming steps

1. Switch the mode switch to the TEACH mode.

2. Select the appropriate tool coordinate system.
3. Enter the program list interface.
Click < File Operation > - < Program File Management > to enter the program list interface.

4. Click the button in the sub-menu area.

5. Enter the name of the new program (e.g. 002) in the pop-up window.

After the file name is entered, click <OK>. In this case, the new program will be displayed in the program list interface
as follows:

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 Note: If the program name you entered is a new program name, the system will create a new program with
the name you just entered in the list and the blue cursor bar will be highlighted.
If the entered program name is already existing in the list, a warning box will pop up; select Yes to
overwrite the original file with the same name, the cursor will jump directly to the blue cursor bar highlighted on
the program corresponding to the program name, and select No to exit the new operation.

6. Click the key in the sub-menu area.

7. Press and hold the safety switch, then move the robot end to the position of program point 1 through the
coordinate key on the teach pendant. Click the sub-menu <motion>-<MJ>.
 Zhejiang Qianjiang Robot Co., Ltd

Pop-up command editing window.

Desc
1. Use the < ← > < → > key to switch the cursor riptto move
ions
between windows.
2. This window is a selection window whose :
contents are selected by using < ↑ > <
↓ >.
3. This window is an input window, in which data is input.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in the
program editing window as follows.

Command editing of program point 1 is completed.

8. Press and hold the safety switch, then move the robot end to the position of program point 2 through the
coordinate key on the teach pendant. Click the sub-menu <motion>-< MJ>. Pop-up the MJ command editing
window.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in the
program editing window as follows.

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Command editing of program point 2 is completed.
9. Repeat the step 7 or 8, change the velocity (V) to 25%, and change the B value to 0. Input the command line of program
point 3.

10. Click <Programming command> - <Arc welding command> - <ARCSTART> to pop up the following window.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in the
program editing window as follows.
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11. Repeat the similar steps mentioned above. Complete each program point and each command input as follows.

By employing the steps mentioned above, the creation of the example program is completed.

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3.2 Teaching Programming of Handling

The schematic diagram is shown as follows:

Program point 9

Pallet

Conveyor belt
Relevant commands:
MJ: joint motion ML: linear motion D0: digital IO output
WHILE: Conditional loop.

3.2.1 Program List

Program command line Descriptions:

In the tool coordinate system T = 17, according to the

MJ joint movement, V = 50 velocity, B= 90
smoothness, move to the program point 1 and reach the
preparation point.

Move to the position of program point 2 and close to the

workpiece (before clamping)

ML V=100mm/s A=50mm/s2 D=50mm/s2 B=0 Move to the program point 3 and touch the workpiece
T=17 U=0 (clamping position)

DO6 = 1 Clamp the work-piece

WAIT(DI8=0) Wait for clamping in place

ML V=200mm/s A=100mm/s2 D=100mm/s2 Move to the program point 4 and leave the workpiece
B=90 T=17 U=0 (after clamping)

Move to the program point 5, that is, the initial position.

Move to the program point 6, where is near the

placement position.

Move to the program point 7, that is, the auxiliary

position of placement

ML V=100mm/s A=50mm/s2 B=0 T=17 U=0 Move to the program point 8, that is, the placement
position.
 Zhejiang Qianjiang Robot Co., Ltd

DO6 = 0 Place the work-piece

WAIT(DI8=1) Wait for placing in place

ML V=200mm/s A=100mm/s2 D=100mm/s2 Move to the program point 9 and leave the placement
B=90 T=17 U=0 position.

Move to the program point 10, that is, the initial

position.

3.2.2 Teaching programming steps

1. Switch the mode switch to the TEACH mode.

2. Select the appropriate tool coordinate system.
3. Enter the program list interface.

1. Click the button in the sub-menu area.

2. Enter the name of the new program (e.g. 003) in the pop-up window.

After the file name is entered, click <OK>. In this case, the new program will be displayed in the program list interface
as follows:

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 Note: If the program name you entered is a new program name, the system will create a new program with
the name you just entered in the list and the blue cursor bar will be highlighted.
If the entered program name is already existing in the list, a warning box will pop up; select Yes to
overwrite the original file with the same name, the cursor will jump directly to the blue cursor bar highlighted on
the program corresponding to the program name, and select No to exit the new operation.

3. Click the key in the sub-menu area, open the program editing interface, as shown in the following figure:
 Zhejiang Qianjiang Robot Co., Ltd

4. Press and hold the safety switch, then move the robot end to the position of program point 1 through the
coordinate key on the teach pendant. Click the sub-menu <motion>-< MJ>. Pop-up the MJ command editing
window.

Desc
1. Use the < ← > < → > key to switch the cursor riptto move
ions
between windows. :
2. This window is a selection window whose contents are selected by using < ↑ > <
↓ >.
3. This window is an input window, in which data is input.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in the
program editing window as follows.

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 Command editing of program point 1 is completed
5. Press and hold the safety switch, then move the robot end to the position of program point 2 through the
coordinate key on the teach pendant. Click the sub-menu <motion>-< MJ>. Pop-up the MJ command editing window.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in the
program editing window as follows.

Command editing of program point 2 is completed.

6. Repeat the step 7 or 8, change the command to ML, then change the velocity (V) to 100mm/s, and change the B value
to 0. Input the command line of program point 3.
 Zhejiang Qianjiang Robot Co., Ltd

7. Click <Auxiliary> - <DO> to pop up the following window.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in the
program editing window as follows.

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8. Click <Auxiliary> - <WAIT> to pop up the following window.

After inputting relevant parameters as required, press the icon , and the command line will be displayed in the
program editing window as follows.

9. Repeat the similar steps mentioned above. Complete each program point and each command input as follows.
 Zhejiang Qianjiang Robot Co., Ltd

By employing the steps mentioned above, the creation of the example program is completed.

4 Program Editing Function

The program editing function mainly includes: program list editing function (mainly used to create, rename, back up
and delete programs) and program content editing function (mainly used to copy, cut, delete, search, and replace program
lines.)

4.1 Program List Editing Function

Create (new), rename, copy, delete, open, main program, and background program.

4.1.1 ：New program

After clicking this button, the new program window will pop up , enter
,
the program name in the blank space.then click the icon to close the input window, the system will create a new

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program with the name just entered in the list, and the blue cursor bar will be highlighted.
If the entered program name is already existing in the list, a warning box will pop up; select Yes to overwrite the
original file with the same name, the cursor will jump directly to the blue cursor bar highlighted on the program
corresponding to the program name, and select No to exit the new operation.

If the entered program name is opened currently, a warning box pops up:

4.1.2 ：used to modify the name of an existing program.

First, move the cursor to the program name to be modified, and then click this button, the system will pop up the window

, enter the modified program name in the blank window,

and click ,the input window is closed. At this time, the cursor will be highlighted on the renamed
program in the program list.

If the entered program name is already existing in the list, a warning box will pop up; select Yes to
overwrite the original file with the same name, the cursor will jump directly to the blue cursor bar highlighted on
the program corresponding to the program name, and select No to exit the new operation.
If the entered program name is opened currently, a warning box pops up:
 Zhejiang Qianjiang Robot Co., Ltd

4.1.3 ：used to copy the current program, and paste it as a program with another program
name.

First, move the cursor to the program name to be backed up, and then click this button, the system will pop up the window

, enter a new program name in the blank window, and click

,the input window is closed. At this time, the cursor will be highlighted on the new program in the
program list.

If the entered program name is already existing in

the list, a warning box will pop up; select Yes to overwrite the original file with the same name, the cursor will jump
directly to the blue cursor bar highlighted on the program corresponding to the program name, and select No to exit
the new operation.
If the entered program name is opened currently, a warning box pops up:

4.1.4 ：delete an existing program

First, move the cursor to the program name to be deleted, and then click this button, the system will pop up the window

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 If you want to cancel this operation, click the key to exit directly.

If the program to be deleted is opened currently, this window pops up:

If you want to cancel this operation, click the key to exit directly.

Descriptions:
The deleted program cannot be restored. Please use it carefully!

4.1.5 Open the program selected by the cursor and enter the program editing interface.

Descriptions:

1. For teaching programming ,the editing of the program needs to be performed in the program editing
interface opened by the program.
2. If you want to run the program in Play mode, the program needs to be opened as well.

3. Remote mode, the program does not need to be opened manually; when the drive is energized,
the system will automatically open the program which name has been set in the remote process.
First, move the cursor to the program to be opened, and then click this button, the system will enter the editing
interface of the program, and the existing program line of the program will be displayed.
The figure is shown as follows:
 Zhejiang Qianjiang Robot Co., Ltd

4.1.6 ：Display the main program list

It is used to switch and display the main program list and the background PLC program list, when

clicking , the currently opened program list is the main program list.

4.1.7 ：Display the background program list

It is used to switch and display the main program list and the background PLC program list, when clicking

, the currently opened program list is the background PLC program list.

4.2 Program Content Editing Function

Copy-copy current program line, copy-copy block, paste, cut-cut current program line, cut-cut block, delete-
delete current program line, delete-delete block, search/replace, go to.
Attention:

When using the copy function, the data of teaching point of the program line will be copied as well,
so please pay attention to the running position of the program line after copying.

4.2.1 Copy->copy current program line:

Position the cursor to the program line to be copied, and select <copy current program line>; after moving
the cursor to the position where it needs to be pasted, use the <paste> icon to paste the contents of the previously
copied program line to the position below the cursor line. For example, copy the following line 4 “ArcStart (1)”
to the position below line 7. Specific operations are as follows:

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 1. First, position the cursor to line 4, as shown above.
2. Select <Program Edit> - <Copy> - <Copy Current Program Line>.
3. Then move the cursor to line 7, as shown below:

4. Select <Program Edit> - <Paste>, and the program contents “ArcStart (1)” of the original program line 4 are
copied and pasted to the position between the original line 7 and line 8, and the cursor is positioned in this line. As
shown in the following Figure:
 Zhejiang Qianjiang Robot Co., Ltd

4.2.2 Copy - > copy block: copy the contents entered between the start line and the end line to the
background.

Attention:
When using the copy function, the data of teaching point of the program line will be copied as well,
so please pay attention to the running position of the program line after copying.
Copy the contents between the start line and the end line, then move the cursor to the position to be pasted, and click the
<paste> icon to paste the copied block contents above the cursor.
For example, copy the contents between lines 2-3 of the following figure and paste them under the line 7. The specific
operations are as follows:

1. Select <Program Edit> - <Copy> - <Copy Block>. Pop up the following interface：

Enter 2 in the window of the start line, and enter 3 in the window of the end line. Press the key

to copy. To cancel the copy operation, click the key and exit directly.

2. Then move the cursor to line 7, as shown below:

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 3. Select <Program Edit> - <Paste>, and the program contents of the original program lines 2-3 are
copied and pasted to the position between the original line 7 and line 8, and the cursor is positioned at
the end line of the paste block. As shown in the following Figure:

4.2.3 Paste: Paste the contents after copying and cutting.

This operation will paste the contents after copying or cutting to the position below the cursor.

4.2.4 Cut - > cut the current line: after copying the contents of the line where the cursor is located to
the background, delete the current line.

Position the cursor to the line to be cut, then click <Cut Current Line>; the contents of the program line are
copied to the background, and the current line is deleted. Move the cursor to the position where the program line
needs to be pasted, and click <Paste> to paste the contents of the line that has just been cut to the current position.
For example, cut and paste the following line 4 “ArcStart (1)” to the position below line 7. Specific operations
are as follows:
 Zhejiang Qianjiang Robot Co., Ltd

1. First, position the cursor to line 4, as shown above.

2. Click <Program Edit> - <Cut> - <Cut Current Line>. At this time, the content of the original line 4 “ArcStart (1)”
is copied to the background, and the content of the line is deleted in the program editing interface. As shown in
the following Figure:

If you want to restore the contents have been cut, move the cursor to the appropriate position and paste it back.
3. Move the cursor to the position of original line 7 (now line 6).
4. Click <Program Edit> - <Paste>. At this time, the content of the program line that has just been cut will be
displayed under the original line 7. The figure is shown as follows:

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 4.2.5 Cut - > cut block: copy the contents between the start line and the end line to the background,
and delete the contents between the start line and the end line.

Copy the contents between the start line and the end line to the background, and delete the contents. Then move the
cursor to the position where the cut contents need to be pasted, and click the <Paste> key to paste the contents of the cut
block under the cursor. For example, copy the contents between lines 4-6 of the following figure and paste them under the
line 7. The specific operations are as follows:

1. Click <Program Edit> - <Cut> - <Cut Block>. Pop up the following interface：

Enter 4 in the window of the start line, and enter 6 in the window of the end line; press the key to confirm
the cut operation; at this time, the contents in the program editing interface from line 4 to line 4 are deleted, as shown in the
 Zhejiang Qianjiang Robot Co., Ltd

figure below:

If you want to restore the contents have been cut, move the cursor to the appropriate position and paste it back.
Move the cursor to the position of original line 7 (now line 4), as shown in the following figure.

2. Select <Program Edit> - <Paste>, and the program contents of the original program lines 4-6 are copied and pasted to
the position between the original line 7 and line 8, and the cursor is positioned at the end line of the paste block. As
shown in the following Figure:

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 4.2.6 Delete - > delete the current line: delete the line where the cursor is located.

Attention:
The deleted program line cannot be restored. Please use it carefully!

Position the cursor to the program line to be deleted, click <Program Edit> - <Delete>, and the prompt box will pop up:

To cancel this operation, click the key directly to exit before clicking
the key . Remember: After clicking , the deleted program will
not be restored!

4.2.7 Delete - > Delete Block: delete the contents between the start line and the end line.

Attention
The deleted program block cannot be restored. Please use it carefully!

Click <Program Edit> - <Delete> - <Delete Block>. Pop up the following interface：

Enter 4 in the window of the start line, and enter 6 in the window of the end line, click the key to
confirm the delete operation, and the prompt box will pop up:
 Zhejiang Qianjiang Robot Co., Ltd

To cancel this operation, click the key directly to exit before clicking

the key .

Remember: After clicking , the deleted program will not be restored!

At this time, the contents in the program editing interface from line 4 to line 6 are deleted, as shown in the figure below:

4.2.8 Search/Replace - > Search: it is used to search the contents of the program, the cursor is located
at the line of the searched contents.

First, position the cursor to the first line, then click <Program Edit> - <Search/Replace > to pop up the following interface:

Select the additional item you want to search, then enter the additional item data. After clicking

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 ,the system starts looking down for the closest additional item that matches the settings and positions the
cursor to the specific line.
If there’s no matched additional item in the searched program, the system prompts: not found.

If there are several matched additional items, each time the button is clicked, the system will
continue to look for the closest matched additional item from the current position and so on.

If you do not want to search anymore data, you can click and exit directly.
Additional items that can be searched by the user are V, A, B, Sleep,%, mm / s, mm / s2.

4.2.9 Search/Replace - > Replace: replace the original content of the program with the new content.

First, position the cursor to the first line, then click <Program Edit> - <Search/Replace-> Replace> to pop up the
following interface:

Select the additional item to be replaced, then input the original data of the additional item, and input the

new data. After clicking , the system starts to search for the closest additional item that matches the
set content, and the cursor is positioned to the line, and the content of the additional item is replaced with the
new content. If there is no matched additional item in the original program, the system prompts: not found.

If there are several matched additional items need to be replaced, each time the button is
clicked, the system will continue to search for the closest matched additional item from the current position, and
the cursor is positioned to the line to replace the content of the additional item with the new content. Similarly,

until the program is completely replaced, the user can also click the button to replace all matched
additional items from the start line to the end line at one time.

If you do not want to replace any more, you can click the button and exit directly.
Additional items that can be replaced by the user are V, A, B, Sleep,%, mm/s, mm/s2.

4.2.10 Go to: Position the cursor directly and jump to the number of line entered in the window.

Example: The cursor in the figure below will be positioned in front of line 7 by “go to” function.
 Zhejiang Qianjiang Robot Co., Ltd

Click <Program Edit> - <Go To>, the system pops up the following interface:

Enter the number 7 in the above window. Then click the corresponded icon and the cursor will be positioned to line 7, as
shown below.

If you do not want to use the “Go To” function in the pop-up window of jump program line , you can click the related
botton and exit directly.

4.2.11 Motion: call the motion command button.

In the program editing interface, click <Motion> - <MJ>, the system will pop up the following motion
command window (which can be called by clicking <Programming> - <Motion> - <MJ>):

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 The ML, MO, and MC commands can also be selected from the pull-down menu pops up by pressing this button.

4.2.12 Logic: call the logic command button.

In the program editing interface, click <Logic> - <ELSEIF>, and the system will pop up the following logic command
window (which can be called by clicking <Programming> - <Logic> - <ELSEIF>):

The commands such as IF, ELSE, ENDIF, WHILE, ENDWHILE, FOR, ENDFOR, and SWITCH… can also be
selected from the pull-down menu pops up by pressing this button.

4.2.13 Auxiliary: call the auxiliary command button.

In the program editing interface, click <Logic> - <LB>, and the system will pop up the following auxiliary
command window (which can be called by clicking <Programming> - <Logic> - <LB>):

The commands such as GOTO, CALL, RETURN, DO, SLEEP, and NOTE can also be selected from the pull-down
menu pops up by pressing this button.

4.2.14 Modify command: modify the content of the current program line.

Position the cursor to the program line to be modified, click the button , and the system will pop
up the editing interface of the current program line. After the user completes the modification, click the button

to confirm the modification. You can also click to cancel the modification.
The specific steps are as follows: line 2 refers to the program line already exists.
 Zhejiang Qianjiang Robot Co., Ltd

First, move the cursor to line 2, and click , the system will pop up the program line modification window:

For a motion command, you can click to modify it to another motion command, or you
may not modify the command, but only modify the additional items. For non-motion commands, only
additional items can be modified.
Attention:
For the program line of motion command that needs to modify the position and posture,
it is necessary to press and hold the safety switch to record the position and posture. For
the program line of motion command that not needs to modify the position and posture,
and only needs to modify the additional items, do not press and hold the safety switch.
For program lines other than motion commands, it is not necessary to press and hold the
safety switch.

We modify the velocity “V” to 30% and the smoothness “B”to 50. As shown in the following Figure:

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 You can also click to cancel the modification.

4.2.15 Modify the point position: modify the coordinate of motion command of the current program
line.

Position the cursor to the program line of motion command to be modified, move the robot to the
selected position through the coordinate key on the teach pendant, click the key to modify the program line of
motion command of the position and posture, press and hold the safety switch to record the position and posture.

5 Program test run

Program test run: after the program editing is completed, the robot can execute the program command line by line
through a specific operation, as well as simulate the actual running action and running track. Thus the operator can prejudge
whether an action or track is correct or not.

5.1 Preparations:

1. Switch the robot to the state that allows actions.

2. By employing the override slide bar, adjust the manual speed to an appropriate value. It is recommended that the
adjusted override should not exceed 50%. And the adjusted override can be displayed in the status display area

5.2 Steps of program test run:

1. Return to the program list is as follows:

 Zhejiang Qianjiang Robot Co., Ltd

2. Move the cursor over the program you want to run. For example, the “002” as shown in above figure. Then click
the key <Open> in the sub-menu to open this program and enter the program editing interface. As shown in the
following figure.

3. Move the cursor over the program line to be tested, as in the second line.
4. Press and hold the safety switch. Then press and hold the key . The system controls the robot to execute
commands in the line which the cursor is located. Such as robot action, IO output, operation, logic, etc.

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 Chapter 3 PLAY & REMOTE

1 PLAY MODE
1.1 Preparations

■ First, use the test run method to ensure that the program to be run is correct.
■ Ensure that the robot moves within the range of space where has no man and obstacles.

1.2 Call the program

1. First, return to the program list interface.

2. Use <↑> and <↓> keys to move the cursor over the program to be run. For example, running the program 002,
which is described in the section 6.1 of Chapter 2 - Teaching programming of welding.
3. Press the <Open> button to open the program to the program editing interface, as shown in the following figure:

4. Move the cursor to the program start position (first line).

1.3 Program running

1.3.1 tart up

1. Switch the control mode switch to "PLAY” mode. Display in the status bar:
2. Select the appropriate running speed. Click the slide bar to adjust the override .
speed, and the status bar displays: Attentio
n:
It is recommended to slow down at first, then speed up after the first-run is correct.
It is also available to adjust the speed under running state, and the speed adjustment takes effect when the next motion is
executed.
3. After the previous preparatory work is completed, click the button, and the program
will start to operate according to the points, actions and logic taught above. The operation
interface is shown as follows:
 Zhejiang Qianjiang Robot Co., Ltd

1.3.2 Pause(stop)
Attention:
The pause and stop of this system share one state, that is, when the stop key is pressed, the system is in the stop (pause) state.

Click the button again and the program will continue to run.
Switch the mode switch to the teach mode (TEACH), the program exits.

■ During the program running, if you need to pause (stop), please click the button , and the system will slow
down to stop the program running and robot action.
After stopping the program in this mode, all internal states, output ports, counters, variables, etc.

related to the program will be maintained. When starting again, click the button directly, and
the program will continue to execute normally. It is strongly recommended to use.

■ When switching the mode switch to the TEACH mode or the PLAY mode, the program is forcibly
stopped. In this case, the system will directly cut off the pulse, close the enable, and open the
braking, which will cause impact to the robot, it is not recommended to use.

1.3.3 Speed regulation, operation mode switching.

■ Speed regulating:

Click the override sliding bar to adjust the running speed. Display in the status bar: . In case
the system is running, the override adjustment will take effect when the next motion is executed.
■ When the program is running, switch the operation mode:

Currently in the PLAY mode, if the program is running, you need to use the stop key or key to
stop the program. The mode switch is then switched to the desired mode (TEACH mode or REMOTE mode).

1.3.4 Restart the system after stop

■ The operation mode is not changed, and it is still working in the PLAY mode.

In this mode, the program stops running by pressing the stop key or the button. The system
slows down and stops the program running, as well as the robot action. After stopping the program
in this mode, all internal states, output ports, counters, variables, etc. related to the program will be
maintained. When starting again, click the corresponding button directly, and the program will

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 continue to execute normally.
■ The operation mode is changed and switched to the TEACH mode.
1. Relevant parameters (require the manufacturer authority): <run preparation> - <run setting>
Parameter Parameter Paramet Descriptions:
category er value

Current line: when switching from the TEACH mode to the

Current
PLAY mode, and the system is in the continuous operation
Run Setting Initial position of line
mode, the program line designated by the program running
PLAY cursor in the TEACH mode is the current line.
First line: when switching from the TEACH mode to the
First line
PLAY mode, and the system is in the continuous operation
mode, the program running cursor jumps to the first line of
the program.

2.Start-up process of programs with different parameters.

When "Current Line" is set to <Initial position of PLAY> in <Run Setting>.
In the continuous operation mode, switch the operation mode switch to the PLAY mode, then click the button

, the program starts to run from the line where the cursor is in the TEACH mode. As shown in the following
Figure:

When "First Line" is set to <Initial position of PLAY> in <Run Setting>.

In the continuous operation mode, switch the operation mode switch to the PLAY mode, the cursor

automatically jumps to the first line of the program, click the button , and the program starts to run from the
first line. As shown in the following Figure:
 Zhejiang Qianjiang Robot Co., Ltd

Emergency stop
WARNING:
1. In automatic operation, if the robot is found to be working abnormally, the emergency stop
button should be pressed immediately.
2. After pressing the button of emergency stop, the current state of the machine may be abnormal.
Special attention shall be paid when resetting the machine alarm.

When the robot is in the PLAY mode, the program is in operation. After pressing the button of emergency
stop to stop the program. To start the robot operation again, follow the following steps:
1. First, check the robot body, tooling and fixture are under normal conditions. Ensure the program can continue to run.
2. Then rotate and release the emergency stop button, and turn on the servo motor.
3. Reduce the operation speed of PLAY, and switch the operation mode to single-segment operation
4. Press the operation key for several times to check whether the test program is abnormal.
5. After it is confirmed that there is no abnormality in the operation of the robot, the operation speed is increased and the
operation mode is switched to the continuous mode.
6. Click the program operation key, and the robot starts working.

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2 REMOTE MODE
2.1 Reserved operation mode

Reservation start-up refers to the function of running the programs of each tooling in the order
of reservation through the start-up button on each tooling. The following keys are not valid
when switching to reservation mode.
The <Run Forward> and <Program Stop> keys on the teach pendant.

Tooling 3

Program 3

2.1.1 Preparations

1. Relevant parameters ( manufacturer authority): <Process Menu> - <Remote/Reservation>

Parameter Parameter Parame Descriptions
category ter
value
This parameter sets the hold time required for the
remote/reservation start signal. The remote/reservation
Remote/Re Reservation 200 start signal requires a complete rising edge, a rising edge
servation response time holding time, and a falling edge to be effective.
Timely response of reservation stop signal is not
controlled by this parameter.
2. Operation program editing
It is necessary to complete the operation program editing of each station in the TEACH mode, and to test the
correctness of the specific program in the PLAY mode.
3. Preparation of robot working conditions
Check whether the robot fixture is ready and whether the products to be used are reasonable. When
testing the working program, please test it with all fixtures and products, and check whether the program,
products and fixtures can work normally.
Note: When a robot needs to interact with another robot or external device, be sure to reasonably handle the
logic, correlation and timeliness of each signal. Otherwise, the interaction may be abnormal, resulting in
equipment damage and personal injury accidents.

2.1.2 Call the program

1. Choose reservation mode

Click the <Process Menu> - <Remote/Reservation> to open the following interface, click the
<Remote/Reservation> option to switch up and down to select [Reservation mode].
 Zhejiang Qianjiang Robot Co., Ltd

2. Set the reservation working program

In the interface above, click <Add> after each station [program name] to pop up the program list, and select
the program name corresponding to the station. For example, the program name 145 corresponding to station 1,
the program name 927 corresponding to station 2, and the program name temp corresponding to station 3 (as
shown in the interface above). After the program is added, if you want to realize the reservation function of this
station, please perform the operation of reservation enable at first. When the reservation enable state is ,
the reservation function of this station is turned on; when the reservation enable state is , the reservation
function of this station is turned off.
Note: 1. The dialog box “Running Time” in the interface above refers to the total times of reservation; in
case this parameter is set to 0, it means no limit of times. In case this parameter is set to a value
greater than 0, it represents the total times of reservation. For example, set this parameter to 5,
then the station will not take effect after reservation for 5 times.
2. The not enabled reservation station may not enter the program name. The enabled reservation station must
enter the program name.
3. When a certain station does not need to work, the reservation of closing the station can be performed.
3. After the setting is completed, click <Save> and <Exit> to exit the setting.

2.1.3 Operation Reservation

2.1.3.1 Start-up Reservation

Descriptions

No matter the reservation program is running or not, if you close the opened reservation program
when switching to the TEACH mode, all reservation states are canceled; If you do not close the
opened reservation, the reservation states other than this program are canceled.
Switch the mode switch to the Reservation Mode (REMOTE).
After the station 1 is ready, press the station 1 reservation start button and hold it for a certain time, then
release the start button. Execution of the station working program begins at this time.
After the station 2 is ready, press the station 2 reservation start button and hold it for a certain time, then
release the start button. At this time, if the station robot works normally at another station, the station 2 enters the
queuing state.
After the station 3 is ready, press the station 3 reservation start button and hold it for a certain time, then
release the start button. At this time, if the station robot works normally at another station, the station 3 enters the
queuing state.

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 Attention
Note: when the system collects the reservation start-up signal, it needs to collect such three conditions as the
rising edge, the time length of electrical level, and the falling edge.

2.1.3.2 Cancellation of queuing reservation

If you want to cancel the reservation of a station in the queue state, please press and hold the reservation start
button, then release it, and the reservation state of the station is canceled.
If you want to make a reservation again, press and hold the reservation start button of this station, then release it. The
station enters the queue state.

2.1.3.3 Speed regulation of reservation mode

Speed adjustment shall be carried out after the program is stopped. Therefore, when speed adjustment is
required, press the stop button of the corresponding station to stop the operation of the robot, and then modify the
operation speed on the teach pendant.

2.1.3.4 Reservation mode pause/stop

Press the stop button of the running station to stop the robot.
Attention: Due to the time-delay problem, after pressing the stop button, the robot will not stop
immediately, so in case of emergency, please first press the emergency stop button instead of the stop
button.

2.1.3.5 Restart after the reservation is stopped

After the reservation operation is stopped, the robot fixture, station product, tooling and the like can be adjusted,
or the robot can be switched to the TEACH mode for adjustment. Attention: when the currently open
 Zhejiang Qianjiang Robot Co., Ltd

reservation program is closed, all the reservations in the queue will be cleared! After being switched to the
TEACH mode, when the program is not closed, the cursor shall be moved to the front of the program line to be
run when the start-up needs to be reserved again.
Switch to remote mode. Press and hold the reservation start button again, then release the button, and the program
starts to run from the line where the cursor is located. After completing the operation of the current station, it
continues to execute the subsequent queuing station.

Attention
If, in TEACH mode, the program is shut down, the reservation state is cleared, the restart is similar to the first
reservation run.

2.1.3.6 Reset and restart of reservation mode

When an alarm occurs, the robot stops moving, and the remote reset button can be used to reset the alarm state.

Or reset the alarm state by using the key on the teach pendant.
Restart after reset: A high level alarm will clear the servo motor power-on status. If you want to restart the

system, please press the key to reset the alarm state; after powering on the servo motor, press the station
operation button to run the program.

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 Chapter 4 Process Menu

Descriptions
This chapter mainly shows the interface and path related to each process, please refer to the Process
Manual for detailed process introduction!

1 Welding process
Based on the MIG/MAG, TIG welding process package interface, which has been developed at present, we
have integrated them into a whole. Among them, the TIG analog communication interface is applicable to all TIG
analog communication welding machine, and the digital communication interface is only applicable to the AOTAI
TIG welding machine.

Interface classification of arc welding function package

Welding machine management

Welding process: including all settings and functions related to welding, which are easy to manage and operate. There are six
sub-items: welding setup, welding machine management, laser tracking, arc swinging, arc tracking and contact searching.

1.1 Welding setting

Welding setting: all basic function settings related to welding, irrelevant to welding or all welding machine are
included in this item, and the parameter setup is valid for all welding machines and programs.

Click <Process Menu> - <Welding Process> - <Welding Setting> to open the welding setup interface:

The welding enable switch (whether the arc welding machine is turned on or off, and turn it off to conduct the
simulated welding) is used to simulate whether the welding program is valid or not.
The main interface is equipped with quick switch, which is convenient to switch at any time. When in the simulated
welding state, the program runs the welding command without arc start, without air supply or wire supply, but delivers
welding current, voltage and other parameters to facilitate observation of parameter setting, including current change of
 Zhejiang Qianjiang Robot Co., Ltd

welding section.

Arc breaking detection switch

It is used during the welding process to check whether the welding is continuing. The welding status signal and arc
start successfully signal of the McGmitt analog communication are a signal. In the entire welding process, if it is detected
that the welding status signal is invalid within the set time, it is considered that the welding is abnormal, and the system
performs abnormal processing.
Welding Machine State Switch
When it is valid, it is used to detect whether the welding machine is in the normal state; when the analog
communication welding machine does not support the state feedback of the welding machine, the setting is invalid, and this
guarantee system runs normally. Default invalid (not supported by the AOTAI welding machine).
Flying arc-starting switch
Set whether the flying arc-starting function is effective.
Arc re-starting switch
Only set whether the function is valid, and the calling file is set in the welding machine configuration.
Overlapping switch
Only set whether the function is valid, and the calling file is set in the welding machine configuration.
Arc breaking detection duration:
Set how long to confirm the arc breaking after the system detects it. Time：0.01-5.00S
Arc starting detection time:
Detect the time from the arc starting signal (welding machine arc starting signal) takes into effect to the time when the
system determines that the arc starting is successful or failed. If the arc starting work signal fails to take effect within the set
time, the system considers the arc starting failure Parameter: 0.0-9.9S, default parameter: 2.0S
Arc starting duration:
Set the time from detecting the arc starting signal takes into effect to the system determines that the arc starting is
successful. If the arc starting signal is still valid beyond the set time, it is considered that the arc starting signal is valid and
arc starting is successful. Parameter: 0.0-9.9S default parameter: 0.0S

Note: The detection time of arc starting shall be greater than the arc starting duration, otherwise the arc starting will

fail.

Standard robot welding time sequence

Time of wire feeding by jog:

Used to set the time of wire feeding by jog: Parameter：0.0-15.0S。

Time of wire withdrawal by jog

Used to set the time of wire withdrawal by jog: Parameter：0.0-15.0S。

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 Time of air supplying by jog:
Used to set the time of air supplying by jog: Parameter：0.0-15.0S。

At present, the following functions are not supported: (Estimated also not used) Simulated teaching: invalid

Safety door: invalid

When it is valid, the system will automatically enter the stop state after detecting that the safety door is opened,

so as to ensure the safety of the personnel entering the robot working area (during application, directly connect to the
system-specific IO).

Safety grating: invalid

Similar to the safety gate, the relevant signal is fed back to the robot system through IO signal, and the robot stops
running and gives corresponding prompt (during application, directly connect to the system-specific IO).

Cooling water detection: invalid

When welding with high current, the welding gun needs to be water-cooled. For the analogy communication welding
machine, it is unable to feedback the abnormal cooling water, it is necessary to connect the sensors (usually flow sensors) in
series in the cooling water circuit circulation. In case any trouble occurs to the cooling water circuit, the welding is stopped
after IO feedback the occurred trouble to the robot system. (during application, directly connect to the system-specific IO).
Protection gas detection: Invalid
Similar to the cooling water detection, the last gas detection of the system or manual gas detection of the welding
machine is only realized by the solenoid valve switch, and it is not possible to detect whether the gas flows or not.
Therefore, the air sensors are generally connected in series in the gas circuit according to the needs of the project, when no
gas flows through, the IO shall feedback this signal to the robot system, the welding is stopped (during application, directly
connect to the system-specific IO).

1.2 Welding machine management

Welding machine management: it is used to set welding machine profile and relevant parameters, and the profiles are
set with a unified interface. There is at least one welding machine configuration, otherwise the system shall remind that the
welding machine is not set. The feedback current-voltage profile of the analog welding machine is similar to the current-
voltage profile, but it does not have a valid switch.
Note: McGmitt analog communication welding machine has current and voltage feedback signal, but AOTAI analog
communication welding machine does not have. Currently, the feedback data configuration is not supported.
Click the <Process Menu> - <Welding Process> - <Welding Machine Management> to open the welding machine
management interface:
 Zhejiang Qianjiang Robot Co., Ltd

Welding machine modification: it is used to modify the profile and relevant parameter settings of the selected welding
machine.

Setting current: setting current welding machine. When the current welding machine is selected, some parameter
settings of the welding machine shall be sent before the welding start, or sent at the time of system startup, and the specific
parameters sent in advance will be indicated in the setting options.
Click <welding machine modification> to pop up the following interface:

Click <Welding machine setting>,

1. If the currently selected welding machine is MAG/MIG analog communication welding machine, the following interface
shall display:

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Click <Current Profile>, the interface is shown as follows

Click <Voltage Profile>, the interface is shown as follows

 Zhejiang Qianjiang Robot Co., Ltd

2. If the currently selected welding machine is QJ-350 welding machine, the following interface shall display:

Click the <Add> button,

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After completion of adding

3. If the currently selected welding machine is TIG analog communication welding machine, the following interface shall
display:
 Zhejiang Qianjiang Robot Co., Ltd

Click <Current Configuration Profile>, the interface is shown as follows

Click <Wire Feeding Profile>, the interface is shown as follows

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4. If the currently selected welding machine is AOTAI TIG digital communication welding machine, the following interface
shall display
 Zhejiang Qianjiang Robot Co., Ltd

Click <Condition File> in the above interface

1. If the currently selected welding machine are MAG/MIG analog communication welding machine and QJ-350 welding
machine, the following interface shall display:

Click <Welding Condition>, the interface is shown as follows

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 Welding conditions: mainly used to call the welding function and organize parameters in file form, thus it is
easy to manage and call. The file contains all the setup parameters required for normal start-up, including arc start,
welding, and arc end parameters.

Click <Overlap>, the interface is shown as follows

Overlapping conditions
Overlapping functions and principles
In the welding process, after the welding is interrupted due to some factors, when the interruption program is
executed again (the interrupted position is the welding section program), the welding gun shall retreat a certain
distance, restart the arc before the pause position, overlap the previous pass, and realize the weld transition.
 Zhejiang Qianjiang Robot Co., Ltd

The overlapping conditions are used to call the parameters after the overlapping function is unlocked and during
overlapping.

Note: the welding conditions used for the lapping function are executed according to the welding conditions of the arc start
command, and the welding speed is executed according to the original welding speed. After the welding is interrupted due
to an unexpected state, when the program is operated at the interruption program again, the welding gun needs to return to
the interruption point, and retreat a certain distance, the arc welding is started to complete the welding section.

Click <Arc Restriking>, the interface is shown as follows

Arc restarting conditions

Arc restarting principles
When the robot fails to start the arc at the beginning stage of welding, the robot automatically translates a
distance in the direction of the welding seam, re-starts the arc, and then returns to the arc starting point after the
arc re-starts successfully.

It is used to call the arc re-starting parameter after the arc re-starting function is unlocked.

2. If the currently selected welding machines are TIG analog communication welding machine and AOTAI TIG digital
welding machine, the following interface shall display:

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 Click <Welding Condition>,
（1） If the currently selected welding machine is TIG analog communication welding machine, the
following interface shall display:

Welding conditions: mainly used to call the welding function and organize parameters in file form, thus it
is easy to manage and call. The file contains all the setup parameters required for normal start-up, including arc
start, welding, and arc end parameters.

（2） If the currently selected welding machine is AOTAI TIG digital communication welding machine,
the following interface shall display：
 Zhejiang Qianjiang Robot Co., Ltd

Welding conditions: mainly used to call the welding function and organize parameters in file form, thus it is
easy to manage and call. The file contains all the setup parameters required for normal start-up, including arc
start, welding, and arc end parameters.

Click <Overlap>, the interface is shown as follows

Overlapping conditions
Overlapping functions and principles
In the welding process, after the welding is interrupted due to some factors, when the interruption program is
executed again (the interrupted position is the welding section program), the welding gun shall retreat a certain
distance, restart the arc before the pause position, overlap the previous pass, and realize the weld transition.

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 The overlapping conditions are used to call the parameters after the overlapping function is unlocked and during overlapping.

Note: the welding conditions used for the lapping function are executed according to the welding conditions of
the arc start command, and the welding speed is executed according to the original welding speed. In the welding
process, after the welding is interrupted due to some unexpected factors, when the interruption program is executed
again, the welding gun shall retreat a certain distance, restart the arc before the pause position, and complete the
welding section.

Click <Arc Restriking>, the interface is shown as follows

Arc restarting conditions

Arc restarting principles
When the robot fails to start the arc at the beginning stage of welding, the robot automatically translates a
distance in the direction of the welding seam, re-starts the arc, and then returns to the arc starting point after the
arc re-starts successfully.

It is used to call the arc re-starting parameter after the arc re-starting function is unlocked.

1.3 Laser tracking

In the laser tracking process, the laser tracking sensor is used to send back the coordinates of the welding
seam to the robot controller in real-time, and to guide the robot to track the welding seam when there is deviation
in the left-right direction and the up-down direction.
 Zhejiang Qianjiang Robot Co., Ltd

Click the <Process

Menu> - <Welding Process> - <Laser Tracking> to open the configuration interface of laser tracking
parameters:

Laser tracking process number: the calling file number for laser tracking
contains all laser tracking process parameters. Note: Describe the trace file to
facilitate call by the operator.

Click <Calibration Setting> in the sub-menu to open the following interface:

Calibration mode: currently, there is only one mode, namely, incremental mode.
X-axis direction: Forward, move to x-axis positive direction; reverse, move to x-axis negative direction.
Z-axis direction: Forward, move to z-axis positive
direction; reverse, move to z-axis negative direction.
Lead distance: Distance from laser line to welding wire
X-axis proportion: after multiplying the feedback value of the

laser tracker by the x-axis proportion to obtain the moving

distance, click <search setting> to open the following interface:

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 Search times: cumulative number of laser
tracking and searching for weld seam
Search interval: time interval for each weld
seam searching Search timeout: it is
determined that the searching exceeds the
specified time Search distance: Set the
searching distance
Search speed: the moving speed of the robot.
X search deviation distance: the value feedback by the laser tracker shall be compared with this value, in case the feedback
value is smaller than the value, it indicates that the search is successful.
Z search deviation distance: the value feedback by the laser tracker shall be compared with this value, in case the feedback
value is smaller than the value, it indicates that the search is successful.
X search accuracy: The laser feedback value is multiplied by this accuracy to obtain the moving distance of the robot.
Z search accuracy: The laser feedback value is multiplied by this accuracy to obtain the moving distance of the robot.

1.4 Arc swinging

Swing is a special function of arc welding. TIG and MAG swing have employed the same swinging method, thus it is no need
to develop it separately. The conventional swing function is mainly realized by the robot system, and has nothing to do with
the welding gun and welding machine (related to TCP).
Click the <Process Menu> - <Welding Process> - <Arc swinging> to open the configuration interface of
arc swinging parameters:
 Zhejiang Qianjiang Robot Co., Ltd

File number: it contains all configuration parameters of the

swinging arc, and is used to call the swinging arc
parameters. Note: The parameters file of swinging arc is
described, so as to be convenient for the operator to call.
Swing arc type: It can be set with four types: No swing, sin,
trapezoid and Z-shape Initial direction: Left, right
Other parameters
Swing frequency, left side swing, right side swing, intermediate dwell time, left side dwell time, right side dwell
time.

1.5 Arc tracking

Arc tracking is divided into two applications, the first is MIG/MAG current tracking, and the other is TIG voltage
tracking.

MIG/MAG current tracking

It is used for swing welding of fillet weld, plate V or U-groove weld.
Principle descriptions: MIG/MAG welding process adopts constant velocity wire feeding and power
supply level characteristic (power supply external characteristic), namely constant voltage power supply.
Therefore, when the welding current and voltage are set, the arc length (the distance from the end of the welding
wire to the work-piece) changes for some reasons, and the arc length becomes longer. Due to the characteristics of
the arc itself and the power supply, the voltage remains basically unchanged and the current becomes small. In case
the arc length becomes short and the voltage is constant, the current will increase, so according to this principle, it
can be determined whether the distance between the end of the welding wire and the work-piece becomes large or
small, the robot system compensates accord to this given track, and finally keeps the arc length constant, realize the
tracking of welding seam.

TIG voltage tracking

Principle descriptions: TIG is a kind of non-consumable gas shielded arc welding, the welding power
supply adopts constant current characteristic, therefore, when the arc length (the distance from the
tungsten terminal to the work-piece) changes for some reasons, the welding machine output current can
be kept unchanged, but the voltage vary and the arc voltage is linearly proportional to the arc growth, the
higher the voltage, the longer the arc. According to this principle, the change of arc length can be known
according to the change of feedback arc voltage, and the original arc length can be recovered by real-time
adjustment.
The setting interface of TIC arc tracking is same as the MIG/MAG, and the

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 main difference is that the current is changed to voltage. Click the <Process
Menu> - <Welding Process> - <Arc Tracking> to open the configuration
interface of arc tracking parameters:

File number: collect the arc tracking parameters, so as to

conduct arc tracking and call the commands 1-10. Note:
Describe the trace file to facilitate call by the operator.
Tracking parameter: current/voltage (matching with the welding machine, MIG/MAG welding machine
only tracks current, TIG welding machine only tracks voltage). Swing: Yes/No (it is preferable to use SIN
swing), and it shall be edited with the program. Current is default to Yes, and voltage is default to No.
Sampling time-delay: it refers to the time-delay after moving the welding gun and before starting the sampling, it includes the
initial value sampling.
Left-right compensation: valid/invalid, select the effective direction of compensation, and provide valid/invalid selection only
during yaw movement.
Up-down compensation: valid/invalid, select the effective direction of compensation (when swinging, basically
no up-down compensation is performed, if the compensation is valid, the middle of the sampling position is valid).
Compensation coordinate system: select the coordinate system for tracking compensation.

Left-right compensation coefficient: compensation coefficient in left-right direction.

Minimum compensation amount for left and right one time: If the compensation amount is
less than this value, the compensation will not be performed, the range is from 0.0 to
99.99,and the default value is 0.0. Maximum compensation amount for left and right one
time: maximum compensation amount of one time compensation.
Left-right accumulative maximum compensation amount: the accumulative maximum compensation amount in the left-right
direction.

Up-down compensation parameter: compensation coefficient in up-down direction.

When the user clicks the up-down compensation parameter, the interface will be switched to the follow:
 Zhejiang Qianjiang Robot Co., Ltd

Up-down compensation coefficient: compensation coefficient in up-down direction.

Minimum up-down compensation amount (one time): If the compensation amount is less
than this value, the compensation will not be performed, the range is from 0.0 to 99.99,and
the default value is 0.0mm. Up-down maximum compensation amount (one time):
maximum compensation amount of one time. The range is from 0.0 to 999.99,and the
default value is 1mm.

Up-down accumulative maximum compensation amount: the accumulative maximum compensation amount in the up-
down direction. The range is from 0.0 to 999.99,and the default value is 600mm.
Sampling time: this item is valid only when the swing is invalid. If the swing is valid, the sampling period is
equal to the swing period, that is 0.0 ~ 99.99S, and the default value is 0.5S. Tracking reference: program
value/feedback /set value, select the reference of tracking, the program value is the welding parameter value in
Arc Strat command, and the feedback value is the average value of sampling time of welding gun movement
feedback value after welding starts. The set value is entered manually.
Sampling time of feedback value: the sampling time after the welding gun starts
moving, the range is 0.00 ~ 9.99S, and the default value is 0.01s.

1.6 Touch offset

Touch offset function: a function that automatically changes the path of a robot to compensate for
a positional deviation of a work-piece. Applied to the work-piece with the same size, but the
fixture positioning of the work-piece is deviated.

To correctly use the touch offset function, the following settings are required:
1. Try to correctly set the robot TCP (accuracy meets the requirements of work-piece size).
2. Set the touch offset function to valid state. Set the touch offset IO (the digital communication bit of the welding
machine).
3. Set the searched IO signal of touch offset function.

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Click the <Process Menu> - <Welding Process> - <Touch Offset> to open the configuration interface of touch offset
parameters:

File number: Called file number for touch offset conditions, including all touch offset parameters.
Seek flag: When valid, it is used to determine the initial position of the work-
piece. When invalid, it is used to conduct the touch offset operation. Sensor signal:
Not added yet
Stored coordinate system: used to determine the search direction of touch offset.
Touch offset type: used to determine the dimensions and manner of search. 1D, 2D, and 3D are deviations of work-
piece translation,1D + rotation, 2D + rotation, 3D + rotation, it is the deviation of work-piece translation + rotation.
Search speed: the moving speed of the welding gun during searching.
Search distance: if the search distance is exceeded, the system considers the position searching is failed.
Return speed: the speed at which the welding gun returns to the direction of
the search starting point after the touch offset signal is valid. Return distance:
the distance at which the welding gun returns to the starting point.
Beyond the deviation range: set the deviation range between the search point and the flag mark. If it is out of range, the
system will prompt that the deviation of the work-piece is too large.

Default value: Set a group of default

basic parameters Save: Save the
setting value

Switch the sub-menu to information interface of flag position, and open the following interface:
 Zhejiang Qianjiang Robot Co., Ltd

Press X1: The flag points x, y, z, a, b, c of X1 and the

searching points x, y, z, a, b, c are displayed. X2-Z3 adopts
the same operation method to display the relevant
information.
Edit: Click this button to manually edit the coordinate values of
selected flag point and searching point Save: Used in conjunction
with the Edit button to save manually modified values.

Switch the sub-menu to the information interface of offset point, and open the following interface:

Offset point information: DX, DY, DZ, DA, DB, DC Display the deviation value of flag point and searching point: x, y,
z, a, b, c

2 PLC
2.1 PLC function description

We have designed the software PLC function for the BOQIANG industrial robot controller system.
According to the resources such as system programmable IO, timer and count, the IO of the management system
can be processed by logic judgment, timer and count. Realize the detection and control of the input and output
ports.

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 Indicators of PLC:
Editing method: Ladder diagram
Program capacity: 10000
Execution period: 1ms
Execution mode: cycling

Basic symbols for ladder diagrams

No. Symbol name Symbolic graphics Descriptions:

1 Normally On contacts Normally On contacts for each
component (relay)

2 Normally Off contacts Normally Off contacts for each

component (relay)

3 Direct output coil Coil of each element (relay)

4 Set output coil Coil of each element (relay) (set and

hold)

5 Reset output coil Coil of each element (relay) (reset and

hold)

6 Horizontal connection Used to horizontally connect the

contacts and coils of various elements

7 Vertical connection Used to vertically connect the contacts

and coils of various elements

8 Timer Realize the system timing function.

9 Counter Realize the system counting function.

2.2 Element detailed description

2.2.1 Normally On and Off contacts

When the relay is input, the system PLC receives the externally input switching signal. The signal is input
in the circuit introducing system from external components such as button, conversion switch, limit switch, or
digital switch. The PLC can be programmed with the normally On and normally Off contacts of the appliance
and can be used for many times.

2.2.2 Output coil

An element in which the system PLC sends signals to external load when the coil is output.

2.2.3 Timer
 Zhejiang Qianjiang Robot Co., Ltd

For the time in this system, there are three working modes:
TON：When the input is invalid, the output immediately becomes invalid, and the count value becomes 0.
When the input becomes valid, the output becomes valid after the set specified time, after which the output
remains valid and the count value remains unchanged.

TOF：When the input is valid, the output immediately becomes valid, the count value becomes 0. When
the input becomes invalid, after the set specified time, the output becomes invalid, and the count value becomes
0.
TP：When the input is invalid, the output immediately becomes invalid. When the input becomes valid, the
output becomes valid immediately, and after the set specified time, the output becomes invalid again, and the
count value becomes 0.
Timer number: 0-9

2.2.4 Counter

The elements of the counter is shown in the following figure.

This is the editing interface of

the counter element.
Working Principle:
Signal R: Counter reset signal, all outputs E, D, F are invalid.

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 Signal P: The counter counts directly to the set count value signal, the D signal output is valid, and
E and F are invalid. In this way, the signal is kept valid all the time, and the counter will be kept in the state of
being recorded to the set value. The signals of zero clearing, addition and subtraction are invalid. Please pay
special attention when using them.
Signal U: Plus signal of counter When this signal changes from valid to invalid, the current count
value is incremented by one, and when the count reaches the set count value, the D signal output is
valid, and E, F are invalid. When the count value reaches 9999, and count up is performed again, the count
overflows, the count value becomes 0,
the E signal is valid and the D and F signals are invalid.
Signal D at the left of the element: minus signal of counter When this signal changes from valid to
invalid, the current count value is decremented by one, and when the count reaches the set count value,
the D signal output is valid, and E, F are invalid. When the count value is equal to 0, the minus signal
is executed again, the count value underflowing to 9999. The E signal is valid and the E and D signals are
invalid.
Signal E: Counter overflow signal.
Signal D at the right of the element: no matter the count value is over or below the set
value, this signal output is valid. Signal F: Counter underflow signal.
Counter number range: 0-9
Counter value range: 0-9999

2.3 Editing of PLC Ladder Diagram

Select [Main menu] - > Process - > PLC file editing, and start the PLC editing function.

At the bottom of the screen are all the elements supported by the system. At the right side of the screen are editing
and running functions.

2.3.1 New file

After the system starts, a new segment must be inserted before the component can be inserted. Click “Insert
new segment”, click any position in the new segment, select the cell, and then select the element at the bottom of
the screen to pop up a new element. As shown in the following figure:
 Zhejiang Qianjiang Robot Co., Ltd

The above illustration shows the insertion of a timer. Enter the timer number (1-10), time unit, initial count
value and timing mode, and click OK. Other elements are inserted by the same method.

This is an example of an edited PLC file.

2.3.2 Element Edit

Select an element in the grid, click “Element Edit”, the editing interface of the element pops up, you can
select to modify the element parameters, or you can modify the element type.

2.3.3 Element Delete

Select an element in the grid, click [Delete element], the operation confirmation dialog box will pop up,
click [OK] to delete the element, click [Cancel] to cancel this operation.

2.3.4 Delete current segment

Select an element in the current segment, click [Delete segment], the operation confirmation dialog box will
pop up, click [OK] to delete the segment, click [Cancel] to cancel this operation.

2.3.5 Reset current segment

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 Select an element in any grid of the current segment, click “Reset Segment”, the operation confirmation
dialog box will pop up, click “OK” to delete all elements in the segment and keep the grid of the current segment,
click Cancel to cancel this operation.

2.3.6 New Program

Click "New program" to pop up the operation confirmation dialog box, click "OK" to abandon all
operations of the last saving of the current file, and create a new file. Click “Cancel” to cancel this operation.

2.3.7 [Saved as]

Save the current PLC file as another file. Click "Saved as" to pop up the new file name input window, enter
the new file name and click "OK,", the operation is completed successfully. Click “Cancel” to cancel this
operation.

2.3.8 [File management]

Click “File Management”, and the following file management dialog box will pop up.

By employing this button, you can complete such operations as open file, copy file, delete file, rename the selected
file, etc.

2.3.9 Save file

Perform a save operation to the file that is currently being edited.

2.4 Operation of PLC file

Remember, before running the PLC program, make sure to save the current file, otherwise the PLC file in
the system may be inconsistent with the document being edited, and the output result is not expected. Operation
Steps:
1. First, click “Save” to save the file.
2. Click “Add” to add a new file.
3. Click “Run” to
operate the
programs in
the file. As
shown in the
following
figure:
 Zhejiang Qianjiang Robot Co., Ltd

The orange element indicates that the element is in the valid state and the blue element indicates that the
element is in the invalid state. No matter the timer and counter are invalid or invalid state, the corresponding
color is blue.
Click “Stop” to return to the edit mode. The system will refresh according to the real-time state of the element.

3 Background program
3.1 Function descriptions of background program

We have designed the background program function for this system. According to the programmable I/O,
timer and other resources of the system, all I/O interfaces of the system can be managed, as well as conduct the
logic judgment, counting, etc. Thus the detection of the input port and the control of the output port, as well as
the data exchange with the system core are realized.
Note: The execution mode of background program is cycle execution.

3.2 Preparations

3.2.1 Operation program editing

It is necessary to open the background program list file in the TEACH mode, edit the working program
in the opened program editing interface, and test the correctness of the program in the PLAY mode.
Note: The background program does not allow to input the motion commands.

3.2.2 Call the program

3.2.2.1 Set the reservation working program

Click the <Process Menu> - <Background Program Management> to open the following interface.

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 In the above interface, click the <Add> button, which is located behind the [program name] of each
background program, and the program list pops up. Then select the program name corresponding to the program
number. For example, the program name iotest is corresponding to background program 1 in the figure above.
After the program is added, if you want to realize the background execution function, please perform the enable
operation at first. When the enable state is , the background execution function is turned on; when the
enable state is , the background execution function is turned off. The user can set the starting mode and
starting position of background files.
Descriptions: 1. The not enabled background program may not enter the program name. The enabled background program
must enter the program name.
2. When a background program does not need to work, the reservation of the station can be closed.
4 Remote/Reservation
Please refer to the Chapter 3 PLAY & REMOTE for the detailed information of remote process.
 Zhejiang Qianjiang Robot Co., Ltd

Chapter 5 Monitoring
Monitoring function is mainly used to observe the robot, as well as check the current working status and
data. The system can monitor the following items: coordinate, time, running speed, motor, IO port, software
status, reservation status, system log.
When the monitoring button is clicked, the monitoring window
is displayed in the general display area. All contents related to
the monitoring are described in detail below.

1 Coordinate
The monitoring coordinates are mainly used for monitoring coordinate data, the specific monitoring
data are: joint coordinates, rectangular coordinates, tool coordinates, user coordinates, program
point coordinates, current tool and current user.

1.1 Joint coordinates

Click <monitoring> - <coordinate> - <joint coordinates>, or open it on another coordinate monitoring

interface, click <joint coordinates> in the sub-menu area of the screen, and the following interface will pop up.

Below [joint coordinates] in the monitoring area

Data subsequent to the J1-J6 lines are angle data corresponding to
the axes. Unit: degree（°） EXJ7-EXJ9 lines are the angle data of
additional axis. Unit: degree（°）
When setting the soft limit, the reference data is the joint coordinate.
When the monitoring area is in focus state, click the <Close> button in the sub-menu area to exit the monitoring
window.

1.2 Rectangular coordinates

Click <monitoring> - <coordinate> - <rectangular coordinates>, or open it on another coordinate

monitoring interface, click <joint coordinates> in the sub-menu area of the screen, and the following interface
will pop up.

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 Below [joint coordinates] in the monitoring area：
The data after X, Y and Z are rectangular coordinates data of the current point of the robot. Unit: mm.
The data after A, B and C are gesture data of the current point of the robot. Unit: degree（°）
When the monitoring area is in focus state, click the <Close> button in the sub-menu area to exit the monitoring
window.

1.3 Tool coordinates

Click <monitoring> - <coordinate> - <tool coordinates>, or open it on another coordinate monitoring

interface, click <tool coordinates> in the sub-menu area of the screen, and the following interface will pop up.

Below [tool coordinates] in the monitoring area：

The data after X, Y and Z are tool coordinates data of the current point of the robot. Unit: mm.
The data after A, B and C are gesture data of the current point of the robot. Unit: degree（°）
When the monitoring area is in focus state, click the <Close> button in the sub-menu area to exit the monitoring
window.

1.4 User coordinates

Click <monitoring> - <coordinate> - <user coordinates>, or open it on another coordinate monitoring

interface, click <user coordinates> in the sub-menu area of the screen, and the following interface will pop up.
 Zhejiang Qianjiang Robot Co., Ltd

Below [user coordinates] in the monitoring area：

The data after X, Y and Z are tool coordinates data of the current point of the robot. Unit: mm.
The data after N, O and A are the current gesture data of the robot. Unit: degree（°）
When the monitoring area is in focus state, click the <Close> button in the sub-menu area to exit the monitoring
window.

1.5 Program point coordinates

Click <monitoring> - <coordinate> - <program point coordinates>, or open it on another coordinate

monitoring interface, click <program point coordinates> in the sub-menu area of the screen, and the following
interface will pop up.

In the monitoring area of above figure, the corresponding coordinates of the current program line are
displayed, and the program editing interface is displayed on the left side. When moves the cursor to the motion
command line, the coordinates of the corresponding point in the line will be displayed below the [program point
coordinates] on the right side of the screen. Below the [Program point coordinates]：
The data behind the axes J1, J2, J3, J4, J5, J6, are the joint coordinates data of this point, and the unit is: Degree (°).
The data after X Y and Z are rectangular coordinates data of the this point. Unit: mm.
The data after A, B and C are the gesture data corresponding to the point, and the unit is: Degree (°).
The number after [tool] is the tool coordinates number used at the current point.
The number after [User] is the user coordinates number used by the current point.
When the monitoring area is in focus state, click the <Close> button in the sub-menu area to exit the monitoring
window.

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2 Time
Click <monitoring> - <time> to pop up the following interface.

[Total Hours]: the total running time of the system from installation to now. Required display format: XX days, XX
hours and XX minutes
[Running time of the day]: it refers to the running time of the day. Required display format: XX hours and XX minutes
[Run file]: The file name of the last running.
[File Run Time]: it refers to the last running time of the program.
[Number of file runs]: it refers to the total number of programs currently executed in PLAY mode.

3 Motor
3.1 Command Position

Click the <Monitoring> - <Motor> - < Command Position>, or open it on another coordinate monitoring
interface, click <command> in the sub-menu area of the screen, and the following interface will pop up.

Below [Command position] in the monitoring area：

J1-J6: Display the current commanded
 Zhejiang Qianjiang Robot Co., Ltd

position data of joints 1 to 6. J7-J8: Display

the command position data of external axis.
When the focus is located in the monitoring area, click the <command position>, <feedback position>, <motor
speed> and <out-of-tolerance position> buttons in the sub-menu area to pop up the corresponding monitoring
interface.
Click the <Close> button to close the monitoring interface.

3.2 Feedback position

Click <Monitoring> - <Motor> - <Feedback Position>, or when the motor-related monitoring interface is
opened, click <Feedback Position> button in the sub-menu area, and the following interface will pop up.

Below [Command position] of the monitoring area：

J1-J6： Display the real-time feedback data of joints 1 to 6.
When the focus is located in the monitoring area, click the <command position>, <feedback position>, <motor
speed> and <deviation position> buttons in the sub-menu area to pop up the corresponding monitoring interface.
Click the <Close> button to close the monitoring interface

3.3 Motor speed

This speed is the real-time speed of the servo motor, and since the data refresh is slow, there is a difference
between the checked data and the actual data of the motor. Click <Monitoring> - <Motor> - <Motor Speed> or
click <Motor Speed> in the sub-menu area when the motor-related monitoring interface is opened,
and pop up the following interface.

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 Below [motor speed] of the monitoring area：
Axis J1-J6: Shows current [instantaneous] motor speed and maximum speed of 1-6 joints,
the unit is revolutions per minute. EXJ7-EXJ8: Displays the current [instantaneous] motor
speed and [maximum value] of the speed of the external axis, the unit is revolutions per
minute.
When the focus is located in the monitoring area, click the <command position>, <feedback position>, <motor
speed> and <out-of-tolerance position> buttons in the sub-menu area to pop up the corresponding monitoring
interface.
Click the <Close> button to close the monitoring interface.

3.4 Deviation position

This monitoring interface is used to monitor the deviation value between the actual position of the motor and
the theoretical position of the system during the automatic running program of the robot in the PLAY or REMOTE
mode.
Click <Monitoring> - <Motor> - <Deviation Position>, or when the motor-related monitoring interface is
opened, click the <Deviation Position> button in the sub-menu area, and the following interface will pop up.

Below [Deviation position] of the monitoring area：

Command position: refers to the theoretical pulse value issued by each axis.
Feedback position: Refers to the feedback value of actual position of each axis motor.
 Zhejiang Qianjiang Robot Co., Ltd

Deviation position: refers to the deviation between the

theoretical value and the actual value of each axis.
Maximum value: The maximum value of deviation of each
axis after the robot starts operation.
When the focus is located in the monitoring area, click the <command position>, <feedback position>,
<motor speed> and <deviation position> buttons in the sub-menu area to pop up the corresponding monitoring
interface.
Click the <Close> button to close the monitoring interface.

4 IO interface
4.1 Digital input

Digital input monitoring is mainly used to monitor the input status of general-purpose input interfaces X01-X27.
When the input port is valid, the corresponding indicator becomes , otherwise .
Click <monitoring> - <IO interface> - <digital input>, or when the IO monitoring area is opened, click <number input>
in the sub-menu area, and the following interface will pop up.

When the focus is located in the monitoring area, click <digital input>, <digital output>, <input analog>
and <output analog> in the sub-menu area to pop up the corresponding monitoring interface.
Click the <Edit Comments> button to specify the selected variable.

4.2 Digital output

Digital output monitoring is mainly used to monitor the output status of general-purpose output interfaces Y01-Y13.
When the input interface is valid, the corresponding indicator
becomes , otherwise .

Click <Monitoring> - <IO Interface> - <Digital Output>, or when the IO monitoring area is opened, click
<Digital Output> in the sub-menu area, and the following interface will pop up.

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 For the IO variables with "unused" status in the list, use the key in the sub-menu to change the
output interface status and test the output interface action.

When the focus is located in the monitoring area, click <general input>, <general output>, <input analog> and
<output analog> in the sub-menu area to pop up the corresponding monitoring interface.
Click the <Edit Comments> button to specify the selected variable.

4.3 Input analog

The input analog monitoring is mainly used to monitor the current input analog value of the analog input interfaces AI1-AI4,
the unit is V.
Click <Monitoring> - <IO interface> - <Input analog>, or when the IO monitoring area is opened, click
<Input analog> in the sub-menu area, and the following interface will pop up.

When the focus is located in the monitoring area, click <general input>, <general output>, <input analog> and
<output analog> in the sub-menu area to pop up the corresponding monitoring interface.
Click the <Edit Comments> button to specify the selected variable.

4.4 Output analog

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The output analog monitoring is mainly used to monitor the current output analog value of the analog output interfaces AO1-
AO4, the unit is V.
Click <Monitoring> - <IO interface> - <Output analog>, or when the IO monitoring area is opened, click
<Output analog> in the sub-menu area, and the following interface will pop up.

The output value of the analog output interface can be modified; select the analog output interface to be

modified, click the button , and the following window will pop up:

Input the required output value, and click to complete the modification.
When the focus is located in the monitoring area, click <general input>, <general output>, <input analog> and
<output analog> in the sub-menu area to pop up the corresponding monitoring interface.
Click the <Edit Comments> button to specify the selected variable.

5 Reservation status
This monitoring interface is mainly used to display the program corresponding to the station, the status of
reservation, the quantity of actual production and the quantity information of distribution under the reservation
state of the robot.

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 Click <Monitoring> - < Reservation status> to pop up the following interface.

It is used to cancel the reservation status of all reserved stations, and continue
to execute the currently operated program until the end.

Use this key to clear the production number of all stations.

Click the <Close> button in the sub-menu to exit the monitoring interface.

6 System log
Function description:
The log information of alarm, warning and operation information
can be displayed or classified as a whole. It is available to select a
single log to check the log details.
You can retrieve and check the historical log information by date.
Click <monitoring> - <system log> to pop up the following interface.

Click the <Close> button in the sub-menu to exit this monitoring interface.
 Zhejiang Qianjiang Robot Co., Ltd

7 <Variable Setting>
The system variables include: Local LP variables (position variables, used by individual program) and
global VA variables (floating point variables, used by all programs). How to open the variable monitoring
interface:
Click the <monitoring> - <variable setting> to select the variable to be opened.

7.1 VA Setting

This monitoring interface is mainly used to monitor the value of global variable VA. VA
variable range of the system: VA00-VA99. Click <Monitoring> - <Variable Setting> -
<VA Setting> to pop up the following interface.

The value in the data column in the monitor interface is the current value of the corresponding variable.
If this value needs to be adjusted, Please click the sub-menu area <Modify value>, and the window will pop up as
follows:

Enter the modified data, and click the <Modify> button according to the prompt of the pop-up interface,
then confirm the modification operation. You can also click <cancel> key to cancel the modification. Click
the <Close> button in the Menu area to close the monitoring interface.

7.2 Modify temporary position information

This monitoring interface is mainly used to monitor the usage status of local position LP variables. If the open program does not
add an LP variable, there is no LP display in the local P variable monitoring interface.
When the LP variable is added to the open program, the LP variable is displayed on the local P variable monitoring
interface. The figure is shown as follows:
Click <Monitoring> - <Variable setting> - <Modify temporary position information> to pop up the following interface.

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If the program does not use the LP variable, there is no LP display in the monitoring area.

When the LP variable is added to the program, the LP

variable is displayed in the monitoring interface. LP
variable range of the system: LP0-LP999.
In the sub-menu area, the keys are used by the following method:
1. Each time this button is clicked, one LP variable is added to the point list, and the start sequence number of the added variable
is LP0.

2. Delete the LP variable selected in the point list.

3. <Run to Specified Point>: First, move the cursor to the LP variable number already recorded, press and hold the
sub-menu area <Run to Specified Point>, and press and hold the <Safety Switch> at the same time, the robot will
move to the position recorded by the LP variable point.
4. < Record Point >: Move the cursor to the LP variable number to be recorded, press and hold the < Safety
Switch >, use the coordinate move key to move the robot to the desired position. Then click the <record point> in the
sub-menu, and the current position of the robot will be recorded in the selected variable number.
5. < Manual modification >: Move the cursor to the LP variable number of the recorded data, click the "Manual
modification" button in the sub-menu area, and the data in the "current point information" column will change from
the gray non-editable state to the black editable state. Select the data box corresponding to the axis to be modified,
enter the modified data, and click "Save manually" in the sub-menu area to confirm the modification operation.
WARNING
 Zhejiang Qianjiang Robot Co., Ltd

It is recommended that the modified data should not have too much difference from the original one.
Otherwise, the amplitude of the robot movement will be very large and an accident may occur!
5. <Save Manually>: it is used in pairs with < Modify Manually>, and used for modification of LP variable point information.
6. <Copy Point>: Move the cursor to the LP variable number to be copied, click <Copy Point> in the sub-menu area,
then move the cursor to the LP variable number to be changed, and click <Paste Point> in the sub-menu area. The
point of the currently selected LP variable becomes the duplicate variable point.
7. <Paste Point >: it is used in pairs with <Copy Point > , and used to copy point information for one LP variable to another LP
variable.
8. Click the <Exit> button to close the temporary point information modification interface.

7.3 Global Point Editing

This monitoring interface is mainly used to monitor the usage status of

global position LP variables. The figure is shown as follows: Click
<Monitoring> - <Variable setting> - <Global position editing> to pop
up the following interface.

This system preset 100 GP variables. The GP variable range: GP0-GP99, this variable is global variable,
all programs share this variable. In the sub-menu area, the keys are used by the following method:
1. : Click this button to reset and clear the position data saved by all GP variables in the point list.
2. : Delete the position data of GP variable selected in the point list Data.
3. First, move the cursor to the GP variable that has been recorded, press and hold this button, and press
and hold the <safety switch>. In this case, the robot will move to the position recorded by this GP variable.
4. : Move the cursor to the LP variable number to be recorded, press and hold the < Safety Switch >,
use the coordinate move keys to move the robot to the desired position. Then click the <record point> in the
sub-menu, and the current position of the robot will be recorded in the selected variable number.
5. : Move the cursor to the LP variable number of the recorded data, click the "Manual modification"
button in the sub-menu area, and the data in the "current point information” column will change from the
gray non-editable state to the black editable state. Select the data box corresponding to the axis to be
modified, enter the modified data, and click "Save manually" in the sub-menu area to confirm the
modification operation.
6. This button can be used in two methods. It can be used to record the current position, move the
cursor to the GP variable to be recorded, press and hold the < Safety Switch >, use the coordinate move keys
to move the robot to the desired position. Then click this button, the current position of the robot will be
recorded in the selected variable number. It can also be used to save the modified value of GP variable. After
editing the coordinate of selected GP variable, click this button to save it.

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 7. After clicking this button, the selected GP variable coordinate box is activated, and the data can be
edited and modified.
8. If the selected GP variable is in the calibrated state, click this button to pop up the setting interface,
and the space point position can be shifted at the original recorded position (except the recorded point is the
joint coordinate).

8 Welding machine monitoring

8.1 Input/output status of welding

The input and output status monitoring of welding machine is mainly used to monitor the status of wire
return signal, air supply signal, arc start signal, wire feed signal, arc start success signal, welding current and
voltage of welding machine.
Click the <monitoring window> - <welding machine monitoring> - < welding machine input and output status> to pop up
the following interface.

Click the <Close> button in the sub-menu to exit the monitoring interface.

8.2 Welding time

The time monitoring of welding machine is mainly used to monitor the welding
time, total running time and duty cycle of welding machine. Click the
<monitoring> - <welding machine monitoring> - <welding time> to pop up the
following interface.
 Zhejiang Qianjiang Robot Co., Ltd

Click the <Close> button in the sub-menu to exit the monitoring interface.

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 Chapter 6 File Operation

The file operation is mainly used for the interaction between the U disk and the system. Such as software upgrade,
parameter backup, data import and export.
After the debugging of the new equipment is completed, it is suggested to back up the parameters of the equipment
with OTB (One Touch Backup) in case of unexpected need. Meanwhile, in case any trouble occurs to the system, the
customer could conduct one touch backup to the system data, and send it to the company for analysis and processing.
In this Chapter, "*" indicates the U disk character.
Premise:
1. Prepare one U-disk, which can be identified by the computer and suffers the treatment of formatting, ensure its
remaining storage space is equal to or more than 20M.
2. When any file needs to be read into the system, the path and file name of the corresponding file shall be accurate.

1 Save the file to U-disk

1.1 Parameter saved to U-disk

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <File Saved to U-disk> -
<Parameter Saved to U-Disk>.
System parameters are saved in the form of tar under the root directory(*:\ ini. Tar) of U-disk, and the information
prompt area will prompt that the profile is copied successfully.

WARNING
The system parameters are the core parameters of the equipment, and the backed-up data shall not be
modified by themselves, otherwise the data may be deranged and an accident may occur.
If the prompt message of U-disk insertion does not appear in the information prompt area, it means that the U-disk is
not inserted or the U-disk is not recognized, the operation of folder copy is invalid at this time
. If anyone fails to copy the parameter folder, the information prompt area prompts that the U disk is not inserted or
recognized.

1.2 User program saved to U-disk

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <File Saved to U-disk> - <User
Program Saved to U-Disk>.
The user program shall be saved in the form of tar under the root directory(*:\motion.tar) of U-disk, and the
information prompt area will prompt that the user program is copied successfully.
WARN
ING:
ROBOT folder contains a lot of system-related data, please do not modify or delete
If therelevant contentsofif
prompt message you do
U-disk not understand
insertion it. in the information prompt area, it means that the U-disk is
does not appear
not inserted or the U-disk is not recognized, the operation of folder copy is invalid at this time
. If anyone fails to copy the user program, the information prompt area prompts that the U disk is not inserted or
recognized.

1.3 System PLC saved to U-disk

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <File Saved to U-disk> - < System
PLC Saved to U-Disk>.
System PLC shall be saved in the form of tar under the root directory（*:\plc.tar）of U-disk, and the information
 Zhejiang Qianjiang Robot Co., Ltd

prompt area will prompt that the system PLC is copied successfully.
If the prompt message of U-disk insertion does not appear in the information prompt area, it means that the U-disk is
not inserted or the U-disk is not recognized, the operation of folder copy is invalid at this time
. If anyone fails to copy the System PLC folder, the information prompt area prompts that the U disk is not inserted or
recognized.

1.4 Operation data saved to U-Disk

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <File Saved to U-disk> -
<Operation Data Saved to U-Disk>.
Operation data shall be saved in the form of tar under the root directory（*:\data.tar) of U-disk, and the information
prompt area will prompt that the operation data are copied successfully.
If the prompt message of U-disk insertion does not appear in the information prompt area, it means that the U-disk is
not inserted or the U-disk is not recognized, the operation of folder copy is invalid at this time
. If anyone fails to copy the operation data folder, the information prompt area prompts that the U disk is not inserted
or recognized.

1.5 System log saved to U-disk

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <File Saved to U-disk> - <System
Log Saved to U-Disk>.
The system log shall be saved in the form of tar under the root directory（*:\log.tar) of U-disk, and the information
prompt area will prompt that the system log is copied successfully.
If the prompt message of U-disk insertion does not appear in the information prompt area, it means that the U-disk is
not inserted or the U-disk is not recognized, the operation of folder copy is invalid at this time
. If anyone fails to copy the system log folder, the information prompt area prompts that the U disk is not inserted or
recognized.

1.6 Backup System

The backup system can back up the system to the U-disk. When anyone needs to restore the data, the person in
question can use the <Read-in System> function to read the data in the system.
In case any trouble occurs to the system, the customer could also conduct one touch backup to the system data, and
send it to us. Our company may use the above data to restore the user's system conditions to help the user deal with the
suffered difficulties or problems.
Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <File Saved to U-disk> - <Backup
System>. The relevant files shall be saved to the root directory（*:\) of U-disk, and the information prompt area will
prompt: successful backup of controller system and successful backup of teach pendant system
If the prompt message of U-disk insertion does not appear in the information prompt area, it means that the U-disk is
not inserted or the U-disk is not recognized, the operation of folder copy is invalid at this time When the operation of
backup system fails, the information prompt area will prompt that the U-disk is not inserted or recognized.
WARNING
1. It is strongly recommended to back up the system after debugging is completed.
2. The backed up file consists of two tar packs. As shown in the following figure:

1.7 (One Touch Backup)

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 One touch backup means that parameters, user program, system PLC, operation data, system log and system are
uniformly backed up to the U-disk. Insert the U-disk into the USB interface of teach pendant. Click <File Operation> -
<File Saved to U-disk> - <OTB>.
The backup parameters, user program, system PLC, operation data, system log, controller system and teach pendant
system will be saved respectively to the U disk root directory *:\ ini.tar, *:\ motion.tar, *:\ plc .tar, *:\ data.tar, *:\ log.tar, *:\
control _ update .tar,and *:\ teach _ update .tar. in the form of tar.
If the prompt message of U-disk insertion does not appear in the information prompt area, it means that the U-disk is
not inserted or the U-disk is not recognized, the operation of folder copy is invalid at this time If anyone fails to copy the
system log folder, the information prompt area prompts that the U disk is not inserted or recognized.

2 Read-in from U-disk

2.1 Parameters read into system

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <Read-in from U-disk> -
<Parameters read into system>.
If the operation is successful, the file (*:\ ini. tar) in the root directory of the U-disk will be read into the system and
the previous parameters will be overwritten, and the information prompt area will prompt that the profile is successfully
updated.

WARNING

1. The system parameters are the core parameters of the equipment, when the read-in parameters are wrong,
the equipment will run abnormally, which will cause an accident. Please be careful!
2. The zero position data of the robot is also in the parameter file, please make sure that the read-in
parameters are consistent with the equipment. Otherwise, the robot's zero position will be changed. Please be
careful!
If the U-disk is not inserted and the U disk is not recognized, the message prompt area prompt that the U-disk is not
inserted or recognized.
If the path of the parameter file is incorrect (*:\ ini. tar) or the file does not exist, the information prompt area will
prompt that the file does not exist.

2.2 User program read into system

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <Read-in from U-disk> - <User
program read into system>.
If the operation is successful, the file in the root directory (*:\ motion. tar) of the U-disk will be read into the system
and the previous user program will be overwritten, and the information prompt area will prompt that the user program is
successfully updated.

If the U-disk is not inserted and the U disk is not recognized, the message prompt area prompt that the U-disk is not
inserted or recognized.
If the path of the file is incorrect（*:\ motion.tar）or the file does not exist, the information prompt area will prompt
that the file does not exist.

2.3 System PLC read into system

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <Read-in from U-disk> - < System
PLC read into system>.
If the operation is successful, the file in the root directory (*:\ plc. tar) of the U-disk will be read into the system and
the previous system PLC program will be overwritten, and the information prompt area will prompt that the system PLC
program is successfully updated.
 Zhejiang Qianjiang Robot Co., Ltd

If the U-disk is not inserted and the U disk is not recognized, the message prompt area prompt that the U-disk is not
inserted or recognized.
If the path of the file is incorrect（*:\ plc.tar）or the file does not exist, the information prompt area will prompt that
the file does not exist.

2.4 Update Teach Pendant System

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <Read-in from U-disk> - <Update
Teach Pendant System>.
If the operation is successful, the file under the root directory (*:\ teach _ updata.tar) of the U disk will be read into
the system, and the previous teach pendant system will be overwritten, and the information prompt area will prompt:
successfully update the teach pendant system, please restart the system to complete the update.

If the U-disk is not inserted and the U disk is not recognized, the message prompt area prompt that the U-disk is not
inserted or recognized.
If the path of the file is incorrect（*:\ teach_updata.tar）or the file does not exist, the information prompt area will
prompt that the file does not exist.

2.5 Update Controller System

Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <Read-in from U-disk> - <Update
Controller System>.
If the operation is successful, the file under the root directory （*:\ control_updata.tar）of the U-disk will be read into
the system, and the previous controller system will be overwritten, and the information prompt area will prompt:
successfully update the controller system, please restart the system to complete the update.

If the U-disk is not inserted and the U disk is not recognized, the message prompt area prompt that the U-disk is not
inserted or recognized.
If the path of the file is incorrect（*:\ control_updata.tar）or the file does not exist, the information prompt area will
prompt that the file does not exist.

2.6 Update teach pendant & controller system

The updated teach pendant & controller system can restore the <System Backup> data backed up by the user to the U-
disk to the system. It is mainly used to recover system data.
Insert the U-disk into the USB interface of teach pendant. Click <File Operation> - <Read-in from U-disk> - < Read
into system>.
If the operation is successful, the file under the root directory (*:\ teach _ updata.tar, control _ updata.tar) of the U-disk
is read into the system, and the file with the same name is overwritten, at the same time, the information prompt area will
prompt: the update data is prepared successfully, please restart the system to complete the update;

After the system start-up is completed, the process of read-in system is completed.
If the U-disk is not inserted, the U-disk is not recognized, or there is no file or folder with the correct path in the U-
disk, the information prompt area indicates that the U-disk is not inserted or recognized
If the file in the U-disk drive is incomplete, the information prompt area prompts that the file does not exist.

2.7 Update all system files with one click

Update all system files with one click means to read parameters, user program, system PLC, teach pendant system and
controller system from U-disk, overwrite the same name files and update them.

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 If the operation is successful, the files under the root directory (*:\ ini. tar, motion. tar, plc. Tar, teach _ updata.tar,
control _ updata.tar) of the U-disk are read into the system and overwrites the files of the same name, and the information
prompt area prompts in turn:
successfully update profile;
successfully update user program;
successfully update PLC system;
successfully update teach pendant system, please restart the system to complete the update
successfully update controller system, please restart the system to complete the update
After the system start-up is completed, the process of read-in system is completed.
If the U-disk is not inserted, the U-disk is not recognized, or there is no file or folder with the correct path in the
U-disk, the information prompt area indicates that the U-disk is not inserted or recognized
If the file in the U-disk drive is incomplete, the information prompt area prompts that the file does not exist.
WARNING
1. Files and folders in the U-disk have strict path requirements. If the path is incorrect, the data will not
be read into the system.
2. Some unnecessary files can be deleted, when conducts the operation of one-click read in, it shall only
read in the files existing in the corresponding path of the U-disk. And it shall ignore the files not
existing in the corresponding path of the U-disk.
3. Please be careful when handling the U-disk files, if it is not handled properly, it may cause errors in
3 Software4. the read-in data and cause an accident!
registration
It is prohibited to modify the parameter file ini.tar before importing.
If the information prompt area indicates that "the system is not registered," the registration operation is required,
otherwise the robot cannot move. Registration process: Click <File Operation> - <Software Registration> to pop up the
following window:

Send back the application code, and the generated registration code will be provided here, enter the registration code
into the registration code position of the pop up box mentioned above, enter 6 digits for each box, and click the registration
button, successful registration will be prompted when registration is completed.

4 transfer
Click <File Operation> - <File Transfer> to pop up the following window:
 Zhejiang Qianjiang Robot Co., Ltd

By employing the file transfer, the local program file, parameter file, user PLC and painting file can be copied to
the U-disk individually, the U disk document can be copied to the local program directory as well.

5 File Offset
File offset, which can offset the program points of the existing files as a whole, and generate a new program file.
For the translation difference, there are two obtaining methods, one is manual setting, and the other is teaching
calculation.
First, introduce the manual mode:
Click <File Operation> - <File Offset> to pop up the following window:

<Add> button: select the program file to be translated

Translated file: newly generated file name
Conversion line range: the range of program line number to be translated
Manual/Teach: select the translation difference obtaining method
Manual/Teach: select the translation difference obtaining method
Translation difference: manually edit the translation difference value in X/Y/Z/A/B/C directions
Switch the Manual/Teach to the Teach mode, and pop up the following interface:

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 Click <Record Point 1> to record a position, then shift the filling data in the former reference point, then press
and hold the safety switch, and move the robot end to the desired translation distance through the coordinate key on
the teach pendant, click <Record Point 2>, at this time, fill the data in the reference point after translation, click to
generate, calculate the translation difference value, and complete the setting.
 Zhejiang Qianjiang Robot Co., Ltd

Chapter 7 Parameter Setting

1 Joint Parameter
This parameter needs to open the: Manufacturer Authority

First, click < parameter setting > - < joint parameter setting >. Pop up the following interface.

1.1 List of Parameters

No. Parameter
contents
1 Joint 1
2 Joint 2
3 Joint 3
4 Joint 4
Minimum position (degree)
5 Joint 5
6 Joint 6
7 Joint 7
8 Joint 8
9 Joint 9
10 Joint 1
11 Joint 2
12 Joint 3
13 Joint 4
Maximum position (degree)
14 Joint 5
15 Joint 6
16 Joint 7
17 Joint 8
18 Joint 9
19 Joint 1
20 Joint 2
21 Joint 3

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22 Joint 4
Maximum speed (degree/s)
23 Joint 5
24 Joint 6
25 Joint 7
26 Joint 8
27 Joint 9
28 Joint 1
29 Joint 2
30 Joint 3
31 Joint 4
32 Joint 5 Maximum acceleration (degree/s2)
33 Joint 6
34 Joint 7
35 Joint 8
36 Joint 9
37 Joint 1
38 Joint 2
39 Joint 3
40 Joint 4
41 Joint 5 Stop error (pulse)
42 Joint 6
43 Joint 7
44 Joint 8
45 Joint 9
46 Joint 1
47 Joint 2
48 Joint 3
49 Joint 4
50 Joint 5 Maximum jerk (degree/s3)
51 Joint 6
52 Joint 7
53 Joint 8
54 Joint 9
55 Joint 1
56 Joint 2
57 Joint 3
58 Joint 4
59 Joint 5 Joint deceleration ratio
60 Joint 6
61 Joint 7
62 Joint 8
63 Joint 9
64 Joint 1
65 Joint 2
66 Joint 3
67 Joint 4
68 Joint 5 Servo offset
69 Joint 6
70 Joint 7
71 Joint 8
 Zhejiang Qianjiang Robot Co., Ltd

72 Joint 9
73 Joint 1
74 Joint 2
Reverse
75 Joint 3
76 Joint 4
77 Joint 5
78 Joint 6
79 Joint 7
80 Joint 8
81 Joint 9
82 Joint 1
83 Joint 2
84 Joint 3
85 Joint 4
86 Joint 5 Servo single-loop pulse
87 Joint 6
88 Joint 7
89 Joint 8
90 Joint 9

1.2 Parameter Details

Paramet Parameter Unit

er No. Definition
1 Joint 1 Degree
2 Joint 2 Degree
3 Joint 3 Degree
4 Joint 4 Degree
5 Joint 5 Minimum position Degree
6 Joint 6 Degree
7 Joint 7 Degree
8 Joint 8 Degree
9 Joint 9 Degree
The relevant parameters are used to set the range of motion of each axis. To ensure safety, this value must be greater than the
mechanical hard limit value.

Paramet Parameter Unit

er No. Definition
10 Joint 1 Degree
11 Joint 2 Degree
12 Joint 3 Degree
13 Joint 4 Degree
Maximum position
14 Joint 5 Degree
15 Joint 6 Degree
16 Joint 7 Degree
17 Joint 8 Degree
18 Joint 9 Degree
The relevant parameters are used to set the range of motion of each axis. To ensure safety, this value must be less than the
mechanical hard limit value.

Paramet Parameter Unit

er No. Definition

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 19 Joint 1 degree/
s
20 Joint 2 degree/
Maximum speed s
21 Joint 3 degree/
s
22 Joint 4 degree/
s
23 Joint 5 degree/
s
24 Joint 6 degree/
s
25 Joint 7 degree/
s
26 Joint 8 degree/
s
27 Joint 9 degree/
s
This parameter is used to set the maximum angular velocity of each joint. If the speed and reduction ratio of the servo
motor change, this parameter needs to change accordingly.
Paramet Parameter Unit
er No. Definition
28 Joint 1 Degree/s2
29 Joint 2 Degree/s2
30 Joint 3 Degree/s2
31 Joint 4 Degree/s2
Maximum acceleration
32 Joint 5 Degree/s2
33 Joint 6 Degree/s2
34 Joint 7 Degree/s2
35 Joint 8 Degree/s2
36 Joint 9 Degree/s2
This parameter is used to set the maximum angular acceleration of each joint. If the speed and reduction ratio of the
servo motor change, this parameter needs to change accordingly.

Paramet Parameter Unit

er No. Definition
37 Joint 1 Pulse
38 Joint 2 Pulse
39 Joint 3 Pulse
40 Joint 4 Pulse
Stop error
41 Joint 5 Pulse
42 Joint 6 Pulse
43 Joint 7 Pulse
44 Joint 8 Pulse
45 Joint 9 Pulse
The relevant parameters are used to set the pulse number of stop error for each axis.

Paramet Parameter Unit

er No. Definition
46 Joint 1 Degree/s
3
47 Joint 2 Degree/s
3
48 Joint 3 Maximum jerk Degree/s
 Zhejiang Qianjiang Robot Co., Ltd

3
49 Joint 4 Degree/s
3
50 Joint 5 Degree/s
3
51 Joint 6 Degree/s
3
52 Joint 7 Degree/s
3
53 Joint 8 Degree/s
3
54 Joint 9 Degree/s
3
This parameter is used to set the maximum angular jerk of each joint. If the speed and reduction ratio of the
servo motor change, this parameter needs to change accordingly.

Parameter Parameter Unit

No. Definition
55 Joint 1 Joint 1
56 Joint 2 Joint 2
57 Joint 3 Joint deceleration ratio Joint 3
58 Joint 4 Joint 4
59 Joint 5 Joint 5
60 Joint 6 Joint 6
61 Joint 7 Joint 7
62 Joint 8 Joint 8
63 Joint 9 Joint 9
The relevant parameters are used to set the mechanical reduction ratio for each axis.

Paramete Parameter Definition Uni

r No. t
64 Joint 1 None
65 Joint 2 None
66 Joint 3 None
67 Joint 4 None
Servo offset None
68 Joint 5
69 Joint 6 None
70 Joint 7 None
71 Joint 8 None
72 Joint 9 None

Paramete Para Unit

r No. mete
r
Defi
nitio
n
73 Joint 1 None
74 Joint 2 None
75 Joint 3 None
76 Joint 4 None
Reverse
77 Joint 5 None
78 Joint 6 None
79 Joint 7 None

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 80 Joint 8 None
81 Joint 9 None
The relevant parameters are used to set the rotation direction of each axis; in case the parameter value is 1, forward
direction of the axis; if the parameter value is 0, reverse direction of the axis.
Parame Parameter Unit
ter No. Definition
82 Joint 1 None
83 Joint 2 None
84 Joint 3 None
85 Joint 4 None
Servo single-loop pulse None
86 Joint 5
87 Joint 6 None
88 Joint 7 None
89 Joint 8 None
81 Joint 9 None
The relevant parameters are used to set the number of servo single-loop pulse for each axis

2 Right-angle parameter
This parameter needs to open the Manufacturer Authority
First, click <parameter setting> - <right angle parameter setting>. Pop up the following interface.

2.1 List of Parameters

No. Parameter
contents
1 Linear maximum speed (mm/s)
2 Linear maximum acceleration (mm/s2)
3 Linear maximum jerk (mm /s3)
4 Gesture maximum speed (degree/s)
5 Gesture maximum acceleration (degree/s2)
6 Gesture maximum jerk (degree/s3)

2.2 Parameter Details

 Zhejiang Qianjiang Robot Co., Ltd

Parameter Parameter Unit

No. Definition
1 Linear maximum speed mm/s
Linear maximum speed of a mobile robot

Parameter Parameter Unit

No. Definition
2 Linear maximum acceleration mm/s
Linear maximum acceleration of a mobile robot

Parameter Parameter Unit

No. Definition
3 Linear maximum jerk mm/s
linear maximum jerk of a mobile robot
Parameter Parameter Unit
No. Definition
4 Gesture maximum speed degre
e/s
Gesture maximum speed of a mobile robot

Parameter Parameter Unit

No. Definition
5 Gesture maximum speed degre
e/s
Gesture maximum acceleration of a mobile robot
Parameter Parameter Unit
No. Definition
6 Gesture maximum speed degre
e/s
Gesture maximum jerk of a mobile robot

3 Space Limit
This parameter needs to open the: Manufacturer Authority
First, click <parameter setting> - <space limit>. Pop up the following interface.

3.1 List of Parameters

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 No. Parameter
contents
1 X＋ Limit
2 X－ Limit
3 Y＋ Limit
4 Y－ Limit
5 Z＋ Limit
6 Z－ Limit

3.2 Parameter Details

Paramet Parameter Unit

er No. Definition
1 X＋ Limit mm
2 X－ Limit mm
Set the positive and negative limits in the direction of the space limit X axis.

Paramet Parameter Unit

er No. Definition
3 Y direction limit mm
4 Y direction limit mm
Set the positive and negative limits in the direction of the space limit Y axis.

Paramet Parameter Unit

er No. Definition
5 Z direction limit mm

6 Z direction limit mm
Set the positive and negative limits in the direction of the space limit Z axis.

4 Mechanism Parameter
This parameter needs to open the: Manufacturer Authority
First, click <parameter setting> - <mechanism parameter setting>. Pop up the following interface.

4.1 List of Parameters

 Zhejiang Qianjiang Robot Co., Ltd

No. Parameter
contents
1 Axis-1 X offset L1 (mm)
2 Axis-1 Z offset L2 (mm)
3 Axis-2 arm-length L3 (mm)
4 Axis-3 arm-length L4 (mm)
5 Axis-4 arm-length L5 (mm)
6 Axis-5 arm-length L6 (mm)
7 Axis-1 Y offset L7 (mm)
8 Coupling coefficient of axis-5 and axis-4
9 Coupling coefficient of axis-6 and axis-4
10 Coupling coefficient of axis-6 and axis-5

4.2 Parameter Details

Parameter Parameter Definition

Unit
No.
1 Axis-1 X offset L1 (mm)
Set the axis-1 X offset mechanical parameters of the robot.

Parameter Parameter Definition

Unit
No.
2 Axis-1 Z offset L2 (mm)
Set the axis-1 Z offset mechanical parameters of the robot.

Parameter
Parameter Definition Unit
No.

3 Axis-2 arm-length L3 (mm)

Set the mechanical parameters of axis-2 arm-length of the robot.

Parame
Parameter Definition Unit
ter No.
4 Axis-3 arm-length L4 (mm)
Set the mechanical parameters of axis-3 arm-length of the robot.

Parameter
Parameter Definition Unit
No.

5 Axis-4 arm-length L5 (mm)

Set the mechanical parameters of axis-4 arm-length of the robot.

Parameter Parameter Definition Unit

No.

6 Axis-5 arm-length L6 (mm)

Set the mechanical parameters of axis-5 arm-length of the robot.

Parameter Parameter Definition Unit

No.

7 Axis-1 Y offset L7 (mm)

Set the axis-1 Y offset mechanical parameters of the robot.

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 Parameter Parameter Definition Unit
No.

8 Coupling coefficient of axis-5 and axis-4 None

Set the coupling coefficient of axis-5 and axis-4

Parameter Parameter Definition Unit

No.

9 Coupling coefficient of axis-6 and axis-4 None

Set the coupling coefficient of axis-6 and axis-4

Parameter Parameter Definition Unit

No.

10 Coupling coefficient of axis-6 and axis-5 None

Set the coupling coefficient of axis-6 and axis-5

5 Set S/N
This parameter needs to open the: Manufacturer Authority

First, click <parameter setting> - <set S/N>. Pop up the following interface.

5.1 Parameter List:

No. Parameter
contents
1 S/N

5.2 Parameter Details:

Parame Parameter Unit

ter No. Definition
1 S/N None
It’s used to set the software S/N parameters.
 Zhejiang Qianjiang Robot Co., Ltd

6 System Parameter
This parameter needs to open the: Manufacturer Authority
First, click <parameter setting> - <system parameter>. Pop up the following interface.

6.1 List of Parameters

No. Parameter
contents
1 IO filter setting
2 Support the positioner or not
3 Support the positioner or not
4 Allow the manual control of IO occupied by the position box or not
5 Support multi-robot collaborative operation or not
6 The number of multiple robot groups
7 Range judgment of operation origin
8 IO number of the remote IO startup file
9 Start button of position box (0: normally OFF, 1: normally ON)
10 Stop button of position box (0: normally OFF, 1: normally ON)
11 Default value of manual operation speed
12 Manual speed mode during system initialization (0: default value 1: latest value)
13 Default value Automatic operation speed
14 Automatic speed mode during system initialization (0: default value 1: latest value)
15 Teach mode - running mode default value 0: single line 1: single cycle 2: multiple
cycles
16 Teach mode - setting method of running mode at system start-up (0: default value 1:
latest value)
17 Play mode - running mode default value 0: single line 1: single cycle 2: multiple
cycles
18 Play mode - setting method of running mode at system start-up (0: default value 1:
latest value)
19 Remote mode - running mode default value 0: single line 1: single cycle 2: multiple
cycles
20 Remote mode - setting method of running mode at system start-up (0: default value
1: latest value)
21 External axis - Linear axis - Negative limit (unit: mm)

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 22 External axis - Linear axis - Positive limit (unit: mm)
23 External axis - Rotation axis - Negative limit (unit: mm)
24 External axis - Rotation axis - Positive limit (unit: mm)

6.2 Parameter Details

Paramet Parameter Unit

er No. Definition
1 IO filter setting millis
econ
d
Input range 0-10000. Please restart the controller after modification

Paramet Parameter Unit

er No. Definition
2 Support the positioner or not None
0: No, 1: Yes. Please
restart the controller
after modification.

Paramet Parameter Unit

er No. Definition
3 Start using the positioner or not None
0: No，1：Yes

Paramet Parameter Unit

er No. Definition
4 Allow manual control of the IO occupied by the position None
box or not
0: Allow，1：Enable

Paramet Parameter Unit

er No. Definition
5 Support multi-robot collaborative operation or not None

0: No, 1: Yes. Please

restart the controller
after modification.

Paramet Parameter Unit

er No. Definition
6 The number of multiple robot groups group
Input range 1-4.

Paramet Parameter Unit

er No. Definition
7 Range judgment of operation origin Degree
Input range 0-100.

Paramet Parameter Unit

er No. Definition
8 IO number of the remote IO startup file
Input range 1-8.

Paramet Parameter Unit

er No. Definition
 Zhejiang Qianjiang Robot Co., Ltd

9 Start button of position box None

0: normally OFF, 1: normally ON

Paramet Parameter Unit

er No. Definition
10 Stop button of position box None
0: normally OFF, 1: normally ON

Parameter Parameter Unit

No. Definition
11 Default value of manual operation speed %
Input range 0-100.

Parameter Parameter Unit

No. Definition
12 Manual speed mode during system initialization None
0: default value 1: latest value

Parameter Parameter Unit

No. Definition
13 Default value of manual operation speed %
Input range 0-100.

Parameter Parameter Unit

No. Definition
14 Manual speed mode during system initialization None
0: default value 1: latest value

Parameter Parameter Unit

No. Definition
15 Teach mode - running mode default value None
0: single line 1: single cycle 2: multiple cycles

Parameter Parameter Unit

No. Definition
16 Teach mode - setting method of running mode at system start- None
up
0: default value 1: latest value

Parameter Parameter Unit

No. Definition
17 Play mode - running mode default value None
0: single line 1: single cycle 2: multiple cycles

Parame Parameter Unit

ter No. Definition
18 Play mode - setting method of running mode at system None
start-up
0: default value 1: latest value

Parame Parameter Unit

ter No. Definition
19 Remote mode - running mode default value None
0: single line 1: single cycle 2: multiple cycles

Parame Parameter Unit

ter No. Definition

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 20 Remote mode - setting method of running mode at system None
start-up
0: default value 1: latest value

Parame Parameter Unit

ter No. Definition
21 External axis - Linear axis - Negative limit mm
Input range: -99999999-99999999

Parame Parameter Unit

ter No. Definition
22 External axis - Linear axis - Positive limit mm
Input range: -99999999-99999999

Parame Parameter Unit

ter No. Definition
23 External axis - Rotation axis - Negative limit mm
Input range: -99999999-99999999

Parame Parameter Unit

ter No. Definition
24 External axis - Rotation axis - Positive limit mm
Input range: -99999999-99999999

7 System IO Configuration
This parameter needs to open the: Manufacturer Authority
First, click <parameter setting> - <system IO configuration>. Pop up the following interface.

Not used yet

8 System speed setting

This parameter needs to open the: Manufacturer Authority
First, click <parameter setting> - <system speed parameter>. Pop up the following interface.
 Zhejiang Qianjiang Robot Co., Ltd

Used to set the speed +, - keys and control the speed gear changes.

9 Run Setting
This parameter needs to open the Manufacturer Authority
First, click <run preparation> - <run setting>. Pop up the following interface.

9.1 Parameter List:

No. Parameter
contents
1 Single step cursor moving or not
2 Maximum speed of Teach (%)
3 Initial position of Play
4 Not full-speed operation (%)
5 Full-speed operation
6 Stop cycles
7 Stop mode
8 Percentage of stop deceleration
9 Default start-up authority

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 10 Reduction ratio of process speed

9.2 Parameter Details:

Parameter Parameter Options

No. Definition
Yes
1 Single step cursor moving or not
No
It’s used to set whether the cursor moves to the next line when running the single-step program in Teach mode.

Parameter Parameter Unit

No. Definition
2 Maximum speed of Teach %
It’s used to set the maximum speed percentage of Teach in Teach mode.

Parameter Parameter Options

No. Definition
First line
3 Initial position of Play
Current
line
It is used to set the start execution position when running the program in Play mode.

Parameter Parameter Unit

No. Definition
4 Not full-speed operation %
Used to set the percentage of speed that is not running at full speed when running at full speed is off.

Parameter Parameter Options

No. Definition
On
5 Full-speed operation
Off
It is used to set the speed processing mode in the PLAY and REMOTE mode, and whether to run at full speed according
to the program command setting value.

Parameter Parameter Unit

No. Definition
6 Stop cycles
It is used to set the stop cycles when the stop mode is deceleration stop.

Parameter Parameter Options

No. Definition
Decelerati
7 Emergency stop mode on stop
Immediat
ely stop
It is used to set the stop mode.

Parameter Parameter Unit

No. Definition
8 Percentage of stop deceleration %
Used to set the percentage of stop deceleration

Parameter Parameter Options

No. Definition
Manufact
9 Default start-up authority urer
Admini
ster
 Zhejiang Qianjiang Robot Co., Ltd

Operat
or

It is used to set the default authority after the robot starts up. If you need to modify it, you can change it in the selection
and setting interface of operation authority.

Parameter Parameter Options

No. Definition
1—20%
2—40%
10 Reduction ratio of process speed 3—60%
4—80%
5—100%
It is used to set the speed, acceleration and deceleration ratio of motion commands in welding process.

10 Operation authority
First, click <parameter setting> - <operation authority selection>. Pop up the following interface.

The user can switch to the corresponding authority by entering the password, including the manufacturer,
administrator and operator. Different authority can unlock different function.
Click the <Modify Password> button to add password modification settings, the interface is shown as follows:

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 The user can modify the password of corresponded authority, enter the interface through the original password, enter
the same new password twice, and confirm the modification. After completing the operations of <confirm modification>
and <cancel modification>, the settings related to password modification disappear and the interface is restored.

11 Bus setting
11.1 Ethernet Setting

This parameter needs to open the Manufacturer Authority

First, click <parameter setting> - <bus setting> - <Ethernet setting>. Pop up the following interface.

This parameter setting is not available.

11.2 External communication setting

First, click <parameter setting> - <bus setting> - <external communication setting>. Pop up the following interface.
 Zhejiang Qianjiang Robot Co., Ltd

The connection type, server IP, and server port of the external device with which to communicate are available to set.

12 Screen saver parameter setting

First, click <parameter setting> - <bus setting> Pop up the following interface.

12.1 Parameter List:

No. Parameter
contents
1 Screen normal brightness
2 Screen half-dark brightness
3 Screen saver brightness
4 Screen saver enable
5 Screen half-dark waiting time
6 Screen saver full start waiting time

12.2 arameter Details:

Setting range of screen brightness: 1-100

Screen saver half-dark time: time elapsed when the screen entered the half-dark process

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 Screen saver full start waiting time: after entering the screen saver half-dark state, this time
passes to enter the full screen saver state. If the half-dark time is set to 0, the system does not
activate the screen saver.

13 System IO alarm management

This parameter needs to open the Manufacturer Authority
First, click <parameter setting> - <System IO alarm management>. Pop up the following interface.

13.1 Parameter List:

No. Parameter
contents
1 Collision switch enable

13.2 Parameter Details:

1. Parameter definition: collision switch enable

2. Parameter function: used to set whether the collision switch is valid or invalid.
Note: This setting interface is provided with the <Collision Cancel> button, which is used to clear the
collision state, so that the robot can be switched to the non-collision state manually.
3. Setting method: This parameter has two states, when setting to the state, indicating that the collision
switch is not turned on, the collision switch is invalid at this time; when setting to the state,
indicating that the collision switch function is turned on, and the collision switch is valid at this time. The
initial value is set to state.

14 Additional axis setting

This parameter needs to open the Manufacturer Authority
The additional axis setting is divided into three interfaces: the additional axis setting interface, collaboration 1 calibrating
interface, , and collaboration 2 calibrating interface.

14.1 Additional axis setting interface

First, click <run preparation> - <additional axis setting>. Additional axis setting interface pops up, and the figure is shown as
follows:
 Zhejiang Qianjiang Robot Co., Ltd

Interface Content Description:

Collaboration 1 axis and collaboration 2 axis: It means the corresponding collaboration axis number. Now,
collaboration 1 axis corresponds to J7 axis and collaboration 2 axis corresponds to J8 axis. At present, it does not
support change or change function reservation.
Axis type: It indicates the current collaboration axis type, which is currently the rotation axis, and the sliding axis option
and function reservation can be added later.
Collaboration 1 ON / OFF and collaboration 2 ON / OFF: It indicates whether the collaboration of the additional
axis is turned on; in case it is selected, it indicates that the collaboration is turned on; otherwise, the collaboration is
turned off.
This switch is only valid for the additional axis action in the TEACH state; the additional axis shall operate
according to its commands in PLAY and single-step mode. Joint coordinate: it indicates the corresponding
angle value of the current collaborative axis. it is convenient to observe the position of the additional axis for
the purpose of monitoring.

: press and hold the safety switch, and click this button to control the 1 to return to the zero position.

: press and hold the safety switch, and click this button to control the 2 to return to the zero position.

14.2 Collaboration 1 calibrating interface

Click <Run Preparation> - <Additional Axis Setting> - <Collaboration 1 Calibrating> to enter the Collaboration 1
Calibrating interface, as shown in the following figure:

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 Joint coordinate: it indicates the corresponding angle value of the current collaborative axis. it is convenient to observe
the position of the additional axis for the purpose of monitoring. Calibration status: after successful calibration, this state
will be displayed as selected; if unsuccessful, the state will not be selected.
Calibration points: there are three calibration points (P1, P2 and P3), which are used to select the point to be recorded
or the point to be run to. For example, when P1 is selected, click to store the current point as P1, and the point

information is displayed in the following list box; when P1 is selected, click , the axis shall move from the current
position to P1.
Rotation direction: function reserved, no effect at present.
XYZABC items: after all three points are recorded, click the button , and the calibration state will be
displayed as the selected state, and the generated position information will be displayed in XYZABC items respectively.
The greater the angle difference between the three points, the higher the accuracy.
Return to zero: press and hold the safety switch, and click this button to control the 1 to return to the zero position.
This button has the same function as <Collaboration 1 return to zero > in the additional axis setting interface.
For the additional axis teaching, the current working mechanism of the status display area shall be switched from

to , at this time, the axis keys 456 of teach pendant is corresponds to the 789 axes, and the teaching operation of the
collaboration axis of 7 and 8 axes can be performed.
Collaborative calibration process:
1) Record P1 point
collaborative the axis 1: Select a reference point on the positioner turned over by the J7 axis. The figure is shown as

follows:
Rotate the J7 axis to the first point P1 position. Click XYZ to move the robot, ensure the robot tool end is coincide
with the positioner reference point. Click <record current point>, and the record of P1 point is completed.
2) Record P2 point
 Zhejiang Qianjiang Robot Co., Ltd

Rotate the J7 axis to the second point P2 position. Rotate the J7 axis to the first point P2 position. Click XYZ to move
the robot, ensure the robot tool end is coincide with the positioner reference point.
Click <record current point>, and the record of P2 point is completed.
3) Record P3 point
Rotate the J7 axis to the third point P3 position. Rotate the J7 axis to the first point P3 position. lick XYZ to move the
robot, ensure the robot tool end is coincide with the positioner reference point.
Click <record current point>, and the record of P3 point is completed. After all three points are recorded, click the
button , the calibration state will be displayed as the selected state, and the generated position information will be
displayed in XYZABC items respectively, the calibration is completed.

Collaboration 1 calibrating interface：

The calibration points must be calibrated strictly in the order P1-P2-P3.
The angles P1-P2 and P2-P3 are greater than 30 degrees, and the angle P1-P3 is greater than 60 degrees. The greater
the angle difference between the two points, the higher the accuracy.
In the process of moving and recording the points P1, P2, and P3, it is necessary to ensure that the robot gesture is
consistent. That is, the gesture of the tool shall be adjusted before P1 point is recorded, and the gesture cannot be changed
during the movement and recording of P1, P2 and P3.
During the calibration of P1, P2, P3 points, any coordinate system other than joint coordinates can be used for the
coordinate system. If the calibration reference point is on the collaboration 2 axis, the coordination 2 axis cannot be moved
when the coordination 1 is calibrated.

14.3 Collaboration 2 calibrating interface

Click <Run Preparation> - <Additional Axis Setting> - <Collaboration 2 Calibrating> to enter the collaboration 2
calibrating interface.

Joint coordinate: it indicates the corresponding angle value of the current collaborative axis. it is convenient to
observe the position of the additional axis for the purpose of monitoring.
Calibration status: after successful calibration, this state will be displayed as selected; if unsuccessful, the state will
not be selected.
Calibration points: there are three calibration points (P1, P2 and P3), which are used to select the point to be recorded
or the point to be run to. For example, when P1 is selected, click to store the current point as P1, and the point

information is displayed in the following list box; when P1 is selected, click , the axis shall move from the current

2- Your needs，We have

146
position to P1.
Rotation direction: function reserved, no effect at present.
XYZABC items: after all three points are recorded, click the button , and the calibration state will be
displayed as the selected state, and the generated position information will be displayed in XYZABC items respectively.
Return to zero: press and hold the safety switch, and click this button to control the 2 to return to the zero position.
This button has the same function as <Collaboration 2 return to zero > in the additional axis setting interface.
Collaborative calibration process:
1) Record P1 point
collaborative the axis 2: Select a reference point on the positioner rotated by the J8 axis. The figure is shown as

follows:
Rotate the J8 axis to the first point P1 position. Click XYZ to move the robot, ensure the robot tool end is coincide
with the positioner reference point. Click <record current point>, and the record of P1 point is completed.
Record P2 point
Rotate the J8 axis to the second point P2 position. Rotate the J8 axis to the first point P2 position. Click XYZ to move
the robot, ensure the robot tool end is coincide with the positioner reference point. Click <record current point>, and the
record of P2 point is completed.
Record P3 point
Rotate the J8 axis to the third point P3 position. Rotate the J8 axis to the first point P3 position. Click XYZ to move
the robot, ensure the robot tool end is coincide with the positioner reference point. Click <record current point>, and the
record of P3 point is completed.
After all three points are recorded, click the button , and the calibration state will be displayed as the selected
state, and the generated position information will be displayed in XYZABC items respectively.

Collaboration 2 calibrating description:

When calibrating the collaboration 2 axis, the collaboration 1 axis must run to zero, otherwise the points P1, P2 and P3
cannot be recorded. The calibration points must be recorded strictly in the order P1-P2-P3.
The angles P1-P2 and P2-P3 are greater than 30 degrees, and the angle P1-P3 is greater than 60 degrees. The greater
the angle difference between the two points, the higher the accuracy.
In the process of moving and recording the points P1, P2, and P3, it is necessary to ensure that the robot gesture is
consistent. That is, the gesture of the tool shall be adjusted before P1 point is recorded, and the gesture cannot be changed
during the movement and recording of P1, P2 and P3.
During the calibration of P1, P2, P3 points, any coordinate system other than joint coordinates can be used for the
coordinate system. When calibrating the collaboration 2 axis, the coordination 1 axis cannot be moved.

15 Origin setting
This parameter needs to open the Manufacturer Authority
First, click <parameter setting> - <origin setting> Pop up the following interface.
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Origin: the origin 1 - origin 4 are available to use.

Enable switch: The enabled origin is valid, and the not enabled origin is invalid Output IO: Set the output IO
interface corresponding to the origin
Output IO: it is used to control the output state of the output IO interface.
Current joint coordinates: Real-time display of the current joint position of the robot
Origin coordinate: Recorded operation origin.
Record point: Record the current joint coordinates of the robot to the operation origin coordinates
Modification: Manually modify operation origin coordinates
Save: Save the operation origin coordinate value manually modified.
Check point: Press and hold the hand pressing switch, click the button “check point”, and the robot will run to the
position of operation origin.

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Thank you for choosing the products manufactured by our company!

Please read this System Operation Manual carefully and keep it properly for future reference!

If the equipment needs to be transferred to another party, please transfer the relevant data with it!

Keys, functions and options not specified in the System Operation Manual are deemed not

available, please do not use them!

This manual is for your reference only and is subject to change without prior notice!

Don’t copy or distribute the contents of this System Operation Manual without permission!

All interpretation rights of this manual are owned by our Company.

Zhejiang Qianjiang Robot Co., Ltd

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