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Yamaha CEmarking RCX221, User Manual

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Yamaha CEmarking RCX221 User Manual Download Page 34

2-4

Chapter

2

SYSTEM OVER

VIEW

3. Control system

3. Control system 

The basic block diagram of the control system is shown below. 

3.1 RCX221/RCX221HP

■

  Basic block diagram 

D.POWER BOARD  ASSY

CPU BOARD  ASSY

DRIVER2 BOARD

 ASSY

DRIVER2 BOARD

 ASSY

FAN

OP

.BOARD

OP.BOARD

CN3

CN4

AC200-230V

Regenerative 

unit

X-axis motor

Y-axis motor

CN5

CN2

CN2

CN3

CN2

XY axis motor

RPB

SAFETY circuit

RS-232C

SD memory card

CN1

CN1

CN3

CN3

CN5

CN2

CN6

CN4

CN8

CN5

CN12

CN1

CN1

CN2

CN3

CN1

CN1

CN4

MOTHER BOARD

 ASS

Y

CN1

CN1

Summary of Contents for CEmarking RCX221

Page 1: ...s Manual ENGLISH E RCX221 YAMAHA 2 AXIS ROBOT CONTROLLER IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html YAMAHA MOTOR CO LTD E100 Ver 2...

Page 2: ......

Page 3: ...to install and operate the YAMAHA robot controller Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA robot controller safely and...

Page 4: ...1 When connecting the power supply to the robot controller Always make a secure connection to the ground terminal on the robot controller to ensure safety and prevent malfunctions due to noise Referen...

Page 5: ...movements such as multi task operations and uses a compiling method 2 for rapid execution of programs 1 Standard Language for Industrial Manipulators 2 This compiling method checks the syntax in a ro...

Page 6: ...4 MEMO...

Page 7: ...8 2 6 Precautions for disposal 1 8 3 Safety measures for robots 1 9 3 1 Safety measures for single axis robots Cartesian robots and pick place robots 1 9 4 Motor overload precautions 1 9 5 Warning lab...

Page 8: ...e phase specifications 3 7 4 1 1 AC power connector wiring 3 8 4 2 Power capacity 3 9 4 3 Installing an external leakage breaker 3 10 4 4 Installing a circuit protector 3 11 4 5 Installing a surge abs...

Page 9: ...on key layout 4 9 5 3 Basic key operation 4 10 5 4 Function keys 4 11 5 5 Control keys 4 13 5 6 Data keys 4 15 5 7 Other keys 4 15 6 Emergency stop 4 16 6 1 Emergency stop reset 4 17 7 Mode configurat...

Page 10: ...2 6 User function key display 4 57 10 2 7 Quitting program editing 4 58 10 2 8 Specifying the copy cut lines 4 58 10 2 9 Copying the selected lines 4 59 10 2 10 Cutting the selected lines 4 59 10 2 1...

Page 11: ...ching 4 108 11 3 2 Pallet definition by teaching 4 109 11 3 3 Copying a pallet definition 4 112 11 3 4 Deleting a pallet definition 4 113 11 4 Changing the manual movement speed 4 114 11 5 Displaying...

Page 12: ...4 Clock setting 4 235 12 4 5 System generation 4 236 12 5 Self diagnosis 4 237 12 5 1 Controller check 4 238 12 5 2 Error history display 4 239 12 5 3 Displaying the total operation time 4 240 12 5 4...

Page 13: ...signals 5 15 1 8 1 General purpose output reset 5 15 1 9 Dedicated I O signal timing charts 5 16 1 9 1 Turning the power on 5 16 1 9 2 Emergency stop and servo ON 5 18 1 9 3 Return to origin 5 19 1 9...

Page 14: ...r error messages 9 1 0 Warnings and messages 9 3 1 Warnings error history entry 9 5 2 Robot operating area errors 9 6 3 Program file operating errors 9 9 4 Data entry and edit errors 9 12 5 Robot lang...

Page 15: ...Safety precautions during robot operation 1 8 2 6 Precautions for disposal 1 8 3 Safety measures for robots 1 9 3 1 Safety measures for single axis robots Cartesian robots and pick place robots 1 9 4...

Page 16: ......

Page 17: ...cautions described in this chapter Failure to take necessary safety measures or incorrect handling may result not only in trouble or damage to the robot and controller but also in serious accidents in...

Page 18: ...y reference 2 View the CD ROM version of this manual on your PC screen 3 Print out the necessary pages of this manual from the CD ROM and keep them handy for ready reference To use YAMAHA robots and c...

Page 19: ...TO VIBRATION SUCH AS VEHICLES AND SHIPS EACH ROBOT CONTROLLER HAS AN EMERGENCY STOP INPUT TERMINAL TO TRIGGER EMERGENCY STOP USING THIS TERMINAL CONFIGURE A SAFETY CIRCUIT SO THAT THE SYSTEM INCLUDING...

Page 20: ...SHOCK MALFUNCTIONS PRODUCT DAMAGE OR DETERIORATED PERFORMANCE INSTALL THE ROBOT CONTROLLER AND PROGRAMMING BOX AT A LOCATION OUTSIDE THE ROBOT S WORKING ENVELOPE YET WHERE IT IS EASY TO OPERATE THE R...

Page 21: ...poor cable contact may cause equipment malfunctions Do not modify the cables and do not place any heavy object on them Handle them carefully to avoid damage Damaged cables may cause malfunction or ele...

Page 22: ...INED IN SAFETY AND ROBOT OPERATION MAY OPERATE THE ROBOT OPERATION BY ANY PERSON WHO HAS NOT RECEIVED THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED THE ROBOT AND ROBOT CONTROLLER ARE NOT D...

Page 23: ...URNS OR ELECTRICAL SHOCK MAY OCCUR IF THOSE PARTS ARE TOUCHED DURING STARTUP OR MAINTENANCE WORK DISPLAY AN EASY TO UNDERSTAND SIGN OR MESSAGE ON THE PROGRAMMING UNIT OR OPERATION PANEL TO PREVENT ANY...

Page 24: ...AWAY FROM THE ROBOT S WORKING ENVELOPE WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE ROBOT S WORKING ENVELOPE SUCH AS FOR TEACHING OR MAINTENANCE INSPECTION ALWAYS CARRY THE PROG...

Page 25: ...to match the robot model to be used However please check the robot model again when connecting it to the controller 5 Warning labels and marks 5 1 Warning labels The warning labels shown below are aff...

Page 26: ...ve a particular orientation so insert each connector in the correct direction 3 High Temperature Hazard mark Indicates that the area around this mark may become very hot Heatsinks and regenerative uni...

Page 27: ...wable operating temperature range This may result in thermal runaway or malfunctions and may lower component performance along with shortening their useful service life So be sure to install the contr...

Page 28: ...oils dust metal particles or organic solvents are present 4 Environments containing corrosive gases or substances such as acid or alkali 5 Environments containing mist such as cutting fluids or grindi...

Page 29: ...ition 2 2 2 Part names and functions 2 3 2 1 RCX221 Maximum number of axes 2 2 3 2 2 RCX221HP Maximum number of axes 2 2 3 3 Control system 2 4 3 1 RCX221 RCX221HP 2 4 4 Optional devices 2 5 4 1 RPB p...

Page 30: ......

Page 31: ...us inspection instruments sealers and spray equipment utilizing linear and circular interpolation functions 1 1 Main system configuration Configuration 1 System for controlling one robot Example MF50...

Page 32: ...ROB I O SD COM RDY E STOP EXT E STOP PIN11 12 OP 1 OP 2 YAMAHA robot PLC RPB or RPB E PC 1 2 RCX22 series axis definition The software for the RCX22 series is common to the RCX14 series and allows de...

Page 33: ...1 XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP PIN11 12 EXT E STOP OP 1 OP 2 2 2 RCX221HP Maximum number of axes 2 RCX221HP front view RCX221 HP XM YM MOTOR RGEN T...

Page 34: ...ic block diagram D POWER BOARD ASSY CPU BOARD ASSY DRIVER2 BOARD ASSY DRIVER2 BOARD ASSY FAN OP BOARD OP BOARD CN3 CN4 AC200 230V Regenerative unit X axis motor Y axis motor CN5 CN2 CN2 CN3 CN2 XY axi...

Page 35: ...ns including manual operations program input and editing teaching and parameter settings Emergency stop button Emergency stop button RPB connector Enable switch Selector switch N RPB N RPB E N RPB E r...

Page 36: ...n when using the robot for the first time After that reperform it when the controller power is turned on before starting robot operation or when the origin position becomes indefinite return to origin...

Page 37: ...kage breaker 3 10 4 4 Installing a circuit protector 3 11 4 5 Installing a surge absorber 3 11 4 6 Installing a current control switch 3 12 5 Connecting the robot cables 3 13 6 Connecting the RPB prog...

Page 38: ......

Page 39: ...the equipment when unpacking After unpacking check the accessories to make sure that nothing is missing cCAUTION The robot and controller are very heavy Take sufficient care not to drop them during u...

Page 40: ...th to avoid strain and pulling at the connectors 4 Install the controller inside the control panel 5 Keep the controller away from oil and water If the controller is to be used under such adverse cond...

Page 41: ...re 17mm or more 50mm or more When installing the robot controller follow the precautions below 1 Provide a clearance of at least 50mm from the top and side panels of the controller 2 Do not block the...

Page 42: ...as standard parts Using the rubber feet RCX221 XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP EXT E STOP PIN11 12 OP 1 OP 2 2 Attaching the L type brackets supplied...

Page 43: ...ng the L type brackets to the rear RCX221 XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP EXT E STOP PIN11 12 OP 1 OP 2 L type bracket part No single item Standard fo...

Page 44: ...ROBOT CONTROLLER Connector name Function q XM YM Connectors for servomotor drive w ROB I O Connectors for servomotor feedback and sensor signals e SAFETY Input output connector for safety function suc...

Page 45: ...TIONS CAUSED BY NOISE THE GROUND TERMINAL PROTECTIVE CONDUCTOR MUST BE GROUNDED PROPERLY TO PREVENT ELECTRICAL SHOCKS NEVER TOUCH THE AC IN TERMINALS WHEN POWER IS SUPPLIED TO THE ROBOT CONTROLLER Sym...

Page 46: ...2 Insert the wire lead all the way into the opening round hole while still holding the lever down 3 Release the lever to make the wiring connection Pull gently on the wire to make sure it is securely...

Page 47: ...m causing the robot to trigger emergency stop In contrast operation at a voltage higher than specified may damage the robot controller or trigger emergency stop due to detecting an excessive motor pow...

Page 48: ...manufacturer s data sheets to select the optimum product compatible with inverters wWARNING ELECTRICAL SHOCKS INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR BREAKS DOWN WHILE THE ROBOT CONTROLLER IS USED...

Page 49: ...cs To ensure proper operation we recommend using a medium to slow response circuit protector with an inertial delay function Refer to the circuit protector manufacturer s data sheets for making the se...

Page 50: ...pply and control power supply paths must be separated from each other When controlling the power on off by emergency stop the main power supply must be turned on or off The SAFETY connector on the rob...

Page 51: ...S SEPARATE FROM THE ROBOT CONTROLLER POWER CONNECTION LINES AND OTHER EQUIPMENT POWER LINES USING THEM IN CLOSE CONTACT WITH LINES CARRYING POWER MAY CAUSE MALFUNCTIONS cCAUTION Always securely connec...

Page 52: ...DY E STOP EXT E STOP PIN11 12 OP 1 OP 2 RPB programming box Connecting a terminator If not connecting the RPB plug the terminator supplied into the RPB connector Connecting a terminator RCX221 XM YM M...

Page 53: ...stor is used for the I O port having a transistor and photocoupler and a corresponding DI digital input is also used NPN specifications therefore make use of a sink output and a source input see drawi...

Page 54: ...of the robot controller to the RS 232C port of the computer using a communication cable For more detailed information on the RS 232C interface see RS 232C Interface in Chapter 7 n NOTE D SUB 9P femal...

Page 55: ...ble and connectors for bent pins kinks and other damage before connecting wWARNING THE POWER TO THE CONTROLLER MUST BE OFF WHEN CONNECTING THE REGENERATIVE UNIT TO THE CONTROLLER TO PREVENT ELECTRICAL...

Page 56: ...t install the generative unit near an object that is vulnerable to heat 2 When the thermal sensor is activated an RGU overheat alarm occurs to stop the robot If this happens change the resistor to a l...

Page 57: ...p the DIO cables SAFETY cable robot cables and power cable separate from each other Never bundle them together 2 Keep the communication cable robot cables and power cable separate from each other Neve...

Page 58: ...lation Refer to the drawing below when making the cable connections Cable connection RCX221 XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY RPB ROB I O SD COM E STOP PIN11 12 EXT E STOP OP 1 OP 2 SRV ERR...

Page 59: ...unctions To prevent malfunctions due to noise take into account the following points 1 Place a noise filter and ferrite core at a point near the robot controller Do not bundle the primary wiring and s...

Page 60: ...power until you actually begin the operation check Robot cable RPB programming box Regenerative unit if needed SAFETY connector supplied Pins 1 and 10 are shorted pins 2 3 11 and 14 are shorted and pi...

Page 61: ...D lamps on the front panel of the controller light up The ERR LED lamp is off When the SAFE mode setting is enabled and the serial I O is connected the SRV LED lamp does not light up Abnormal operatio...

Page 62: ...3 24 MEMO...

Page 63: ...Operation keys 4 8 5 1 RPB screen 4 8 5 2 Operation key layout 4 9 5 3 Basic key operation 4 10 5 4 Function keys 4 11 5 5 Control keys 4 13 5 6 Data keys 4 15 5 7 Other keys 4 15 6 Emergency stop 4...

Page 64: ...12 Executing the next step 4 49 10 PROGRAM mode 4 50 10 1 Scrolling a program listing 4 51 10 2 Program editing 4 52 10 2 1 Cursor movement 4 54 10 2 2 Insert Overwrite mode switching 4 55 10 2 3 Inse...

Page 65: ...4 95 11 2 7 Point data trace 4 96 11 2 8 Point comment input and editing 4 96 11 2 8 1 Point comment input and editing 4 98 11 2 8 2 Point data input by teaching 4 98 11 2 8 3 Jump to a point comment...

Page 66: ...g the user function keys 4 146 12 SYSTEM mode 4 147 12 1 Parameters 4 149 12 1 1 Robot parameters 4 151 12 1 2 Axis parameters 4 155 12 1 3 Other parameters 4 174 12 1 4 Parameters for option boards 4...

Page 67: ...252 12 6 2 2 Saving files 4 254 12 6 2 3 Initializing the files 4 255 13 MONITOR mode 4 256 14 UTILITY mode 4 259 14 1 Canceling emergency stop Motor power and servo on off 4 261 14 1 1 Canceling emer...

Page 68: ......

Page 69: ...rface Refer to Chapter 7 for RS 232C interface Operation overview Parallel I O interface Robot Power input External circuit AC power input terminal Programming box RPB SAFETY I O interface Used to sup...

Page 70: ...pplies power to the controller w SRV LED Lights up when the motor power turns on and turns off when the motor power turns off e ERR LED Lights up when a serious error occurs r RDY LED Lights up when t...

Page 71: ...al screen This is a liquid crystal display LCD with 40 characters 8 lines showing various types of information The screen contrast is adjustable w Sheet keys Use these keys to operate the robot or edi...

Page 72: ...sed Emergency stop Configure the external safety circuit so that this enable switch functions as described above 3 3 Connection to the robot controller Connect the RPB programming box to the RPB conne...

Page 73: ...adjust the screen contrast Setting range 0 bright to 100 dark 1 Press brightness 5 or brightness 5 to make adjustments 2 Press to end the setting The screen returns to the normal menu screen To chang...

Page 74: ...he screen when the robot controller is turned on be sure to initialize the parameters and memory in SYSTEM mode before performing return to origin Refer to 12 SYSTEM mode in Chapter 4 for detailed inf...

Page 75: ...st be performed before starting robot operation Then start the robot operation Refer to 11 8 Return to origin in this chapter for how to perform return to origin MANUAL mode screen MANUAL Current posi...

Page 76: ...2nd line If an error occurs the error message appears on the 2nd line Other displays on this line indicate the following status Dashed line Return to origin incomplete Solid line Return to origin com...

Page 77: ...peration key layout The operation keys are covered with a plastic sheet to prevent dust There are 3 main kinds of keys 1 Function keys 2 Control keys 3 Data keys Sheet key layout Function key Data key...

Page 78: ...needed to enable various functions Key configuration Shift 1 Shift 2 Shift 3 2 There are 3 ways shift 1 to shift 3 to use each operation key Shift Example of key input Input data 1 Shift 1 Use a key...

Page 79: ...lect the menus by pressing the function keys The relation of the function keys to their menus in MANUAL mode is shown below Function key Selected menu F1 POINT F2 PALLET F3 ORIGIN F4 VEL F5 VEL F6 SHI...

Page 80: ...n n n F11 F12 F13 F14 F15 LOWER M1 0 M2 0 Function keys to sheet keys on the RPB correspond to the function key menus on the screen from the left Pressing switches to function keys to and pressing sw...

Page 81: ...rchy 3 Cursor keys Moves the cursor up Moves the pointer highlighted line number display up when not editing on the screen Moves the cursor down Moves the pointer highlighted line number display down...

Page 82: ...ution and return to origin or absolute search operation Moves axis 1 in the direction or the robot in the X direction on the XY coordinates Moves axis 1 in the direction or the robot in the X directio...

Page 83: ...Enters numbers to Enters alphabetic characters Inserts spaces 2 Symbol keys 5 7 Other keys 1 Enter key Pressing this key executes a direct command when in AUTO DIRECT mode When the cursor is displayed...

Page 84: ...e appears on the RPB screen as shown below The highlighted display for the mode name is cancelled during emergency stop MANUAL 50 MG S0H0J 12 1 Emg stop on Current position POINT PALLET VEL VEL M1 0 M...

Page 85: ...reperforming return to origin 1 Cancel the emergency stop button on the RPB Emergency stop is released by turning the emergency stop button clockwise 2 Press while holding down The screen switches to...

Page 86: ...vomotor sets to HOLD status The mode name UTILITY on the system line 1st line is highlighted n NOTE If the motor power is turned off due to a serious error the motor power will not turn on with UTILIT...

Page 87: ...RVICE mode input and other modes with the function keys 1 SERVICE mode SERVICE mode is used to perform maintenance work using the RPB safely within the safety enclosure of the robot system This mode i...

Page 88: ...eturn to origin can be performed only in MANUAL mode AUTO mode may be selected depending on the execution level when the robot controller is turned on 5 SYSTEM mode Select this mode to perform mainten...

Page 89: ...J Current position AUTO PROGRAM MANUAL SYSTEM M1 0 M2 0 These are basic modes at the highest hierarchy on the menu The display position for each mode name corresponds to each function key of and from...

Page 90: ...pressed while the mark shows that is pressed Some submenus have other menus for accessing the next hierarchical mode For example pressing in AUTO mode while holding down switches to BREAK mode Submenu...

Page 91: ...he order as shown below First highest hierarchy Second hierarchy Third hierarchy Fourth hierarchy Example PROGRAM DIR ERASE The above example shows that the current mode is entered by selecting PROGRA...

Page 92: ...4 VEL F5 VEL F8 UNITCHG F9 VEL F10 VEL F3 MANUAL F1 RESET F2 TASK F3 DIR F4 VEL F5 VEL F6 POINT F7 DIRECT F8 BREAK F9 VEL F10 VEL F11 STEP F12 SKIP F13 NEXT F1 EDIT F3 DIR F5 COMPILE F6 JUMP F7 FIND F...

Page 93: ...VICE F3 SIO F4 W CAREER F4 SYSTEM F1 EDIT F2 JUMP F1 EDIT F2 JUMP F1 EDIT F2 JUMP F1 EDIT F2 JUMP F1 EDIT F2 JUMP F4 SAVE F5 HELP F1 EDIT F2 JUMP F1 PARAM F2 CMU F3 OPTION F4 INIT F5 DIAGNOS F9 BACKUP...

Page 94: ...ator knowing about it To prevent this kind of accident in SERVICE mode only the RPB can be used to operate the robot and other operation devices are disabled However you may add other operation device...

Page 95: ...robot operating speed in SERVICE mode is therefore basically limited to below 3 of maximum speed However if the robot operating speed has to be set higher than the safety range while the operator is...

Page 96: ...t means the servomotor power is on w Task display Shows the task number for the program listing being displayed e Automatic movement speed Robot movement speed is displayed during automatic operation...

Page 97: ...command statement during compiling the error message and the program listing after the command line where the error occurred are displayed If the compiling ends normally the program listing is displa...

Page 98: ...ovement speed for the selected robot group in steps 100 50 20 5 1 F6 POINT Moves to the specified point number position F7 DIRECT Executes a command statement written on one line F8 BREAK Sets a break...

Page 99: ...omplete When the execution level 5 6 or 8 is selected the program will always be executed from the beginning Procedure Press in AUTO mode Command statements are executed in order from the line number...

Page 100: ...er the automatic operation is complete 9 2 Stopping the program Procedure 1 Press during program execution to stop the program cCAUTION Do not turn off the robot controller during program execution If...

Page 101: ...in the sequence execution ENABLE DISABLE flag setting Procedure Program reset 1 AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 START SUBTASK T2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 RESET TASK DIR VEL VEL Wh...

Page 102: ...0 3 MOVE P P1 4 MOVE P P2 5 GOTO ST Change to _SELECT OK YES NO 2 When NO is pressed in Step 1 the following message then appears on the guideline Press YES to reset the current program or press NO to...

Page 103: ...ne number to be executed in the current task Main task T1 display AUTO T1 100 TEST1 5 MOVE P P0 6 L1 7 MOVE P P1 8 MOVE P P2 9 GOTO L1 RESET TASK DIR VEL VEL 3 Press TASK to select a lower order task...

Page 104: ...without selecting RST DO in the sequencer execution ENABLE DISABLE flag setting Procedure 1 Press DIR in AUTO mode Program information appears A pointer is displayed on the line number of the program...

Page 105: ...will be the product of that speed and the automatic movement speed For example if the automatic movement speed is 80 and the speed specified by the SPEED statement is 50 then the robot movement speed...

Page 106: ...ion at the sub robot is not supported in controller versions prior to Ver 9 11 n NOTE Point trace cannot be performed unless return to origin is complete Procedure 1 Press POINT in AUTO mode The scree...

Page 107: ...he arch axis to the right during ARCH motion mode F7 A AXIS Moves the arch axis to the left during ARCH motion mode F8 UNITCHG Switches the units for indicating the current position to mm pulse F9 VEL...

Page 108: ...00 0 00 0 00 0 00 0 00 0 00 2 Use the cursor keys to select the point number to be checked Point trace screen in PTP motion mode 2 AUTO POINT 100 MG S0H0J x y z r P3 150 50 64 53 P4 96 65 224 89 P5 63...

Page 109: ...S to select the axis to move by arch motion The selected axis is indicated on the message line as in ARCH y Point trace screen in ARCH motion mode 2 AUTO POINT 100 MG S0H0J x ARCH y z r P3 150 50 64 5...

Page 110: ...eys to select the point number to be checked 5 Press to move the robot by arch motion to the specified point position The trace speed is one fifth of the automatic movement speed To stop the trace pre...

Page 111: ...t number to be checked n NOTE Linear interpolation motion at the sub robot is not supported in controller versions prior to Ver 9 11 Point trace screen in linear interpolation motion mode 2 AUTO POINT...

Page 112: ...d execution AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 START SUBTASK T2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 DO 25 1_ 2 Enter one line of the command statement 3 Press to execute the command you have jus...

Page 113: ...reen Page key Switches the page display F1 SET Sets the break point F2 CANCEL Deletes the break point F3 SEARCH Searches for the line set with the break point F6 JUMP Shows the program listing from sp...

Page 114: ...1 Press BREAK in AUTO mode to switch to AUTO BREAK mode 2 Use the cursor keys to select the line number on which a break point is to be set 3 Press SET A B mark appears to the left of the command stat...

Page 115: ...set press SEARCH This function makes it easier to find a break point that you want to delete n NOTE Up to 4 break points can be set in one program These 4 break points cannot set in different programs...

Page 116: ...a sub routine or sub procedure its top line is executed STEP execution AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 START SUBTASK T2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 STEP SKIP NEXT n NOTE During STEP S...

Page 117: ...ED TO AVOID DANGER DO NOT ENTER THE ROBOT MOVEMENT RANGE Procedure 1 Press NEXT in AUTO mode 2 Each time this key is pressed the command statement of the highlighted line number is executed After exec...

Page 118: ...he highest mode PROGRAM in this case is highlighted it means the servomotor power is on When not highlighted it means the servomotor power is off w Program name Shows the program name currently select...

Page 119: ...ring searching backwards from the cursor position F9 FIND Finds the specified character string searching forwards from the cursor position F13 ERR RST Allows editing if the selected program is destroy...

Page 120: ...ntered on one line n NOTE Program editing is finished when any of up down cursor keys page up down keys or is pressed during program editing A maximum of 9999 lines can be written in one program as lo...

Page 121: ...ves the cursor to the beginning of the next line F1 SELECT Selects the starting line for copy or cut F2 COPY Copies the selected line and temporarily stores it in a buffer F3 CUT Cuts the selected lin...

Page 122: ...s the cursor up or down one line at a time Pressing the cursor keys moves the cursor right or left one character at a time 2 Pressing the page key moves the cursor one page screen at a time Cursor mov...

Page 123: ...s to the cursor position Insert mode PROGRAM EDIT TEST2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 6 _ ORIGIN 7 MOVE P P1 SELECT COPY CUT PASTE BS 1 2 3 2 Press again The cursor changes back to a thick...

Page 124: ...4 Deleting a character Procedure Pressing in PROGRAM EDIT mode deletes one character at the cursor position 10 2 5 Deleting a line Procedure Pressing in the PROGRAM EDIT mode deletes one line at the c...

Page 125: ...ering user function keys later in this chapter Procedure 1 Press in PROGRAM EDIT mode to display the character strings on the guideline which are preassigned to function keys to Each character string...

Page 126: ...py cut range A C mark appears on each line which was specified Press if you want to cancel this operation Specifying the copy cut lines PROGRAM EDIT TEST2 1C TEST2 PROGRAM 2C 3C DO2 0 0 4 WAIT DI3 4 3...

Page 127: ...GRAM EDIT TEST2 1 TEST2 PROGRAM 2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 ORIGIN SELECT COPY CUT PASTE BS 1 2 3 10 2 10 Cutting the selected lines Procedure After selecting the lines in 10 2 8 press...

Page 128: ...LECT COPY CUT PASTE BS 1 2 3 n NOTE The data stored in the buffer can be pasted repeatedly until you exit PROGRAM mode However if another copy cut operation is performed then the data within the buffe...

Page 129: ...s on the guideline Line jump PROGRAM EDIT TEST2 1 TEST2 PROGRAM 2 GOTO _ 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 ORIGIN Enter line no 45_ 1 2 3 2 Enter the line number to jump to and press The progra...

Page 130: ...ORIGIN Character string MOV_ 1 2 3 Search starts from the cursor position towards the end of the program and stops at the first matching character string Character string search PROGRAM EDIT TEST2 18...

Page 131: ...ST1 55 952 RW 2 TEST2 50 907 RW 3 PARTS100 38 843 RW 4 TEST100 100 1968 RW NEW INFO Name Line Byte RW RO Pressing on the above screen displays the DATE and TIME data Press to return to the previous di...

Page 132: ...riting enabled RO Reading only enabled writing inhibited Date Shows the date when the program was made or edited Time Shows the time when the program was made or edited Valid keys and submenu descript...

Page 133: ...ssage Enter program name appears on the guideline 2 Use to to or to enter a program name A maximum of 8 characters can be used Press if you want to cancel the data input n NOTE Program names can be up...

Page 134: ...es Number of program 5 Number of points 124 Item Description Source use sum Displays a count of used bytes and bytes available for source program and point data Object use sum Displays a count of used...

Page 135: ...ocedure 1 In PROGRAM DIR mode use the cursor keys to select the program to be copied 2 Press COPY to enter PROGRAM DIR COPY mode The message Enter program name appears on the guideline along with an e...

Page 136: ...program to be erased 2 Press ERASE to enter PROGRAM DIR ERASE mode A confirmation message appears on the guideline Erasing a program PROGRAM DIR ERASE TEST1 No RW RO 1 TEST1 55 952 RW 2 TEST2 50 907 R...

Page 137: ...Enter program name appears on the guideline along with the original program name Renaming a program PROGRAM DIR TEST1 No RW RO 1 TEST1 TEST2 55 952 RW 2 PARTS100 50 907 RW 3 TEST100 38 843 RW 4 100 3...

Page 138: ...default when a program name is registered 2 RO read only Program contents cannot be edited or erased Procedure 1 In PROGRAM DIR mode use the cursor keys to select the program with the attribute to be...

Page 139: ...nformation on an executable object program proceed as follows Procedure 1 Press OBJECT to enter PROGRAM DIR OBJECT mode 2 Object information appears as shown below Object program information PROGRAM D...

Page 140: ...fer to 10 6 Registering user function keys when registering user function keys Procedure 1 In PROGRAM DIR mode press EXAMPLE to enter PROGRAM DIR EXAMPLE mode A confirmation message appears on the gui...

Page 141: ...ALTERNATE DO 23 DO 23 M_F5 DO 24 ALTERNATE DO 24 DO 24 M_F6 DO 25 MOMENTARY DO 25 1 DO 25 0 M_F7 DO 26 MOMENTARY DO 26 1 DO 26 0 M_F8 DO 27 MOMENTARY DO 27 1 DO 27 0 M_F9 DO2 ON DO2 255 M_F10 DO2 OFF...

Page 142: ...mation message appears on the guideline 3 Press YES to compile the program The message Compiling is displayed during compiling Press NO if you want to cancel the compiling Compiling PROGRAM COMPILE TE...

Page 143: ...user function keys The robot controller recognizes a program named FUNCTION as a special program for registering the user function keys Therefore do not use this name for normal programs Procedure 1 I...

Page 144: ...a command statement for registering function keys in the following format The command statement format differs between the PROGRAM mode and MANUAL mode When registering function keys for editing in P...

Page 145: ...ontents of the FUNCTION program in the PROGRAM EDIT mode to create desired user functions When assignment was made to a function key that has already been assigned the new assignment will be valid M_F...

Page 146: ...0 is highlighted when is pressed In the above example ALTER defines an alternate type function and MOMENT a momentary type function A character string of up to 65 characters can entered However up to...

Page 147: ...in PROGRAM EDIT mode n NOTE This function is enabled for each program This reset function does not work if an error 9 3 Memory destroyed occurs In this case initialize the memory Procedure 1 Press ER...

Page 148: ...omotor power is off w Manual movement speed Shows the robot movement speed selected for manual operation e Robot group This shows the robot group currently selected for manual movement When one robot...

Page 149: ...are shown below Valid keys Menu Function Jog key Moves the robot manually F1 POINT Switches to the point data processing screen F2 PALLET Switches to the pallet data processing screen F3 ORIGIN Perfor...

Page 150: ...et too large and the movement time exceeds 300 seconds at the specified speed the robot movement will stop in 300 seconds To move the robot further use jog movement once again The robot moves as follo...

Page 151: ...t keeps moving The robot stops when the Jog key is released or either of the soft limit or shift coordinate range is reached The robot stops when the Jog key is released or the soft limit is reached T...

Page 152: ...n NOTE If return to origin is incomplete the current position always appears as pulse units when the controller is turned on 1 When the current position is displayed in pulse units Robot movement wit...

Page 153: ...ed on the screen along with a point comment on the selected point number To see the other data scroll the screen with the cursor keys or page keys Scrolls up or down one line at a time Scrolls right o...

Page 154: ...teps 100 50 20 5 1 F6 COPY Copies point data F7 ERASE Deletes point data F8 UNITCHG Changes the current position display units to mm or pulse F9 VEL Increases manual movement speed for the selected ro...

Page 155: ...ows n NOTE Enter point data for both X axis and Y axis If omitted 0 will be automatically entered for that axis The error message Digit number error appears when the data format is wrong Enter it in t...

Page 156: ...on Cursor key Moves the cursor and scrolls the screen Page key Switches to other screen INS Toggles between Insert mode and Overwrite mode DEL Deletes one character on the cursor position F1 UNDO Rest...

Page 157: ...number to obtain point data Point data teaching 1 When teaching at P8 MANUAL POINT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 EDIT TEACH JUMP VEL VEL COMNT POS 50 00 100 00 0 00 0 00 0 0...

Page 158: ...lready allotted to the currently selected point number a confirmation message appears on the guideline when TEACH is pressed Point data teaching 3 MANUAL POINT TEACH 50 MG S0H0X x y z r P7 100 00 250...

Page 159: ...When the robot servo is off automatic and manual operation cannot be performed There are two methods for turning on the robot servo One is to use the RPB and the other is to use the dedicated input R...

Page 160: ...00 P9 122 62 24 54 Enter point no 100_ COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 2 Enter the point number to jump to and press A jump is made so that the point data is displayed f...

Page 161: ...0 MG S0H0X x y z r P30 100 00 250 00 P31 50 00 100 00 P32 122 62 24 54 Copy COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 2 Use to and to enter the point number range for the copy sou...

Page 162: ...00 P31 50 00 100 00 P32 122 62 24 54 30 34 50 Copy OK YES NO COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 3 Press YES to make a copy The point data in the selected range is copied on...

Page 163: ...nt number range in the following format and press erase start number erase end number For example to erase the data between P30 and P34 enter 30 34 and press A confirmation message appears on the guid...

Page 164: ...cedure 1 In MANUAL POINT mode press TRACE to switch to AUTO POINT mode 11 2 8 Point comment input and editing Press COMMENT in MANUAL POINT mode The data display on the screen does not change same as...

Page 165: ...movement speed for the selected robot group in steps 100 50 20 5 1 F6 COPY Copies point comments F7 ERASE Deletes point comments F8 UNITCHG Changes the current position display units to mm or pulse F9...

Page 166: ...mode An edit cursor appears on the guidline Entering a point comment 2 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 Comment _ COMNT POS 50 00 100 00 0 00 0 00 0 00 0 0...

Page 167: ...00 0 00 0 00 2 Enter the point comment to jump to and press A jump is made to the designated point and its comment is then displayed Jumping to a point comment display 2 MANUAL POINT COMMENT 50 MG S0...

Page 168: ...comment 1 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 Copy 7 16 107_ COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 3 A confirmation message appears on the guid...

Page 169: ...le to erase the data between P7 and P16 enter 7 16 and press Deleting a point comment 1 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 Erase 7 16_ COMNT POS 50 00 100 00...

Page 170: ...00 0 00 0 00 0 00 0 00 0 00 0 00 3 Search starts from the cursor position towards the end of the program and stops at the first matching character string Searching for a point comment 2 MANUAL POINT...

Page 171: ...OINT EDIT mode n NOTE This reset function does not work if an error 9 3 Memory destroyed occurs In this case initialize the memory Procedure 1 Press ERR RST in MANUAL POINT mode A confirmation message...

Page 172: ...aximum number of points that can be defined in one pallet is 32767 Data in the point data area is used for pallet definition n NOTE When two robots main and sub robots are specified pallet definitions...

Page 173: ...witches to other screens F1 EDIT Edits pallet definitions F2 METHOD Sets the pallet definition point by teaching F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50...

Page 174: ...Use to to enter the desired value The maximum number of points per pallet must be within 32767 NX NY NZ Editing pallet definitions MANUAL PALLET EDIT 50 MG S0H0X PALLET NO PL0 XY Used point P3996 P40...

Page 175: ...The 3rd line shows the point numbers and point data in the pallet definition Valid keys and submenu descriptions in this mode are shown below Valid keys Menu Function Cursor key Specifies the point d...

Page 176: ...2 62 24 54 P 3 98 62 94 54 UNDO POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 x y z r 2 Use the cursor keys to move the cursor to the position you want edit 3 Use to and to enter the point...

Page 177: ...lane or 3 D solid Pallet definition by teaching 1 MANUAL PALLET METHOD 50 MG S0H0X PALLET NO PL0 XY Select dimension of this pallet 2 D 3 D 4 Move the robot work point to P 1 used in the pallet defini...

Page 178: ...he pallet with a positive integer Pallet definition by teaching 3 MANUAL PALLET METHOD 50 MG S0H0X PALLET NO PL0 XY Enter number of points NX on P 1 P 2 1 1000 ENTER _ 7 Enter the number of points NY...

Page 179: ...ET METHOD mode are shown below Valid keys Menu Function F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the select...

Page 180: ...s COPY and then enter the pallet number where you want to copy the currently selected pallet definition Copying a pallet definition 1 MANUAL PALLET 50 MG S0H0X PL0 SET PL1 SET PL2 SET PL3 Copy PL NO 3...

Page 181: ...e 1 Select the pallet number in MANUAL PALLET mode with the cursor keys 2 Press ERASE A confirmation message then appears asking if the currently selected pallet definition is to be deleted Press YES...

Page 182: ...One fifth of the maximum speed in AUTO mode is equal to the maximum movement speed in MANUAL mode Procedure 1 Press VEL or VEL to change the manual movement speed in steps Each time this key is press...

Page 183: ...ion within the robot work area The work area can also be restricted in each direction Up to 10 shift coordinates shift coordinate numbers 0 to 9 can be set to shift the standard coordinates in the X a...

Page 184: ...enu Function Cursor key Specifies the shift coordinate number Page key Switches to other screens F1 EDIT Edits the shift coordinates F2 RANGE Sets the shift coordinates range F4 VEL Increases manual m...

Page 185: ...er the data in Cartesian coordinates mm units Enter a number consisting of an integer portion of up to 5 digits and having 2 or less places below the decimal point n NOTE Enter point data for both X a...

Page 186: ...or the currently selected robot group Valid keys and submenu descriptions in MANUAL SHIFT EDIT mode are shown below Valid keys Menu Function F1 UNDO Reverses the last data input and restores the prece...

Page 187: ...PX mm dPY mm dPZ mm dPR degrees Minus side SMn dMX mm dMY mm dMZ mm dMR degrees n 0 to 9 n NOTE n is a shift coordinate number Example SP1 Plus side work area of shift coordinate S1 SM 2 Minus side wo...

Page 188: ...to separate between the data for x and y The data input formats are as follows To enter the data in Cartesian coordinates mm units Enter a number consisting of an integer portion of up to 5 digits and...

Page 189: ...hift coordinates for the currently selected robot group Valid keys and submenu descriptions for editing shift coordinates range are shown below Valid keys Menu Function F1 UNDO Reverses the last data...

Page 190: ...Y Y Point 1 1st P Point 2 2nd P Procedure 1 In MANUAL SHIFT mode select the shift coordinate number with the cursor key 2 Press METHOD1 to enter MANUAL SHIFT METHOD1 mode Shift coordinate setting met...

Page 191: ...Move arm to P 2 and press ENTER key 1st P 214 45 15 01 2nd P POS 214 45 15 01 0 00 0 00 0 00 VEL VEL 5 Determine teach point 2 with the same procedure as for teach point 1 6 Select the plus minus dir...

Page 192: ...eed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F8 UNITCHG Switches between the current display units...

Page 193: ...In MANUAL SHIFT mode select the shift coordinate number with the cursor key 2 Press METHOD2 to enter MANUAL SHIFT METHOD2 mode Shift coordinate setting method 2 2 MANUAL SHIFT METHOD2 50 MG S0H0X x y...

Page 194: ...the 1st P line Shift coordinate setting MANUAL SHIFT METHOD2 50 MG S0H0X x y z r Enter the point data mm 1st P _ 0 00 0 00 2nd P POS 13 00 150 00 0 00 0 00 VEL VEL 5 Use to and to enter the point data...

Page 195: ...d The screen then returns to MANUAL SHIFT mode Valid keys and submenu descriptions in MANUAL SHIFT METHOD2 mode are shown below Valid keys Menu Function F4 VEL Increases manual movement speed for the...

Page 196: ...d definitions can be set to change the robot working points with standard coordinate settings to the working points of the hand installed to the 2nd arm Y axis or the R axis This function allows movem...

Page 197: ...own below Valid keys Menu Function Cursor key Specifies the hand definition number F1 EDIT Edits the hand definition F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20...

Page 198: ...offset amount of hand n with a real number unit mm 2nd parameter Specify the Y axis offset amount of hand n with a real numbers unit mm 3rd parameter Specify the Z axis offset amount of hand n with a...

Page 199: ...H1 _ 0 00 100 00 0 00 R H2 90 00 100 00 100 00 R H3 8000 100 00 100 00 POS 600 00 0 00 0 00 0 00 UNDO 3 Use the cursor key to move the cursor to the position you want to edit 4 Use to and to enter th...

Page 200: ...current hand definition Valid keys and submenu descriptions in MANUAL HAND EDIT mode are shown below Valid keys Menu Function F1 UNDO Reverses the last data input and restores the preceding data 11 6...

Page 201: ...number 2 Press METHOD1 to enter MANUAL HAND METHOD1 mode Hand setting 1 1 MANUAL HAND METHOD1 50 MG S0H0X 1 2 3 4 Move arm to P 1 and press ENTER key 1st P 2nd P POS 600 00 0 00 0 00 0 00 VEL VEL 3 U...

Page 202: ...d submenu descriptions in MANUAL HAND METHOD1 mode are shown below Valid keys Menu Function F4 VEL Increases manual movement speed in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed in step...

Page 203: ...right of the RPB screen are switched to X or J or T However T Tool coordinate mode can be selected only when hand data for the R axis is selected hand definition is made Switching the display units pu...

Page 204: ...meter Origin speed Sets the speed at which to perform return to origin or absolute search Origin shift Sets the offset of origin position data Origin method Sets the method for performing return to or...

Page 205: ...igin operation using the stroke end detection method Return to origin operation using the stroke end detection method Return to origin direction Return to origin start position Stroke end q In the str...

Page 206: ...on during absolute search In the stroke end detection method absolute search movement depends on whether or not the stroke end is detected during absolute search After the absolute search is complete...

Page 207: ...ction opposite the return to origin direction to perform an absolute search Operation starts from w shown on the right w In the sensor method when the origin sensor turns on position A the robot moves...

Page 208: ...axis M3 M4 M1 M2 M3 M4 M5 OK no axis no axis Axis Return to origin status Origin method parameter SYSTEM PARAM AXIS mode M1 Axis 1 NG Origin incomplete SENSOR Sensor method M2 Axis 2 OK Return to ori...

Page 209: ...n 1 In MANUAL ORIGIN mode press M1 or M2 to select the axis to perform return to origin A confirmation message appears on the guide line in the programming box screen Press YES to perform return to or...

Page 210: ...lso called the grid position or grid pulse 3 When return to origin on all axes is complete the dashed line on the message line changes to a solid line indicating that return to origin is now complete...

Page 211: ...n to origin operation 1 In MANUAL ORIGIN mode press ALL to perform return to origin on all axes A confirmation message appears on the guide line in the programming box screen Press YES to perform retu...

Page 212: ...lso called the grid position or grid pulse 3 When return to origin on all axes is complete the dashed line on the message line changes to a solid line indicating that return to origin is now complete...

Page 213: ...nctions are enabled on SCARA robots by setting the standard coordinates n NOTE On Cartesian type robots there is no need to set the standard coordinates Moving robot arm tip at right angles Using pall...

Page 214: ...stering user function keys earlier in this chapter Procedure 1 Press in MANUAL mode and the menus character strings shown highlighted from to or to appear when assigned in advance Each character strin...

Page 215: ...hen not highlighted it means the servomotor power is off w Version display Shows the version number of software currently installed in the robot controller e Message line If an error occurs the error...

Page 216: ...alled The number in parentheses indicates a station number n cCAUTION See 7 I O connections in Chapter 3 for a definition of NPN and PNP specifications For detailed information about serial I O units...

Page 217: ...er SYSTEM PARAM mode 2 Press ROBOT AXIS OTHERS or OP BRD to select the parameter type Items for the selected parameter type are displayed SYSTEM PARAM mode SYSTEM PARAM V9 00 Robot TXYx A M1 Tx T6 12...

Page 218: ...lower limit value Also refer to 12 1 1 Robot parameters 12 1 2 Axis parameters 12 1 3 Other parameters and 12 1 4 Parameters for option boards 6 Press to quit the parameter editing Valid keys and sub...

Page 219: ...lease consult with us beforehand if these parameter No 4 onward must be changed n NOTE As with the RCX14 series the RCX22 series allows defining the main sub groups and main sub robots However the RCX...

Page 220: ...uxiliary axis tip weight use the axis tip weight settings of axis parameters cCAUTION Factors such as optimal speed are set automatically according to this parameter value Setting to a weight lower th...

Page 221: ...from axis 1 to axis 6 If an axis number is not set then return to origin for that axis number is performed last in the return to origin sequence This is the same for absolute search n NOTE Perform ori...

Page 222: ...direction orientation is automatically set when the parameters are initialized If the R axis direction has been set held and the arm tip is moved in the X or Y directions the R axis automatically rot...

Page 223: ...consult with us beforehand if these parameter No 17 onward must be changed n NOTE As with the RCX14 series the RCX22 series allows defining the main sub groups and main sub robots However the RCX22 s...

Page 224: ...he robot arm tip shakes or sways during acceleration lower this value to suppress the shaking cCAUTION Lowering the acceleration coefficient lengthens the time needed to stop when was pressed or an in...

Page 225: ...the robot arm tip shakes or sways when the robot stops lower this value to suppress the shaking cCAUTION Lowering the deceleration rate lengthens the time needed to stop when was pressed or an interl...

Page 226: ...ue On SCARA robots make sure that the total movement range of the and software limits for X axis and Y axis does not exceed 360 degrees If the setting exceeds 360 degrees then errors might occur in th...

Page 227: ...cCAUTION This is a critical parameter for determining the robot movement near the target position so set it to a correct value If the tolerance range was reduced to a drastically small value then the...

Page 228: ...4 160 Chapter 4 OPERATION 12 SYSTEM mode 5 Repeat the above steps 3 and 4 if necessary 6 Press to quit the edit mode...

Page 229: ...hift to the next command line can be shortened The robot is verified to have entered the tolerance range before executing the movement command so the previous positioning operation will end even when...

Page 230: ...ode 4 Enter the value with to and and then press If the value you input was a real number number containing a decimal point then it is converted into pulse units 5 Repeat the above steps 3 and 4 if ne...

Page 231: ...be shortened by making this value larger since there is a greater overlap for axis operation The value set for the selected axis is displayed in converted units on the 3rd line of the RPB screen cCAUT...

Page 232: ...RAM AXIS V9 00 7 Arch position pulse 0 56mm M1 2000 M2 2000 1 6144000 Enter _ 2000 4 Enter the value with to and and then press If the value you input was a real number number containing a decimal poi...

Page 233: ...s 20 pulses per millisecond 20mm s In the case of semi absolute mode axes a value larger than 20 pulses per millisecond 20mm s can be entered if the controller version is prior to Ver 9 16 but do not...

Page 234: ...OTE If the robot arm tip shakes or sways during manual movement acceleration lower this value to suppress the shaking cCAUTION Lowering the acceleration coefficient lengthens the time needed to stop w...

Page 235: ...error and the A pulses are the origin position before position error then enter a value of A B cCAUTION Origin shift is a critical parameter for determining the robot position so set it to a correct v...

Page 236: ...On XY robots and MULTI type robots setting the axis length also automatically determines the weight of each axis This is set to 0 when initialized Procedure 1 Select 11 Arm length mm in SYSTEM PARAM...

Page 237: ...set pulses Angle formed by R axis origin and X axis on standard coordinates unit pulses The offset is determined automatically when the standard coordinates are set cCAUTION When some value including...

Page 238: ...type robots set the robot arm tip weight cCAUTION Optimal acceleration and other items are automatically set according to this parameter value The robot body may therefore be adversely affected if se...

Page 239: ...oke end mark This method cannot be used with the RCX221 cCAUTION YAMAHA can accept no liability from problems arising due to changing the return to origin method without consulting YAMAHA beforehand R...

Page 240: ...direction is in the manual movement plus direction cCAUTION YAMAHA can accept no liability from problems arising due to changing the return to origin direction without consulting YAMAHA beforehand Re...

Page 241: ...the L direction This parameter cannot be changed while the servo is on To change the parameter make sure the servo is off n NOTE This parameter cannot be changed while servo is on cCAUTION YAMAHA can...

Page 242: ...language JPN ENG ENGLISH 2 Data display length 6char 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID EDIT JUMP Valid keys and submenu descriptions for editing other par...

Page 243: ...Procedure 1 Select 1 Display language JPN ENG in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes Setting the display language SYSTEM PARAM OTHERS V9 08 1 Display language JPN ENG E...

Page 244: ...ameters are initialized Procedure 1 Select 2 Data display length in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes Setting the Data display length SYSTEM PARAM OTHERS V9 08 1 Disp...

Page 245: ...ialized Procedure 1 Select 3 Parameter display units in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes Setting the parameter display units SYSTEM PARAM OTHERS V9 08 1 Display lang...

Page 246: ...ers are initialized cCAUTION This parameter is invalid if the sequence program starts up Procedure 1 Select 4 DO cond on EMG in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes Sett...

Page 247: ...and off periods of input signals must be longer than 25msec since the controller does not respond to any signal input shorter than 25msec This prevents the controller from responding to noise inputs...

Page 248: ...de 2 Press EDIT The function key menu changes Setting TRUE condition SYSTEM PARAM OTHERS V9 08 1 not 0 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID 6 DI noise filter...

Page 249: ...the hand installed on the R axis is specified by hand data If the robot does not have an R axis or the hand installed on the R axis is not specified by hand data the unit system will be automatically...

Page 250: ...M OTHERS V9 08 OFF 20 21 22 23 5 Incremental Mode INVALID 6 DI noise filter VALID 7 TRUE condition 1 8 Unit select Normal 9 Error output DO SO Off 3 To change the setting select the desired setting wi...

Page 251: ...current position occurs when operation is re executed after a relative motion interruption This parameter s factory setting when shipped is Keep Procedure 1 Select 10 MOVEI DRIVEI start position in S...

Page 252: ...ts with servo on when the controller power is turned on Compatibility mode for the RCX141 142 controllers NO The controller always starts with servo off when the power is turned on Compatibility mode...

Page 253: ...EM mode 12 Echo point No PNECHO This is a special parameter and should always be set to NO Echo point No setting 2 n NOTE This parameter is added to controllers of Ver 9 23 onwards This parameter is s...

Page 254: ...n the file will then be ignored This parameter is not contained in the parameter file and is always set to INVALID each time the power to the controller is turned on cCAUTION If this parameter is set...

Page 255: ...a network board Ethernet there are 4 parameters including the parameter to enable or disable the board n NOTE For detailed information on serial I O units such as CC Link Ethernet and YC Link refer to...

Page 256: ...dicate a station number n and a communication speed m D_Net n m A DeviceNet unit is installed Letters in parentheses indicate a MAC ID number n and communication speed m Profi n m A PROFIBUS unit is i...

Page 257: ...power supply is connected to the DIO board This parameter automatically changes to VALID when the 24V power supply is connected 2 IO cmd DI05 when ID 1 Sets whether to use the dedicated input DI05 IO...

Page 258: ...h parameter 3 When parameter 4 is set to Small the remote command cannot be used although this parameter can be set to VALID The I O commands can be used but use of them is limited partly 3 Output MSG...

Page 259: ...board and press SELECT 2 Select the 1 Serial IO parameter with the cursor keys 3 Press EDIT Serial IO setting SYSTEM PARAM OP BRD V9 08 1 Serial IO VALID 2 Remote cmd IO cmd SI05 INVALID 3 Output MSG...

Page 260: ...and press SELECT 2 Select the 2 Remote cmd IO cmd SI05 parameter with the cursor keys 3 Press EDIT Remote cmd IO cmd SI05 setting SYSTEM PARAM OP BRD V9 08 1 Serial IO VALID 2 Remote cmd IO cmd SI05 I...

Page 261: ...d and press SELECT 2 Select the 3 Output MSG to SOW 1 parameter with the cursor keys 3 Press EDIT Output MSG to SOW 1 setting SYSTEM PARAM OP BRD V9 08 1 Serial IO VALID 2 Remote cmd IO cmd SI05 INVAL...

Page 262: ...nels is the same as the Large IO size setting Procedure 1 In SYSTEM PARAM OP BRD mode select the serial I O option board and press SELECT 2 Select the 4 IO size parameter with the cursor keys 3 Press...

Page 263: ...D the Ethernet can be used When set to INVALID Ethernet cannot be used 2 IP address Sets the IP address 3 Subnet mask Sets the subnet mask 4 Gateway Sets the gateway 5 Communication mode Sets the comm...

Page 264: ...t with the network administrator for the IP address subnet mask and gateway settings Network setting 3 SYSTEM PARAM OP BRD SELECT V9 00 1 board condition VALID 2 IP address 3 Subnet mask 4 gateway 5 p...

Page 265: ...efer to Chapter 7 RS 232C interface Procedure 1 Press CMU in SYSTEM mode The communication parameter screen appears Communication parameter screen SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data bits 8 3 Ba...

Page 266: ...the guideline 5 Press to quit the setting To continue selecting other items use the cursor keys Valid keys and submenu descriptions in SYSTEM CMU mode are shown below Valid keys Menu Function Cursor k...

Page 267: ...nged with either ONLINE or OFFLINE statements in robot language Procedure 1 Select 1 CMU mode in SYSTEM CMU mode 2 Press EDIT The function key menu changes Setting the CMU mode SYSTEM CMU V9 00 1 CMU...

Page 268: ...bit length was set to 7 bits Procedure 1 Select 2 Data bits in SYSTEM CMU mode 2 Press EDIT The function key menu changes Setting the Data bits SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data bits 8 3 Baud...

Page 269: ...ently occur set a lower communication speed Procedure 1 Select 3 Baud rate in SYSTEM CMU mode 2 Press EDIT The function key menu changes Setting the Baud rate SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data...

Page 270: ...ntly occur Procedure 1 Select 4 Stop bit in SYSTEM CMU mode 2 Press EDIT The function key menu changes Setting the Stop bit SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit...

Page 271: ...cedure 1 Select 5 Parity in SYSTEM CMU mode 2 Press EDIT The function key menu changes Setting the Parity SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD NO...

Page 272: ...code in SYSTEM CMU mode 2 Press EDIT The function key menu changes Setting the Termination code SYSTEM CMU V9 00 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 6 Termination code CR 7 Flow control Xon Xo...

Page 273: ...a omissions may occur if flow control is set to NO Procedure 1 Select 7 Flow control in SYSTEM CMU mode 2 Press EDIT Flow control setting SYSTEM CMU V9 00 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 6...

Page 274: ...nd parameters relating to double carrier type robots Procedure 1 In SYSTEM mode press OPTION to enter SYSTEM OPTION mode 2 In SYSTEM OPTION mode press a key from POS OUT to W CARRY to show the paramet...

Page 275: ...bers can be used Controllers prior to Ver 9 22 DO SO Port No DO 20 to 27 SO 20 to 27 Controllers of Ver 9 22 onwards DO SO Port No DO 20 to 27 30 to 37 40 to 47 50 to 57 60 to 67 70 to 77 100 to 107 1...

Page 276: ...or occurred then turns off Automatic operation cannot be performed until the error is cleared On earlier version controllers no error will occur even if comparison points do not exist or the units of...

Page 277: ...son point 2 Comparison point 1 Procedure 1 Press POS OUT in SYSTEM OPTION mode to enter the area check output mode Selecting the area check output number controllers prior to Ver 9 22 SYSTEM OPTION PO...

Page 278: ...er F1 EDIT Edits the area check output parameter F2 JUMP Moves to the specified area check output parameter 1 Area check output on off This parameter sets whether or not to use the area check output f...

Page 279: ...40 to 47 50 to 57 60 to 67 70 to 77 100 to 107 110 to 117 120 to 127 130 to 137 140 to 147 150 to 157 SO 20 to 27 30 to 37 40 to 47 50 to 57 60 to 67 70 to 77 100 to 107 110 to 117 120 to 127 130 to 1...

Page 280: ...21 22 23 24 3 Select the output port with DO 20 through DO 27 4 Press to quit the setting To continue selecting other items use the cursor keys Controllers of Ver 9 22 onwards 1 Select 2 Port number o...

Page 281: ...is cleared On earlier version controllers no error will occur even if comparison points do not exist or the units of comparison points are not the same Note however that the area check output does not...

Page 282: ...Condition is set to IN n NOTE On controllers from Ver 9 08 onwards by changing the 5 Condition setting it is possible to select whether the robot position should be within a specified area or outside...

Page 283: ...O mode or a memory error then the area check output will turn off regardless of the criterion setting If the specified port is the same as the port used by the program then the area check output has p...

Page 284: ...NG IN SERVICE MODE CHANGING THE SETTINGS FROM THEIR DEFAULT VALUES IS LIKELY TO INCREASE HAZARDS TO THE ROBOT OPERATOR DURING MAINTENANCE OR OPERATION CUSTOMERS CAN CHANGE THESE SETTINGS BASED ON THEI...

Page 285: ...operating speed 100 Sets no limit on robot operating speed These are default settings 3 Operating device during SERVICE mode Specify the operating device to use Description RPB Only RPB operation is a...

Page 286: ...assword is entered SERVICE mode initial screen SYSTEM OPTION SERVICE V9 00 1 Service level 2 Movement Vel 3 3 Operating device RPB EDIT JUMP SAVE HELP LEVEL 3 Valid keys and submenu descriptions in th...

Page 287: ...ER SHOULD KEEP SAFETY IN MIND WHEN MAKING CHANGES Description Hold to Run function AUTO mode operation Level 0 Disabled Allowed Level 1 Enabled Allowed Level 2 Disabled Prohibited Level 3 Enabled Proh...

Page 288: ...PONSIBILITY FOR THEM THE CUSTOMER SHOULD KEEP SAFETY IN MIND WHEN MAKING CHANGES Description 3 Sets robot operation within 3 of maximum operating speed 100 Sets no limit on robot operating speed Proce...

Page 289: ...MER SHOULD KEEP SAFETY IN MIND WHEN MAKING CHANGES Description RPB Only RPB operation is allowed RPB DI Allows RPB and dedicated input RPB COM Allows RPB and online commands ALL Allows operation by al...

Page 290: ...RDS TO THE ROBOT OPERATOR DURING MAINTENANCE OR OPERATION CUSTOMERS CAN CHANGE THESE SETTINGS BASED ON THEIR OWN RESPONSIBILITY BUT ADEQUATE CONSIDERATION SHOULD FIRST BE GIVEN TO SAFETY Procedure 1 P...

Page 291: ...1 Press HELP in SYSTEM OPTION SERVICE mode Help display in SERVICE mode SYSTEM OPTION SERVICE HELP V9 00 Security level of serv mode LEVEL0 No limit LEVEL1 Hold to Run LEVEL2 Prohibit operation in AUT...

Page 292: ...ese settings are only valid when the serial I O unit is connected SIO overview Master station PLC CC Link Remote device station robot controller I O device sensors relays etc Parallel I O connection T...

Page 293: ...ial ports that can be set is as follows n NOTE Output results might be incorrect if the SIO specified port is the same as the port used by the program Output devices such as valves DO port SI port DO2...

Page 294: ...he same as the port used by the program Input devices such as sensors DI port SO port DI2 SO2 DI3 SO3 DI4 SO4 DI5 SO5 Procedure 1 Select from 5 to 8 in SYSTEM OPTION SIO mode 2 Press EDIT Editing the...

Page 295: ...t of the other carrier During automatic operation The target position of one carrier and the other carrier condition are first checked If there is a possibility that a collision may occur then one car...

Page 296: ...ction F1 EDIT Edits the parameter being selected with the cursor F2 JUMP Jumps to the specified point number Cursor key Moves the cursor up and down 1 Stroke setting n NOTE The stroke corresponds to t...

Page 297: ...e one carrier is closest to the other Stroke 2 Carrier 1 setting 3 Carrier 2 setting n NOTE Each function key display differs depending on how the axis is set Procedure 1 Select 2 Carrier 1 or 3 Carri...

Page 298: ...peration If the target position of one carrier will interfere with the other carrier during auto operation the carrier stands by until interference free motion is possible The manual movement and auto...

Page 299: ...screen SYSTEM INIT V9 00 PARAM MEMORY CMU CLOCK 2 Select the item to initialize with PARAM to CLOCK Valid keys and submenu descriptions in SYSTEM INT mode are shown below Valid keys Menu Function F1 P...

Page 300: ...ll be incomplete if this parameter is changed Procedure 1 Press PARAM in SYSTEM INIT mode A message Enter password appears on the guideline Enter INI and press Initializing the parameters 1 SYSTEM INI...

Page 301: ...ORY in SYSTEM INIT mode Initializing the memory SYSTEM INIT MEMORY V9 00 Source use sum 1316 364580 bytes Object use sum 528 98304 bytes Sequence use sum 0 4096 bytes Number of program 5 Number of poi...

Page 302: ...definition data F7 COMMENT Deletes the point comment data 12 4 3 Initializing the communication parameters To initialize the communication parameters proceed as follows Procedure 1 Press CMU in SYSTEM...

Page 303: ...time Procedure 1 Press CLOCK in SYSTEM INIT mode The present date and time are displayed Initializing the clock SYSTEM INIT CLOCK V9 00 DATE TIME 06 06 01 10 13 35 DATE TIME 2 Select the item with DA...

Page 304: ...rrect system generation settings To protect the equipment against such accidents save the initial parameter data when shipped from YAMAHA and the parameter data from system upgrades onto an external P...

Page 305: ...DIAGNOS mode Self diagnosis SYSTEM DIAGNOS V9 00 CHECK HISTRY BATTERY TOTAL Valid keys and submenu descriptions in SYSTEM DIAGNOS mode are shown below Valid keys Menu Function F1 CHECK Checks the cont...

Page 306: ...if DC 24V is not supplied to the option DIO Procedure 1 Press CHECK to enter SYSTEM DIAGNOS CHECK mode System check SYSTEM DIAGNOS CHECK V9 00 System check OK NEXT P PREV P An error message appears if...

Page 307: ...SYSTEM DIAGNOS HISTRY V9 00 1 06 06 01 10 15 00 12 1 Emg stop on 2 06 06 01 10 14 54 22 1 AC power low 3 06 06 01 09 59 34 17 4 D1 Over load 4 06 06 28 14 00 02 12 1 Emg stop on 5 06 06 30 08 40 10 22...

Page 308: ...EAR DAY HOUR MIN CLEAR Power on time 0 14 10 34 Run time 0 2 8 45 The 3rd line shows the date and time that the total operation time was reset The Power on time is the total time that the controller p...

Page 309: ...ed n NOTE All error information will be initialized when the error history is initialized Procedure 1 Press SYS CHK Error details SYSTEM DIAGNOS SYS CHK V9 00 Exception error Information Type 16 06 06...

Page 310: ...e internal flash ROM or the SD memory card Procedure 1 Press BACKUP in the SYSTEM mode Backup SYSTEM BACKUP V9 00 SD CARD FROM Valid keys and submenu descriptions in SYSTEM BACKUP mode are shown below...

Page 311: ...wer than this level is not allowed n NOTE This controller supports only FAT12 and FAT16 file systems If the files were created on a PC then the file names might differ from those displayed on the PC I...

Page 312: ...INIT 2 The path to the currently displayed directory is shown in the 3rd line 3 Files or subdirectory in the directory are shown in the 4th to 7th lines 4 Move the cursor with the cursor up down keys...

Page 313: ...OAD will move to that subdirectory Procedure 1 In the SYSTEM BACKUP SD CARD mode select the file to be loaded using the cursor up down keys 2 Press LOAD 3 A confirmation message appears Press YES to l...

Page 314: ...rmats can be loaded If an attempt was made to load a file with another format then a 15 5 Illegal file type error occurs File name File type ALL ALL file PGM Program file PNT Point data file SFT Shift...

Page 315: ...is being saved on it Procedure 1 Press SAVE in SYSTEM BACKUP SD CARD mode 2 Select the file type to be saved Saving a file 1 SD FILE1 ALL 102520 06 04 07 13 30 FILE2 PGM 8528 06 04 12 17 07 SUBDIR DIR...

Page 316: ...04 12 17 07 SUBDIR DIR 06 03 27 15 21 FILE3 PNT 1741 06 04 21 10 45 Enter file name ABC SYSTEM BACKUP SDCARD SAVE V9 00 ALL 4 Press A confirmation message appears Saving a file 3 ABC ALL SYSTEM BACKU...

Page 317: ...ve the SD memory card while a file is being deleted from it Procedure 1 In SYSTEM BACKUP SD CARD mode select the file to be deleted using the cursor up down keys 2 Press DEL 3 A confirmation message a...

Page 318: ...file Procedure 1 In SYSTEM BACKUP SD CARD mode select the file to be previewed using the cursor up down keys 2 Press PREVIEW 3 The file content is displayed from the beginning Previewing a file SD FI...

Page 319: ...if any hardware trouble occurs Always save the data onto an external PC storage device If an abnormal process occurs such as if the power is turned OFF while saving data the data cannot be guaranteed...

Page 320: ...les or as parameter files the servo must be off After the files are read in the return to origin incomplete state will be set Data saved in the internal flash ROM cannot be loaded back if any hardware...

Page 321: ...les are loaded F5 HND Only hand files are loaded F6 PRM Only parameter files are loaded F8 PLT Only pallet files are loaded F9 PCM Only point comment files are loaded 3 A confirmation message appears...

Page 322: ...nd saved If data has already been written in initialize the memory and then save the new data The data saved on the internal flash ROM cannot be restored if any hardware trouble occurs Always save the...

Page 323: ...on process The data saved on the internal flash ROM cannot be restored if any hardware trouble occurs Always save the data onto an external PC storage device If an abnormal process occurs such as if t...

Page 324: ...DI monitor DI0 B00000101 DI4 B00000000 DI1 B00000010 DI5 B00000000 DI2 B00000000 DI6 B00000000 DI3 B00000000 DI7 B00000000 EDIT TEACH JUMP VEL VEL _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _...

Page 325: ...ation display MANUAL POINT 50 MG S0H0J DI monitor DI0 B00000101 DI1 B00000001 DI2 B00000000 DI3 B00000000 DI4 B00000000 DI5 B00000000 DI6 B00000000 DI7 B00000000 EDIT TEACH JUMP VEL VEL _ _ _ _ _ _ _...

Page 326: ...llowing format Task No Execution line Execution state Task priority Execution state RUN execute SUS forced standby STP stop Current command monitor display MANUAL POINT 50 MG S0H0J Current monitor 100...

Page 327: ...is displayed on the right end of the 3rd line Procedure 1 Press The UTILITY mode screen is displayed UTILITY mode UTILITY Date Time 06 06 01 18 59 37 36oC motor power On Sequence DISABLE Armtype RIGHT...

Page 328: ...he motor power and servo on and off F2 SEQUENC Prohibits or permits executing the sequence program F3 ARMTYPE Sets the arm hand type Valid only on SCARA robots F5 RST DO Clears the output port Valid k...

Page 329: ...g the emergency stop input contact Procedure 1 Press to enter UTILITY mode You can switch to UTILITY mode from any other mode The UTILITY mode screen appears with a confirmation message shown on the g...

Page 330: ...rol the robot and is not a problem cCAUTION At axes with brakes the brake can be released by pressing Free in controller versions prior to Ver 9 13 Use particular care with regard to heavy up down ver...

Page 331: ...s with the cursor keys When setting the servo to On the servo power for the axis must be turned on beforehand by the operation in step 2 Setting the servo of each axis 5 Set the servo status with Serv...

Page 332: ...cution 2 Sequence execution must be enabled 3 DI10 Sequence permit contact point must be closed 4 Operation must be in AUTO mode or MANUAL mode Procedure 1 Press SEQUENC in UTILITY mode 2 To enable ex...

Page 333: ...7 MO2 to MO27 LO0 TO0 SO2 to SO27 SOW 2 to SOW 15 Procedure 1 Press RST DO in UTILITY mode A confirmation message appears on the guideline Resetting the output ports UTILITY RST DO Date Time 06 06 01...

Page 334: ...execution at origin incomplete When power is turned on Program reset at program start Return to origin signal in AUTO mode Mode Program reset LEVEL0 Disabled MANUAL mode NO NO Invalid LEVEL1 Enabled...

Page 335: ...enter UTILITY mode then press EXECUTE Changing the execution level 1 UTILITY Date Time 06 06 01 12 36 37 36oC Execut level LEVEL7 Access level LEVEL0 EXECUTE ACCESS RST DO 2 Select the execution level...

Page 336: ...refer to the previous page Displaying the Help message 1 UTILITY EXECUTE HELP LEVEL0 Program cannot execute if arm has not returned to ORIGIN PowerOn mode is MANUAL PowerOn without program reset NEXT...

Page 337: ...as displayed 3 When a program was destroyed when 9 1 Program destroyed message was displayed 4 When point data was destroyed when 9 2 Point data destroyed message was displayed 5 When shift data was d...

Page 338: ...ter password appears on the guideline Enter with LVL here and press Setting the access level 1 UTILITY Date Time 06 06 01 18 59 37 36oC Execut level LEVEL7 Access level LEVEL0 Enter password LVL_ 2 If...

Page 339: ...UTILITY mode 14 5 2 Changing the access level Change the access level as needed Procedure 1 Set the access level with LEVEL0 to LEVEL3 Setting the access level 3 UTILITY ACCESS Access level LEVEL2 LEV...

Page 340: ...the next page or press PREV P or cursor key to refer to the previous page Access level Help screen first page UTILITY ACCESS HELP LEVEL0 All data access available LEVEL1 Data change invalid NEXT P PRE...

Page 341: ...ection 5 9 1 6 Typical output signal connection 5 10 1 7 Dedicated I O signals 5 11 1 7 1 Dedicated input signals 5 11 1 7 2 Dedicated output signals 5 13 1 8 General purpose I O signals 5 15 1 8 1 Ge...

Page 342: ......

Page 343: ...There are two types of DIO option boards NPN and PNP specifications Inputs to the controller are referred to as DI Digital Inputs and outputs from the controller as DO Digital Outputs n NOTE See 7 I O...

Page 344: ...IDs so that they do not overlap DIP switch DIP switch setting and ID Switch 1 Switch 2 ID General purpose input output Dedicated input output ON ON 1 DI20 DI37 DO20 DO27 Available 1 OFF ON 2 DI40 DI67...

Page 345: ...Dedicated input 28 DI14 ABS reset usually not used Dedicated input 29 DI15 Program reset input Dedicated input 30 DI16 MANUAL mode Dedicated input 31 DI17 Return to origin usually used Dedicated input...

Page 346: ...I123 General purpose input 28 DI44 DI74 DI124 General purpose input 29 DI45 DI75 DI125 General purpose input 30 DI46 DI76 DI126 General purpose input 31 DI47 DI77 DI127 General purpose input 32 DI60 D...

Page 347: ...DIO 1 Do not use 26 DI42 General purpose input 2 DI40 General purpose input 27 DI43 General purpose input 3 Do not use 28 DI44 General purpose input 4 DI41 General purpose input 29 DI45 General purpo...

Page 348: ...9 31 33 35 37 39 41 43 45 47 49 24 22 20 18 16 14 10 8 6 4 2 1 3 5 7 9 11 12 13 15 17 19 21 23 25 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37...

Page 349: ...insertion side 2 1 Connector type No 734 102 WAGO Terminal Input Wire size 1 DC24V AWG22 to 18 2 GND AWG22 to 18 cCAUTION Do not keep supplying the external 24V DC power to the I O power connector wh...

Page 350: ...nto the opening round hole while still holding the lever down 3 Release the lever to make the wiring connec tion Pull gently on the wire to make sure it is securely attached Do not pull strongly on th...

Page 351: ...5 9 Chapter 5 PARALLEL I O INTERFACE 1 5 Typical input signal connection NPN specifications DC24V DI DI GND PNP specifications DC24V DI DI GND 1 Standard I O interface overview...

Page 352: ...is used always connect a diode in parallel as a surge killer In the case of NPN specifications do not short DO output to DC 24V since this will damage the internal circuitry PNP specifications DC24V D...

Page 353: ...dy signal must be on n NOTE When using a PHASER series robot noise is emitted for 0 5 to 2 seconds during the first servo on after turning the power on This is just the routine pre action for obtainin...

Page 354: ...erformed during emergency stop or when DI11 Interlock input is off n NOTE The DI00 Emergency stop ready signal and DI11 Interlock input input terminals are located in the SAFETY connector See Chapter...

Page 355: ...r sequence program but cannot be changed DO00 EMG monitor emergency stop monitor This signal monitors DI00 Emergency stop ready signal status and stays on while DI00 is off Canceling emergency stop do...

Page 356: ...s signal is on when return to origin has been completed on all incremental axes and semi absolute axes and absolute reset has been performed on all absolute axes DO12 Sequence program in progress This...

Page 357: ...in the following cases 1 When RST DO is selected in UTILITY mode 2 When any of the following operations was performed without executing a sequence program or with the sequence execution flag DO reset...

Page 358: ...ntact monitor MPRDY in SAFETY connector Main power ON ready Main power DO01 CPU OK DO02 Servo on state DO03 Alarm MPRDY Main power ON ready turns on after the control power supply turns on Then turn o...

Page 359: ...t monitor Main power ON ready Main power CPU OK Servo on state Alarm DO00 Emergency stop contact monitor and DO03 Alarm turn on after the control power supply turns on MPRDY Main power ON ready output...

Page 360: ...power ON ready Main power DO02 Servo on state DO03 Alarm DI01 Servo ON MIN 100msec To turn on the servo DI00 Emergency stop ready signal in the SAFETY connector must be on and the main power supply mu...

Page 361: ...reset input pulse must be longer than 10msec DO11 Return to origin complete output turns off return to origin incomplete state when the robot starts return to origin or absolute search operation Afte...

Page 362: ...hing to AUTO mode make sure that DO10 AUTO mode output is on and then turn off DI13 AUTO mode switching No dedicated output is available that indicates the operation has switched to MANUAL mode The on...

Page 363: ...automatic operation DI00 Emergency stop ready signal and DI11 Interlock input must be on and DO03 Alarm output must be off Turn off DI12 Auto operation start input after making sure that DO13 Auto op...

Page 364: ...e common type Photocoupler insulation method Input power DC 24V 10 7mA point Response time 20ms Min during on off 2 Output NPN specifications Method NPN open collector negative common type Photocouple...

Page 365: ...rotect against noise 3 If a short occurs in the load or an excessive current flows the internal over current protective circuit shuts off the interface circuit Once this protective circuit is activate...

Page 366: ...5 24 MEMO...

Page 367: ...Power 6 1 1 2 Connector I O signals 6 2 1 3 Connector terminal numbers 6 3 1 4 Emergency stop input signal connections 6 4 1 5 Dedicated input signal connections 6 10 1 6 Dedicated output signal conne...

Page 368: ......

Page 369: ...signal as DO Specifications SAFETY Connector type No KAS M5370 001 Sumitomo 3M Connector shell 10320 52A0 008 Connector plug 10120 3000PE Wire material 0 2 sq 1 1 Power The emergency stop ready signa...

Page 370: ...0 Emergency stop ready signal 13 E STOPIN1 Emergency stop input 1 14 E STOPIN2 Emergency stop input 2 15 E STOPIN3 Emergency stop input 3 16 E STOPIN4 Emergency stop input 4 17 LCKIN1 Enable switch in...

Page 371: ...6 SAFETY I O INTERFACE 1 3 Connector terminal numbers Connector exploded view 20 18 16 14 10 8 6 4 2 1 3 5 7 9 11 12 13 15 17 19 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 1 SAFETY I O interfa...

Page 372: ...m including the robot controller will always operate safely Emergency stop input signal connection 1 Connection when using the standard RPB with an external emergency stop circuit RPB connector SAFETY...

Page 373: ...4 RPB connector SAFETY connector 13 E STOPIN1 11 E STOP24V 12 E STOPRDY RPB E External emergency stop circuit DC24V GND24V Main power supply control circuit Control signal detection circuit L N Motor...

Page 374: ...onnector SAFETY connector 13 E STOPIN1 11 E STOP24V 12 E STOPRDY RPB External emergency stop circuit DC24V Main power supply control circuit Control signal detection circuit L N Motor drive circuit In...

Page 375: ...ly turns off Emergency stop is triggered if the RPB and SAFETY connector are removed Pins 13 and 14 pins 15 and 16 pins 17 and 18 pins 19 and 20 and pins 21 and 22 on the RPB connector are shorted in...

Page 376: ...he RPB E provided with an enable switch with an external emergency stop circuit PNP specifications GND GND 24V RPB connector 20 19 18 17 16 15 14 13 1 SERVICE E STOPRDY LCKIN4 E STOP24V LCKIN3 LCKIN2...

Page 377: ...open The enable switch is operable at this point a In normal operation E STOP24V is connected to E STOPRDY via the RPB E emergency stop switch enable switch and SAFETY connector and the controller in...

Page 378: ...ions NPN specifications 1 DI COM 3 SERVICE 2 INTERLOCK Photocoupler External 24V power supply PNP specifications 1 DI COM 3 SERVICE 2 INTERLOCK Photocoupler External 24V power supply n NOTE The NPN or...

Page 379: ...O INTERFACE 1 6 Dedicated output signal connections NPN specifications 4 DO COM 5 MPRDY 6 SERVO OUT Main power supply on off circuit L N Mechanical relay Photorelay External 24V power supply 1 SAFETY...

Page 380: ...2 Chapter 6 SAFETY I O INTERFACE PNP specifications 4 DO COM 5 MPRDY 6 SERVO OUT Mechanical relay Photorelay Main power supply on off circuit L N External 24V power supply 1 SAFETY I O interface overv...

Page 381: ...executed will pause or ongoing robot jog movement will pause 2 DI11 Interlock input INTERLOCK DI11 Interlock input is used to temporarily stop robot movement during execution of a program or manual o...

Page 382: ...r disables the service mode Use these inputs as needed according to your specifications and application 1 8 Meaning of output signals 1 MPRDY output This output signal turns on when the controller is...

Page 383: ...3 Communication specifications 7 3 3 1 Connector 7 3 3 2 Transmission mode and communication parameters 7 5 3 3 Communication flow control 7 6 3 3 1 Flow control during transmit 7 6 3 3 2 Flow control...

Page 384: ......

Page 385: ...L All system memories are received The robot controller communicates in compliance with these commands 2 Various commands are transmitted directly through a communication port from the external device...

Page 386: ...ONLINE mode a variety of commands can be sent directly from the external unit to the robot Commands sent directly from the external unit are called online commands The SEND command in a program is als...

Page 387: ...ifications of the RS 232C interface connector installed on the robot controller are shown below 1 A D SUB 9 pin female connector is installed on the robot controller so use a connection cable with a D...

Page 388: ...3 4 5 6 7 8 9 Controller DCD RXD TXD DTR GND DSR RTS CTS External device b Cable not using control wire NC RXD TXD NC GND NC RTS CTS NC 1 2 3 4 5 6 7 8 9 Controller DCD RXD TXD DTR GND DSR RTS CTS Ext...

Page 389: ...E 1 Termination code Robot transmit When CRLF carriage return line feed is selected Transmits data with a CR code 0DH and LF code 0AH added at the end of a line When CR carriage return is selected Tra...

Page 390: ...usy status Communication parameter Operation during transmit XON XOFF Stops transmission when XOFF 13H is received Resumes transmission when XON 11H is received RTS CTS Stops transmission while CTS is...

Page 391: ...e external device does not support handshake protocols BUSY control XON XOFF control the data processing speed becomes slower than the communication speed causing a communication error In this case ta...

Page 392: ...ential or not connected Improper ground wire connection might cause electrical shock if connector metal parts are touched Malfunction or breakdown might occur when making connection or after connectio...

Page 393: ...A LF EOF J Z j z B K k C L l l l D CR M m E N n F O o Note 1 The above character codes are written in hexadecimal Note 2 SP indicates a blank space Note 3 Only capital letters can be used for robot l...

Page 394: ...9 pins 3 5m KR7 M538F 100 5m KR7 M538F 300 w 9 pins 9 pins 3 5m KAS M538F 000 5m KAS M538F 100 cCAUTION There is no problem with reversing the communication cable connections by attaching the straight...

Page 395: ...NS Contents 1 Controller basic specifications 8 1 2 Controller basic functions 8 3 3 Controller external view 8 4 3 1 RCX221 external view 8 4 3 2 RCX221HP external view 8 5 4 RPB basic specifications...

Page 396: ......

Page 397: ...ters deg degrees Speed setting 1 to 100 1 increments setting can be changed by program Acceleration deceleration setting Automatic acceleration setting by robot model and tip weight parameter Setting...

Page 398: ...luding STD DIO Parallel I O board STD DIO Dedicated input 10 points dedicated output 12 points General purpose input 16 points general purpose output 8 points compatible with NPN PNP specifications OP...

Page 399: ...ART SUSPEND CUT statements etc etc Functions Arithmetic functions SIN COS TAN functions etc Character string functions STR LEFT MID RIGHT functions etc Point functions WHERE JTOXY XYTOJ functions etc...

Page 400: ...E STOP PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 14 126 130 100 250 210 225 22 158 210 6 M3 5 5 unit mm RCX221 with RG2 option installed Bottom view RG2 TEMP RGEN RCX221 RG2 XM YM MOTOR RGEN TEMP ACIN...

Page 401: ...1 12 EXT E STOP OP 1 OP 2 16 16 50 50 126 210 158 22 130 158 100 250 210 28 225 6 M3 14 unit mm RCX221HP with RG2 option installed 5 5 130 158 100 28 5 Bottom view HP RG2 TEMP RGEN 6 M3 RCX221 XM YM M...

Page 402: ...button Normally closed contract with lock function Enable switch Not provided 3 position type Power DC 12V Operating environment Ambient temperature 0 to 40 C Storage temperature 10 to 65 C Humidity 3...

Page 403: ...8 7 Chapter 8 SPECIFICATIONS RPB E external view 136 180 250 50 2 140 Selector switch Enable switch unit mm 4 RPB basic specifications and external view...

Page 404: ...8 8 MEMO...

Page 405: ...n errors 9 21 9 Memory errors 9 26 10 System setting or hardware errors 9 29 12 I O and option board errors 9 31 13 RPB errors 9 35 14 RS 232C communication errors 9 36 15 Memory card errors 9 38 17 M...

Page 406: ......

Page 407: ...oup No Contents 0 Warnings and messages 1 Warnings error history entry 2 Robot operating area errors 3 Program file operating errors 4 Data entry and edit errors 5 Robot language syntax compiling erro...

Page 408: ...t over indicates that the preset soft limit values have been exceeded on axis 1 of the main group robot Likewise the message 17 4 D2 Overload indicates that an overload has occurred in axis 2 of the d...

Page 409: ...units b ROB I O cable was removed or disconnected c Return to origin or absolute search operation was interrupted d System generation was changed or parameters initialized Or parameters for specifying...

Page 410: ...curred when servo was turned ON Action Turn the controller on again 0 8 Try again Code H0008 Meaning Cause Operation failed Action Try again 0 9 Arrived at breakpoint Code H0009 Meaning Cause Break po...

Page 411: ...inputs DI02 SI02 was changed Action 0 17 Can t change DC24V is ON Code H0011 Meaning Cause Setting to disable the DC 24V monitor parameter was attempted even though DC 24V was being supplied to a DIO...

Page 412: ...Code H0203 Meaning Cause a Preset calculation for setting standard coordinates is not functioning b Operating position exceeded the operating area range Action 1 Set the standard coordinates correctly...

Page 413: ...ne rotation 2 10 Exceeded movable range Code H020A Meaning Cause Area is outside the movable range of movement path Action 1 Set movement points correctly 2 Specify movement path to be within the mova...

Page 414: ...o LEFTY Code H0217 Meaning Cause a Interpolation movement shifting from the right handed system to the left handed system was executed with a SCARA robot Action 1 Check the current hand system and poi...

Page 415: ...t the double carrier parameter control mode to Off or On When set to Off this error does not occur but the anti collision function for double carriers will not work so the carriers might collide with...

Page 416: ...le type error Code H0305 Meaning Cause Software error occurred Action Contact our company with relevant information 3 6 Too many breakpoints Code H0306 Meaning Cause Setting of break point exceeding 4...

Page 417: ...3 14 Cannot use mode Code H030E Meaning Cause Specified mode cannot be changed because access level is set to level 2 or level 3 Action Change the access level to 0 or 1 3 15 Illegal password Code H03...

Page 418: ...ause Wrong format was used to enter the data Action Use the correct data format 4 3 Undefined pallet Code H0403 Meaning Cause Specified pallet is undefined Action 1 Change the specified pallet 2 Defin...

Page 419: ...fied port number for LO TO is not 0 c An output to port 0 or port 1 was set for ports DO MO SO Action 1 Change to the correct port number 2 Change output for ports DO MO SO to a port other than port 0...

Page 420: ...the expression to 5 times or less 2 Reduce program size 3 Reduce nesting of GOSUB statement CALL statement and FOR to NEXT statement 4 Reduce argument of CALL statement especially character variables...

Page 421: ...t executing FOR command Action 1 Delete the NEXT statement 2 Add a FOR statement corresponding to the NEXT statement 3 Confirm execution of FOR command 5 19 FOR without NEXT Code H0513 Meaning Cause T...

Page 422: ...B command was executed without SUB command Action 1 Delete the END SUB statement 2 Add a SUB statement corresponding to the END SUB statement 3 Confirm execution of SUB command 5 25 SUB without END SU...

Page 423: ...ction Code H0520 Meaning Cause Undefined function was called Action Set definition for undefined function 5 34 Too many dimensions Code H0522 Meaning Cause An array exceeding 3 dimensions was defined...

Page 424: ...SUB to END SUB statements Action Delete command that cannot be executed within procedure 5 41 Illegal command outside proce Code H0529 Meaning Cause Command cannot be executed outside of procedure be...

Page 425: ...gram name 5 46 Too many identifiers Code H052E Meaning Cause Number of identifiers exceeded 500 Action Ensure the number of identifiers is within 500 items 5 47 CASE without SELECT Code H052F Meaning...

Page 426: ...oes not have a command statement Action 1 Add a command statement 2 Delete the line that does not have a command statement 5 53 Compile failure Code H0535 Meaning Cause Error occurred in software Acti...

Page 427: ...aning Cause Assignment movement reference to an undefined point was attempted Action Define the point 6 5 Coordinate type error Code H0605 Meaning Cause a Arithmetic operations of joint coordinate poi...

Page 428: ...6 10 SUSPEND without START Code H060A Meaning Cause SUSPEND command was executed for a task not executed by START command Action Confirm execution of START command 6 11 CUT without START Code H060B M...

Page 429: ...mmand 6 16 Task suspending Code H0610 Meaning Cause START or SUSPEND command was executed for a task in pause suspend condition Action Delete START or SUSPEND command 6 17 Illegal command in error rou...

Page 430: ...ight line 6 23 Circular arc radius too small Code H0617 Meaning Cause MOVE C command radius is less than 1mm Action Change MOVE C command to 1mm or more for circular arc radius 6 24 Circular arc radiu...

Page 431: ...30 Too many PATH data Code H061E Meaning Cause The number of PATH motion paths has exceeded 300 Action Reduce the number of PATH motion paths to 300 or less in total of straight lines and circular arc...

Page 432: ...meter setting 9 Memory errors 9 1 Program destroyed Code H0901 Meaning Cause a Part or all of the program data has been destroyed b This error message is sometimes issued due to a major error or the p...

Page 433: ...data was destroyed Action Initialize the POS OUT data 9 9 Pallet data destroyed Code H0909 Meaning Cause Part or all of the pallet definition data was destroyed Action Initialize the pallet definition...

Page 434: ...yed Action Make the object program again 9 38 Sequence object memory full Code H0926 Meaning Cause Sequence object program exceeded its memory capacity Action Compress the source size of sequence prog...

Page 435: ...er 10 7 CPU unit version mismatch Code H0A07 Meaning Cause CPU unit version does not match the CPU Action Make sure the CPU unit and driver unit versions match each other 10 8 Cannot set auxiliary axi...

Page 436: ...parameter found Code H0A0E Meaning Cause a Undefined wrong parameter data was written because controller data from different controller version was used b Parameter name is wrong Action 1 Write the c...

Page 437: ...or 4 Attach the SAFETY connector Dedicated output 3 12 2 Interlock on Code H0C02 Meaning Cause a Program was executed or moving of axis attempted while interlock signal was still input b Interlock sig...

Page 438: ...is turned off or has stopped operating Action 1 Implement countermeasures to protect the CC Link system cable and controller from noise 2 Check if the master station sequencer PLC is operating correc...

Page 439: ...r Code H0C15 Meaning Cause a Error in cable for PROFIBUS system b The PROFIBUS system s station address setting is incorrect c The master station PLC power is turned off or the PLC has stopped operati...

Page 440: ...se TELENET is disconnected a The cable is broken or disconnected b Communicating with a client was off for more than the time specified by the 7 timeout min parameter for EtherNet c Logout was attempt...

Page 441: ...ors 13 1 RPB communication error Code H0D01 Meaning Cause Error occurred in communication with RPB Action 1 Install the RPB correctly 2 Replace the RPB 3 Replace the controller 13 2 RPB parity error C...

Page 442: ...14 11 Receive buffer overflow Code H0E0B Meaning Cause Communication receive buffer exceeded permissible capacity Action 1 Delay the communication parameter speed baud rate 2 Change communication par...

Page 443: ...e an on line command 14 24 Illegal command Running Code H0E18 Meaning Cause During program run a non executable on line command was attempted Action After stopping the program execute the on line syst...

Page 444: ...4 File doesn t exist Code H0F04 Meaning Cause Loading of file was attempted but file name does not exist Action Change to a file name that currently exists 15 5 Illegal file type Code H0F05 Meaning C...

Page 445: ...rrectly 2 Replace memory card backup battery 15 14 Media protected Code H0F0E Meaning Cause Cannot write Memory card has been set to write protect Action 1 Change to allow writing 2 Use another memory...

Page 446: ...ion 1 Try to reload the file 2 Replace the memory card 3 Replace the controller 15 28 Data write error Code H0F1C Meaning Cause Failed to write file Action 1 Try rewriting the file 2 Replace the memor...

Page 447: ...e to a motor overload c Motor acceleration is excessive d System generation setting is wrong e Motor cable wiring is broken or wiring is incorrect f Electromagnetic brake for holding vertical axis is...

Page 448: ...lectromagnetic brake for holding the vertical axis g SAFETY connector is not used correctly Action 1 Perform robot service and maintenance 2 Lower the motor acceleration 3 Redo the system generation 4...

Page 449: ...al control mode status Action Contact our company with details on the problem Dedicated output 2 17 18 DPRAM data error Code H1112 Meaning Cause Two tries at loading the dual port RAM failed Action Co...

Page 450: ...e Data for driver unit from the CPU unit was not received by driver unit Action 1 Turn the power off and then on again 2 Replace the controller 17 28 Dual P E counter overflow Code H111C Meaning Cause...

Page 451: ...s off b Servo ON processing failed because the drive unit had been stopped Action 1 First turn on the motor power if servo ON for each axis was attempted 2 Turn the power off and then on again 17 35 A...

Page 452: ...r electrical angle information failed twice Action 1 Perform return to origin 2 Replace the motor 3 Replace the controller 17 90 DRIVE2 module type error Code H115A Meaning Cause Motor specifications...

Page 453: ...s problem 21 4 System error drcom Code H1504 Meaning Cause Software error occurred Action Contact our company with details of this problem 21 5 System error drmod Code H1505 Meaning Cause Software err...

Page 454: ...DPRAM error PTP data Code H150E Meaning Cause 1 Failed to write PTP command data into driver Action 1 Replace the driver 2 Replace the controller 21 41 System error EXCEPTION Code H1529 Meaning Cause...

Page 455: ...rvo was turned on or during servo on Action Check whether main power is input 22 9 Abnormal over voltage Code H1609 Meaning Cause a Output voltage for motor power supply exceeded 420 volts b Regenerat...

Page 456: ...e to 60 C or more Action 1 Improve the operating environment 2 Check if the cooling fan is operating correctly 3 Replace the controller Dedicated output 1 22 13 Bus interface overtime Code H160D Meani...

Page 457: ...Failed to acquire access privilege for PCMCIA interface Action 1 Replace the PCMCIA interface driver 2 Replace the controller Dedicated output 1 22 41 OPT 1 interface overtime Code H1629 Meaning Cause...

Page 458: ...tput 1 22 44 OPT 4 interface overtime Code H162C Meaning Cause 1 Failed to acquire access privilege for interface with option board connected to option slot 4 Action 1 Replace the option board connect...

Page 459: ...e connector is not making contact Action 1 Separate equipment away from noise source 2 Replace the RPB cable 3 Replace the RPB RPB Receive Error Parity Error Contents Parity error occurred during comm...

Page 460: ...e controller Cause a The cable is broken or disconnected b Controller operation is abnormal c The connector is not making contact Action 1 Replace the RPB cable 2 Replace the controller RPB RS 422 Err...

Page 461: ...manual movement when robot is moved to particular location during program operation Current status is Status on RPB screen example Nothing is displayed on screen Error message appears on screen Robot...

Page 462: ...controller error status press DIAGNOS A maximum of 5 error histories are displayed 3 To check a particular error history press HISTORY A maximum of 500 error histories can be checked 2 2 2 Acquiring...

Page 463: ...pply Check RPB connector Check how RPB connector is inserted Replace RPB and check operation Plug in RPB connector correctly Replace the RPB Replace the controller 3 Controller turns on but ERR LED on...

Page 464: ...minate the cause of the error 2 Abnormal sound or vibration Wrong robot or axis type setting Connect RPB and check robot settings in SYSTEM mode Check if robot and controller are compatible Change to...

Page 465: ...s incorrect Replace cable if found to be defective Position detection error due to noise Check grounding of robot and controller Check robot periphery for noise Check for noise sources around robot I...

Page 466: ...n I O interface connector STD DIO Error has occurred Connect the RPB and check robot settings in SYSTEM mode Check if ERR LED is lit on front of controller Check the cause from the error information E...

Page 467: ...MEMO...

Page 468: ...information were added to the front cover Ver 2 07 Mar 2010 Addition and correction of explanations in Chapter 1 Using the Robot Safely Addition of explanations on installation location Addition and c...

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