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4-

17

4

Operation

5) Press the

F 1

(On) key to turn on the motor power. At the same time, the servomo-

tor sets to HOLD status.

The mode name “UTILITY” on the system line (1st line) is highlighted.

Fig. 4-6-5 “UTILITY>MOTOR” mode (2)

UTILITY

>MOTOR

motor power: On

D1=M1: Servo D5=M5: no axis

D2=M2: Servo D6=M6: no axis

D3=M3: Servo

D4=M4: Servo

On

Off

6) Press the

ESC

key to return to the previous mode.

6. Emergency stop

n

NOTE

If the motor power is turned off due to
a serious error, the motor power will
not turn on with “UTILITY >
MOTOR” mode. In this case, the robot
controller must be turned back on
again.

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Summary of Contents for RCX141

Page 1: ...User s Manual ENGLISH E YAMAHA 4 AXIS ROBOT CONTROLLER E93 Ver 2 02 RCX141 ...

Page 2: ......

Page 3: ...ual explains how to install and operate the robot controller Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA robot controllers safely and correctly Refer to the Programming Manual for detailed information on robot programs ...

Page 4: ... a potentially hazardous situation which if not avoided could result in death or serious injury c CAUTION CAUTION indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury or damage to the equipment or software n NOTE Explains key points in the operation in a simple and clear manner Note that the items classified into CAUTION might result in serious ...

Page 5: ...ctions Never directly touch the conductive sections or electronic components other than the rotary switches and DIP switches on the outside panel of the robot controller Securely attach each connector cable connector into the receptacles or sockets Poor connections will cause faulty operation or malfunctions Wiring safety points w WARNING Always shut off all phases of the power supply externally b...

Page 6: ...Always shut off all phases of the power supply externally before installing or removing an option board Failure to shut off all phases could lead to breakdowns or malfunctions When using ferrite cores for noise elimination fit them to the power cable as close to the robot controller as possible to prevent faulty operation or malfunctions due to noise When performing maintenance of the robot contro...

Page 7: ...y 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 2 When connecting robot cables to the robot controller Be sure to keep robot cables separate from the robot controller power connection lines and other equipment power lines Using in close contact with lines carrying power may cause malfunc...

Page 8: ...d 2 for rapid execution of programs 1 Standard Language for Industrial Manipulators 2 This compiling method checks the syntax in a robot language program converts it into intermediate codes and creates an execution file object file before actually performing the program 3 Movement command Arch motion Spatial movement during pick and place work can be freely set according to the work environment Th...

Page 9: ...vices 2 6 4 1 MPB programming box 2 6 4 2 Expansion I O board 2 6 4 3 Regenerative unit 2 6 5 Basic sequence from installation to operation 2 7 Chapter 3 Installation 1 Unpacking 3 1 1 1 Packing box 3 1 1 2 Unpacking 3 1 2 Installing the robot controller 3 2 2 1 Installation 3 2 2 2 Installation methods 3 3 3 Connector names 3 5 4 Connecting to the power 3 6 4 1 AC200 to 230V single phase specific...

Page 10: ...nnection to the robot controller 4 5 4 Turning power on and off 4 6 5 Operation keys 4 7 5 1 MPB screen 4 7 5 2 Operation key layout 4 8 5 3 Basic key operation 4 9 5 4 Function keys 4 10 5 5 Control keys 4 12 5 6 Data keys 4 14 5 7 Other keys 4 14 6 Emergency stop 4 15 6 1 Emergency stop reset 4 16 7 Mode configuration 4 18 7 1 Basic operation modes 4 18 7 2 Other operation modes 4 19 7 3 Mode hi...

Page 11: ... 4 54 10 2 11 Pasting the data 4 54 10 2 12 Backspace 4 54 10 2 13 Line jump 4 55 10 2 14 Searching a character string 4 56 10 3 Directory 4 57 10 3 1 Cursor movement 4 58 10 3 2 Registering a new program name 4 58 10 3 3 Directory information display 4 59 10 3 4 Copying a program 4 60 10 3 5 Erasing a program 4 61 10 3 6 Renaming a program 4 62 10 3 7 Changing the program attribute 4 63 10 3 8 Di...

Page 12: ...tting hand definitions 4 115 11 6 1 Editing hand definitions 4 121 11 6 1 1 Restoring hand definitions 4 122 11 6 2 Hand definition setting method 1 4 122 11 7 Changing the display units 4 124 11 8 Return to origin 4 125 11 8 1 Return to origin operation 4 125 11 8 2 Semi absolute 4 127 11 8 3 Return to origin procedure 4 129 11 9 Setting the standard coordinates 4 130 11 9 1 Setting the standard ...

Page 13: ...1 Changing the execution level 4 228 14 5 2 Displaying the Help message 4 229 14 6 Changing the access level operation level 4 230 14 6 1 Entering the password 4 230 14 6 2 Changing the access level 4 231 14 6 3 Displaying the Help message 4 231 Chapter 5 Parallel I O interface 1 Standard I O interface overview 5 1 1 1 Power supply 5 1 1 2 Connector I O signals 5 2 1 3 Connector pin numbers 5 3 1 ...

Page 14: ...ections 6 6 1 6 Input signal description 6 7 Chapter 7 RS 232C interface 1 Communication overview 7 1 2 Communication function overview 7 2 3 Communication specifications 7 3 3 1 Connector 7 3 3 2 Transmission mode and communication parameters 7 4 3 3 Communication flow control 7 5 3 3 1 Flow control during transmit 7 5 3 3 2 Flow control during receive 7 5 3 4 Other caution items 7 6 3 5 Characte...

Page 15: ...12 I O and option board errors 9 28 13 MPB errors 9 32 14 RS 232C communication errors 9 33 15 Memory card errors 9 34 17 Motor control errors 9 37 21 Major software errors 9 43 22 Major hardware errors 9 44 1 2 MPB Error Messages 9 48 2 Troubleshooting 9 50 2 1 When trouble occurs 9 50 2 2 Acquiring error information 9 51 2 2 1 Acquiring information from the MPB 9 51 2 2 2 Acquiring information f...

Page 16: ...viii MEMO ...

Page 17: ...Safety 1 1 1 1 Safety precautions during robot operation 1 2 1 2 Safety precautions during maintenance 1 2 1 3 Motor overload precautions 1 2 1 4 Warning labels 1 3 1 5 Warning marks 1 3 2 Warranty 1 4 3 Operating environment 1 5 ...

Page 18: ...MEMO ...

Page 19: ... safety items and operation points are identified in this manual by the following symbols and signal words w WARNING WARNING indicates a potentially hazardous situation which if not avoided could result in death or serious injury c CAUTION CAUTION indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury or damage to the equipment or software n NOTE ...

Page 20: ...t or controller In cases where you have to replace or repair parts used in the robot or controller first consult with us and then follow the instructions we provide b Before beginning maintenance for the robot or controller be sure to turn off the power to the controller Even after turning off the controller there are some parts in the controller which are still hot or at a high voltage Always wai...

Page 21: ...ler read this manual carefully and follow the instructions Connectors have a particular orientation so insert each connector in the correct direction 1 5 Warning marks The following warning marks are shown on the controller To use the YAMAHA robot and controller safely and correctly be sure to observe the instructions and caution of the marks a Electric Hazard mark This mark warns you of possible ...

Page 22: ... other internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty repair 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not approved by YAMAHA or YAMAHA sales represe...

Page 23: ...e 35 to 85 RH no condensation in order to guarantee continuous operation within the initial specifications Installing the robot controller inside an air conditioned or cooled housing is recommended when the ambient humidity is higher than 85 or when condensation occurs Storage humidity The controller should be stored in a location at an ambient humidity below 95 RH no condensation when not being u...

Page 24: ...1 6 MEMO ...

Page 25: ... 2 Axis definition for the RCX141 2 3 2 Part names and functions 2 4 2 1 RCX141 Maximum number of axes 4 axes 2 4 3 Controller system 2 5 4 Optional devices 2 6 4 1 MPB programming box 2 6 4 2 Expansion I O board 2 6 4 3 Regenerative unit 2 6 5 Basic sequence from installation to operation 2 7 ...

Page 26: ...MEMO ...

Page 27: ...tion functions 1 1 Main system configuration Configuration 1 System for controlling one robot Example YK400X All the axes on the robot controller are used as the main robot axes Fig 2 1 1 System for controlling one robot RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODE L SER NO MANUF ACTUR ED FA...

Page 28: ...es and axes 3 and 4 are used as the main auxiliary axes Fig 2 1 2 System for controlling one robot and auxiliary axes RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODE L SER NO MANUF ACTUR ED FACTOR Y AUTOMA TION EQUIPM ENT MADE IN JAPAN CAU TIO N READ INST RUC TION MAN UAL PLC MPB PC YAMAHA robo...

Page 29: ...d The letters M are displayed on the MPB 1 to 4 Main auxiliary axes Are the single axes composing the main group These cannot be moved with the robot language MOVE command Use the DRIVE command to move these axes The letters m are displayed on the MPB 1 to 4 Sub group Indicates the sub robot and sub auxiliary axes and has a maximum of 2 axes The letters SG are displayed on the MPB Sub robot Indica...

Page 30: ...r of axes 4 axes Fig 2 2 1 RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODEL SER NO MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN CAUTION READ INSTRUCTION MANUAL ...

Page 31: ... CPU BOARD ASSY RGEN POWER CPU UNIT1 POWER CPU UNIT2 AC DC 24V AC DC 5V 12V XM ZM RM YM MOTOR ROB I O XY ROB I O ZR SAFETY STD DIO COM OP BOARD OP BOARD OP BOARD OP BOARD CN2 CN12 HEATSINK TH1 FG CN8 CN5 CN9 CN5 CN5 CN4 CN2 CN1 CN1 CN1 CN1 CN3 CN1 CN3 CN4 CN6 CN7 CN4 CN11 CN7 CN3 CN8 CN1 CN3 CN3 CN3 CN3 TB1 CN5 CN10 CN3 CN7 CN2 CN4 CN1 CN1 CN2 CN1 CN2 CN2 CN2 CN2 CN2 MPB CN9 CN13 CN10 CN10 ...

Page 32: ...d editing teaching and parameter settings Fig 2 4 1 Emergency stop button 4 2 Expansion I O board The expansion I O board used in the robot controller has 24 general purpose input points and 16 general purpose output points A maximum of 4 expansion I O boards can be installed 4 3 Regenerative unit A regenerative unit may be required depending on the robot type or application ...

Page 33: ...re starting robot operation or when the origin position becomes indefinite return to origin incomplete For SCARA robots Set the reference coordinates XY coordinate system with the X axis rotation center set as the origin Programming is unnecessary if not using a program such as in operation with I O commands Basic procedure Refer to 4 Turning power on and off 11 Checking the robot controller opera...

Page 34: ...2 8 MEMO ...

Page 35: ...ling a circuit protector 3 8 4 5 Installing a current control switch 3 8 5 Connecting the robot cables 3 9 6 Connecting the MPB programming box 3 10 7 I O connections 3 11 8 Connecting a host computer 3 12 9 Connecting a regenerative unit 3 13 10 Precautions for cable routing and installation 3 14 10 1 Wiring methods 3 14 10 2 Precautions for installation 3 15 10 3 Methods of preventing malfunctio...

Page 36: ...MEMO ...

Page 37: ... Unpacking Accessories MPB RCX141 MO TOR XM YM ZM RM PW R SRV ERR SAFETY MP B CO M STD D IO RG EN ACIN P N L N RO B I O XY RO B I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60H z MA X 2500VA MODE L SER NO MANUF ACTUR ED FACTOR Y AUTOMA TION EQUIPM ENT MADE IN JAPAN CAU TIO N READ INST RUC TION MAN UAL Standard Option Accessories 1 1 1 1 1 1 1 2 4 Max 4 Max 1 STD DIO connector MPB terminator L type brack...

Page 38: ...ck and move it carefully to avoid dropping and resultant damage 2 Take care not to allow the connectors on the front of the robot controller to be hit or bumped Shocks received by the connectors may damage the PC boards in the controller 3 Be sure to give the cables used to connect the controller enough extra length to avoid strain and pulling at the connectors 4 Keep the controller away from oil ...

Page 39: ...rackets supplied as standard accessories to the front Fig 3 2 2 2 RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MOD EL SER NO MANU FACTU RED FACTO RY AUTOM ATION EQUIPM ENT MADE IN JAPAN CA UTI ON REA D INST RUC TION MAN UAL c CAUTION The L type brackets have mounting holes in two different positi...

Page 40: ...SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MOD EL SER NO MANU FACTU RED FACTO RY AUTOM ATION EQUIPM ENT MADE IN JAPAN CA UTI ON REA D INST RUC TION MAN UAL Standard for front and rear Option for side 1 2 L type bracket part No single item When installing the controller with L type brackets use two same brackets for one controller ...

Page 41: ...ion Connector name XM YM ZM RM ROB I O XY ZR SAFETY MPB COM STD DIO OP 1 4 REGN P N AC IN L N Connectors for servomotor drive Connectors for servomotor feedback and sensor signals Input output connector for safety function such as emergency stop Connector for MPB RS 232C interface connector Connector for dedicated input output and standard general purpose input output Connectors attached to option...

Page 42: ...P YK700XP 800XP 1000XP Ceiling hanging inverse type YK300XS 400XS YK500XS 600XS YK700XS 800XS 1000XS Power capacity VA 500 1000 1500 1700 2000 2500 Robot model 2 When connected to 2 axes Cartesian robot or multi axis robot Axis current sensor value X axis 05 10 20 10 20 20 Y axis 05 05 05 10 10 20 Power capacity VA 600 800 1100 1000 1300 1700 c CAUTION Before connecting the power cable be sure to ...

Page 43: ...0 1300 1600 1200 1500 1800 2000 4 When connected to 4 axes Cartesian robot and or multi axis robot Axis current sensor value X axis 05 10 20 10 20 20 10 20 20 20 10 20 20 20 20 Y axis 05 05 05 10 10 20 10 10 20 20 10 10 20 20 20 Z axis 05 05 05 05 05 05 10 10 10 20 10 10 10 20 20 R axis 05 05 05 05 05 05 05 05 05 05 10 10 10 10 20 Power capacity VA 800 1000 1200 1100 1400 1600 1300 1500 1800 2100 ...

Page 44: ...ufacturer s data sheets for making the selection Example RCX141 20A Rated current Operating characteristics Slow type with inertia delay 300 2 sec 1000 0 01 sec 4 5 Installing a current control switch When controlling the power on off of the robot controller from an external device such as a PLC a current control switch contactor breaker etc may be used In this case the current control switch usua...

Page 45: ...ot n NOTE Check robot cables for bent pins kinks and other damage before connecting w WARNING The power to the controller must be off when connecting the robot cables The robot cable connectors XM and YM ZM and RM ROB I O XY and ROB I O ZR have an identical shape Do not confuse these cable connectors when making connections A misconnection will cause the robot to malfunction Keep robot cables sepa...

Page 46: ...50 60Hz MAX 2500VA MOD EL SER NO MANU FACTU RED FACTO RY AUTOM ATION EQUIPM ENT MADE IN JAPAN CA UTI ON REA D INST RUC TION MAN UAL MPB programming box c CAUTION Use caution since the MPB connector must be connected in the correct direction Connecting in the wrong direction may cause faulty operation or breakdowns Emergency stop in the robot controller is triggered when the MPB is disconnected fro...

Page 47: ... open collector transistor 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 drawing below Current Current DO output sink type DI input source type N COM P COM NPN b PNP specifications PNP specifications indicate that a DO digital output type PNP open collecto...

Page 48: ...r and the RS 232C port of the computer For more detailed information on the RS 232C interface see RS 232C Interface in Chapter 7 n NOTE D SUB 9P female connector is for RS 232C interface Fig 3 8 1 Host computer connection RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODEL SER NO MANUFACTURED FACT...

Page 49: ... the regenerative unit Fig 3 9 Connector RGEN w WARNING The power to the controller must be off when connecting the regenerative unit to the robot controller To prevent electrical shocks never touch the RGEN terminals when power is supplied to the robot controller n NOTE Check the cable and connectors for bent pins kinks and other damage before connecting c CAUTION Always securely connect the cabl...

Page 50: ...le Never bundle them together 4 Keep robot cables away from other equipment power lines Never bundle them together 5 The wiring of electromagnetic contactors induction motors solenoid valves or brake solenoids should be separate from the I O cable communication cable and robot cable Never pass them through the same conduit or bundle them together 6 Do not extend the ground wire longer than necessa...

Page 51: ...ions 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 secondary wiring of the noise filter together Noise filter Robot controller Primary wiring Secondary wiring L N Ground wire Primary wiring and secondary wiring of the noise filter are bundled together Grou...

Page 52: ... cable MPB programming box Regenerative unit if needed SAFETY connector supplied Pin 3 is shorted to pin 13 and pin 4 is shorted to pin 14 in the SAFETY connector 11 1 Cable connection Fig 3 11 1 RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODE L SER NO MANUF ACTUR ED FACTOR Y AUTOMA TION EQUIPM...

Page 53: ...ETY connector SAFETY connector supplied RCX141 AC 200V Motor power supply relay coil Motor power supply circuit The emergency stop button on the MPB is connected to the controller through the SAFETY connector 11 3 Operation check After connecting the robot and special connector supplied to the controller turn on the power to the controller and check the following points Normal operation The PWR an...

Page 54: ...3 18 MEMO ...

Page 55: ... 5 1 MPB screen 4 7 5 2 Operation key layout 4 8 5 3 Basic key operation 4 9 5 4 Function keys 4 10 5 5 Control keys 4 12 5 6 Data keys 4 14 5 7 Other keys 4 14 6 Emergency stop 4 15 6 1 Emergency stop reset 4 16 7 Mode configuration 4 18 7 1 Basic operation modes 4 18 7 2 Other operation modes 4 19 7 3 Mode hierarchy 4 20 8 SERVICE mode 4 24 8 1 Operation device 4 24 8 2 Prohibition of AUTO mode ...

Page 56: ...serting a line 4 51 10 2 4 Deleting a character 4 51 10 2 5 Deleting a line 4 52 10 2 6 User function key display 4 52 10 2 7 Quitting program editing 4 53 10 2 8 Specifying the copy cut lines 4 53 10 2 9 Copying the selected lines 4 53 10 2 10 Cutting the selected lines 4 54 10 2 11 Pasting the data 4 54 10 2 12 Backspace 4 54 10 2 13 Line jump 4 55 10 2 14 Searching a character string 4 56 10 3 ...

Page 57: ...ting a pallet definition 4 103 11 4 Changing the manual movement speed 4 104 11 5 Displaying editing and setting shift coordinates 4 105 11 5 1 Editing shift coordinates 4 108 11 5 1 1 Restoring shift coordinates 4 109 11 5 2 Editing the shift coordinate range 4 109 11 5 2 1 Restoring a shift coordinate range 4 111 11 5 3 Shift coordinate setting method 1 4 111 11 5 4 Shift coordinate setting meth...

Page 58: ...12 12 5 1 Controller check 4 212 12 5 2 Error history display 4 213 12 5 3 Displaying the total operation time 4 214 12 5 4 System error details display 4 214 12 6 Backup processes 4 215 12 6 1 Internal flash ROM 4 215 12 6 1 1 Loading files 4 216 12 6 1 2 Saving files 4 217 12 6 1 3 Initializing the files 4 217 13 MONITOR mode 4 218 14 UTILITY mode 4 221 14 1 Canceling emergency stop Motor power ...

Page 59: ...roller MPB is used for robot operation programming teaching parameter input etc Used for basic input output operations Used for input output of emergency stop signal enable switch signal etc Used for communication through RS 232C RS 232C interface Controller This chapter mainly explains how to operate the MPB programming box n NOTE Refer to Chapter 5 for Parallel I O interface Refer to Chapter 6 f...

Page 60: ...TION READ INSTRUCTION MANUAL PWR SRV ERR 1 AC IN terminal 5 MPB connector 6 COM connector 2 POWER LED 3 SERVO LED 4 ERROR LED 2 2 Main functions q AC IN terminal Supplies power to the controller w PWR LED Lights up when the controller is turned on e SRV LED Lights up when the robot servo is on and turns off when the servo power is off r ERR LED Lights up when a serious error occurs t MPB connector...

Page 61: ...ot controller and allows you to edit or execute robot programs 3 1 Part names Fig 4 3 1 MPB programming box q Display liquid crystal screen e Emergency stop button r MPB connector w Sheet key u Display contrast adjustment trimmer side of MPB y LOWER button t UPPER button ...

Page 62: ...mergency stop button Pressing this button during operation immediately stops robot operation This is a B contact normally closed type switch r MPB connector Use this connector to connect the MPB to the robot controller t UPPER button This button has the same function as the UPPER sheet key y LOWER button This button has the same function as the LOWER sheet key u LCD contrast adjustment trimmer sid...

Page 63: ... XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODEL SER NO MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN CAUTION READ INSTRUCTION MANUAL MPB connector MPB programming box 3 MPB programming box n NOTE Emergency stop is triggered when the MPB is connected to or disconnected from the robot controller w...

Page 64: ... mode screen MANUAL 50 MR S0H0J Current position M1 0 M4 0 M2 0 M3 0 POINT PALLET VEL VEL c CAUTION When connecting the MPB to the robot controller always use the dedicated cable and connector attached to the MBP Do not modify this cable or extend it by using a relay unit etc n NOTE If an error message Parameter destroyed or Memory destroyed appears on the screen when the robot controller is turne...

Page 65: ...rn to origin complete Program is being executed Online command is being executed through RS 232C interface Changes to a dot when the command ends Sequence program is being executed 3 Data area 3rd to 7th lines Various types of data and editing information are displayed on the 3rd to 7th lines These lines scroll to the right and left to show up to 80 characters per line 4 Guideline Bottom line The ...

Page 66: ...eys 5 2 Operation 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 Fig 4 5 2 Sheet key layout Control key Function key Data key ...

Page 67: ...nable various functions Fig 4 5 3 Key configuration Shift 1 Shift 2 Shift 3 2 There are 3 ways shift 1 to shift 3 to use each operation key Shift 1 2 3 Example of key input Shift 1 Use a key while holding down the key Input data UPPER UPPER LOWER LOWER LOWER Shift 3 Use a key while holding down the key Shift 2 Use a key without holding down the and keys UPPER ...

Page 68: ...their menus in MANUAL mode is shown below Function key Selected menu POINT PALLET ORIGIN VEL VEL SHIFT HAND UNITCHG VEL VEL COORDI F 1 F 2 F 3 F 4 F 5 F 6 F 7 F 8 F 9 F10 F15 UPPER UPPER UPPER UPPER UPPER LOWER F 1 F 6 F 11 F 2 F 7 F 12 F 1 F 6 F 11 F 2 F 7 F 12 F 3 F 8 F 13 F 4 F 9 F 14 F 4 F 9 F 14 F 5 F 10 F 15 F 5 F 10 F 15 F 3 F 8 F 13 F 5 F 10 F 15 ...

Page 69: ...d to the function key menus on the screen from the left Pressing the UPPER key switches to function keys F 6 to F 10 and pressing the LOWER key switches to function keys F 11 to F 15 n NOTE From hereon when the F 6 to F 10 keys are mentioned it means to press the F 1 F6 F11 to F 5 F10 F15 keys while holding down the UPPER key or UPPER button on the side of the MPB Likewise when the F 11 to F 15 ke...

Page 70: ... the previous screen upper hierarchy 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 when not editing on the screen Moves the cursor to the left Screen scrolls to the right when the cursor reaches the left end Scrolls the screen to the right when not ed...

Page 71: ...g program execution direct command execution point trace execution and return to origin or absolute search operation 1 Moves axis 1 in the direction or the robot in the X direction on the XY coordinates 1 Moves axis 1 in the direction or the robot in the X direction on the XY coordinates 2 Moves axis 2 in the direction or the robot in the Y direction on the XY coordinates 2 Moves axis 2 in the dir...

Page 72: ...data keys 1 Alphanumeric keys 0 to 9 Enters numbers A to Z Enters alphabetic characters SPACE 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 pressing this key completes the data input on the cursor line 2 Shift keys UPPER Selects shift 1 for key operation LOWER Selects shift 3 for key operati...

Page 73: ... shown below appears on the MPB screen 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 M4 0 M2 0 M3 0 Fig 4 6 1 Emergency stop MPB programming box Emergency stop button n NOTE Besides the emergency stop button on the MPB an external dedicated input emergency stop terminal is provided in the ...

Page 74: ...equence DISABLE Armtype RIGHTY MOTOR SEQUENC ARMTYPE RST DO At this time pressing the ESC key returns to the previous mode with the motor power still turned off To turn on the motor power continue the following operations 4 Press the F 1 MOTOR key The following screen appears Fig 4 6 4 UTILITY MOTOR mode 1 UTILITY MOTOR motor power Off D1 M1 Brake D5 M5 no axis D2 M2 Brake D6 M6 no axis D3 M3 Brak...

Page 75: ... 4 6 5 UTILITY MOTOR mode 2 UTILITY MOTOR motor power On D1 M1 Servo D5 M5 no axis D2 M2 Servo D6 M6 no axis D3 M3 Servo D4 M4 Servo On Off 6 Press the ESC key to return to the previous mode 6 Emergency stop n NOTE If the motor power is turned off due to a serious error the motor power will not turn on with UTILITY MOTOR mode In this case the robot controller must be turned back on again ...

Page 76: ...perform maintenance work using the MPB safely within the safety enclosure of the robot system This mode includes AUTO and MANUAL modes in the basic operation mode and can be selected by turning DI02 SERVICE mode OFF The following functions are selected in SERVICE mode 1 Robot is controlled only by MPB operation 2 Automatic operation is prohibited 3 Robot operating speed is set to below 3 of the ma...

Page 77: ...ot parameter and axis parameter settings 7 2 Other operation modes Other than the basic operation modes the following two modes are also available 1 DI DO Monitor mode 2 UTILITY mode These modes can be selected with the control keys 1 DI DO Monitor mode Use this mode to monitor the robot controller I O status or task status on the MPB screen Use the DISPLAY key to select this mode 2 UTILITY mode U...

Page 78: ... menu MANUAL 50 MG S0H0J Current position AUTO PROGRAM MANUAL SYSTEM M1 0 M4 0 M2 0 M3 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 F 1 F 2 F 3 and F 4 from the left For example when the F 1 AUTO key is pressed AUTO mode is entered Fig 4 7 2 AUTO mode menu AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 3 DO2 0 0 4 WAI...

Page 79: ...ion can proceed through each hierarchy by selecting the menu items with the function keys To return to the previous mode hierarchy press the ESC key To return to a highest mode press MODE The basic modes are then displayed on the guideline so select the desired basic mode by pressing the corresponding function key Refer to Mode hierarchy diagram on the next page for the entire mode hierarchy n NOT...

Page 80: ...F15 PASSWD F1 EDIT F2 RANGE F4 VEL F5 VEL F6 METHOD1 F7 METHOD2 F9 VEL F10 VEL F2 PROGRAM F1 EDIT F2 TEACH F4 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 F8 FIND F9 FIND F13 ERR RST F1 POINT F2 PALLET F3 ORIGIN F4 VEL F5 VEL F6 SHIFT F7 HAND F8 UN...

Page 81: ... F2 CMU F3 OPTION F4 INIT F5 DIAGNOS F9 BACKUP F15 DRV UP F1 PROGRAM F2 POINT F3 SHIFT F4 HAND F5 ALL F6 PALETTE F7 COMMENT F1 DATE F2 TIME F1 ROBOT F2 AXIS F4 CLEAR F5 HELP F6 AUX F7 DUAL F15 LAYOUT F9 DSW HLP F10 DIO HLP F1 EXECUTE F2 ACCESS F5 RST DO F9 DSW HLP F10 DIO HLP UTILITY 1 F1 MOTOR F2 SEQUENC F3 ARMTYPE F5 RST DO UTILITY 2 DISPLAY F1 PARAM F2 MEMORY F3 CMU F4 CLOCK F6 GENERAT F10 PASS...

Page 82: ...un function If the robot operator using the MPB should trip or fall during maintenance work he she might be exposed to a dangerous situation To prevent this kind of accident the Hold to Run function allows the robot to move only during the time that the MPB key is kept pressed like a deadman switch However the Hold to Run function can be turned OFF provided you take responsibility for your own saf...

Page 83: ...t speed r Program name t Message line y Online command execution mark u Sequence program execution mark i Pointer display o Guideline q Mode hierarchy Shows the current mode hierarchy When the highest mode AUTO in this case is not highlighted it means the servomotor power is off When highlighted it means the servomotor power is on w Task display Shows the task number for the program listing being ...

Page 84: ...is compiled and an object file is created to execute automatic operation When the same object file already exists no compiling is executed If an error is found in a 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 displayed from the top command line n NOTE...

Page 85: ...tomatic movement speed for the selected robot group in steps 100 50 20 5 1 Moves to the specified point number position Executes a command statement written on one line Sets a break point Increases automatic movement speed for the selected robot group in 1 increments Decreases automatic movement speed for the selected robot group in 1 decrements Executes one line of the command statement Advances ...

Page 86: ...tomatic operation in progress AUTO T1 100 TEST1 0 2 Running RESET TASK DIR VEL VEL The following keys are enabled during automatic operation ROBOT LOWER MODE Valid keys F9 F10 Menu VEL VEL Function Increases automatic movement speed for the selected robot group in 5 increments Decreases automatic movement speed for the selected robot group in 5 decrements Switches the selected robot group n NOTE R...

Page 87: ...he program listing The pointer indicates the next command line number to be executed in the program 3 Press the START key to re execute the program c CAUTION Do not turn off the robot controller during program execution If turned off an error may occur in the internal system data and the program might not restart normally when the power is again turned on Always be sure to terminate or stop the pr...

Page 88: ...es not exist 1 Press the F 1 RESET key in AUTO mode 2 Press the F 4 YES key The program listing appears from the first line A pointer also appears on the first line number of the program Fig 4 9 6 Program reset AUTO T1 50 TEST1 1 ST 2 MOVE P P0 3 MOVE P P1 4 MOVE P P2 5 GOTO ST Reset program OK YES NO n NOTE The output is also reset when the program is reset However the output will not be reset wh...

Page 89: ... MOVE P P1 4 MOVE P P2 5 GOTO ST Change to _SELECT OK YES NO 2 When the F 5 NO key is pressed in Step 1 the following message then appears on the guideline Press the F 4 YES key to reset the current program or press the F 5 NO key to cancel the reset Fig 4 9 8 Program reset AUTO T1 50 TEST1 1 ST 2 MOVE P P0 3 MOVE P P1 4 MOVE P P2 5 GOTO ST Reset program OK YES NO n NOTE The output is also reset w...

Page 90: ...be executed in the current task Fig 4 9 9 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 the F 2 TASK key to select a lower order task program Each time the F 2 TASK key is pressed lower order task programs T2 T3 T8 are displayed At this time the pointer indicates the next command line number to be executed in each task Fig ...

Page 91: ...ed 2 Use the cursor keys to select the desired program and press the ESC key The selected program will automatically be compiled and an object program file made Fig 4 9 11 Switching programs AUTO DIR T1 100 TEST2 No NAME LINE BYTE RW RO 1 TEST1 13 125 RW 2 TEST2 50 608 RW 3 PARTS100 38 411 RW 4 TEST3 7 78 RW n NOTE The output is also reset when the program is reset However the output will not be r...

Page 92: ... 100 MG S0H0J x y z r P3 150 50 64 53 21 78 45 14 P4 96 65 224 89 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 PTP JUMP VEL VEL The RIGHTY message on the first line appears only when a SCARA robot is selected The LEFTY message on the sixth line appears only when a SCARA robot is selected and a hand system flag is set for the point data n NOTE When two robots are specified two spee...

Page 93: ...h axis to the right during ARCH motion mode Moves the arch axis to the left during ARCH motion mode Switches the units for indicating the current position to mm pulse Increases automatic movement speed for the selected robot group in 1 increments Decreases automatic movement speed for the selected robot group in 1 decrements Switches to the point data editing screen in MANUAL mode Moves the cursor...

Page 94: ...otion mode with no auxiliary axis AUTO POINT RIGHTY 50 100 MG S0H0J x y z r P3 150 50 64 53 21 78 45 14 P4 96 65 224 89 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 PTP JUMP VEL VEL 3 Press the START key and the robot moves by PTP motion to the specified point position The trace speed is one tenth of the automatic movement speed If the SCARA robot is selected and the hand system f...

Page 95: ... 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 PTP JUMP VEL VEL To perform trace for the auxiliary axis Fig 4 9 17 Point trace screen in PTP motion mode with auxiliary axis AUTO POINT RIGHTY 50 100 MG S0H0J x y z r P3 150 50 64 53 21 78 45 14 P4 96 65 224 89 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 PTP JUMP VEL VEL 3 Press the START key and the robot moves by P...

Page 96: ...NT LEFTY POS 0 0 0 0 ARCH A POS JUMD VEL VEL 3 Press the F 2 A POS key and set the arch motion position Fig 4 9 20 Point trace screen in ARCH motion mode with no auxiliary axis AUTO POINT RIGHTY 50 100 MG S0H0J x y ARCH z r P3 150 50 64 53 21 78 45 14 P4 96 65 224 89 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 Enter ARCH data 20000 4 Use the cursor keys to select the point number...

Page 97: ...T LEFTY POS 0 0 0 0 ARCH A POS JUMP VEL VEL 3 Press the F 2 A POS key and set the arch motion position Fig 4 9 23 Point trace screen in ARCH motion mode with auxiliary axis AUTO POINT RIGHTY 50 100 MG S0H0J x y z r P3 150 50 64 53 21 78 45 14 P4 96 65 224 89 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 Enter ARCH data 20000 4 Use the cursor keys and F 14 AXIS or F 15 AXIS key so t...

Page 98: ... 50 100 MG S0H0J x y z r P3 150 50 64 53 21 78 45 14 P4 96 65 224 89 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 LINEAR JUMP VEL VEL 3 Press the START key to move the robot by linear interpolation motion to the specified point position The trace speed is one tenth of the automatic movement speed If the SCARA robot is selected and the hand system flag is set for the point data the...

Page 99: ...R JUMP VEL VEL To perform trace for the auxiliary axis Fig 4 9 28 Point trace screen in linear interpolation motion mode with auxiliary axis AUTO POINT RIGHTY 50 100 MG S0H0J x y z r P3 150 50 64 53 21 78 45 14 P4 96 65 224 89 43 31 28 79 P5 63432 19735 6243 22642 COMNT LEFTY POS 0 0 0 0 LINEAR JUMP VEL VEL 3 Press the START key to move the robot by linear interpolation motion to the specified poi...

Page 100: ...mmand 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 the key to execute the command you have just entered n NOTE The following command statements can be executed directly Assignment statements movement commands SET statements RESET statements etc Before executing a movement command r...

Page 101: ... backwards from the cursor position Finds the specified character string searching forwards from the cursor position Menu Function Valid keys Cursor key Page key 9 9 1 Setting break points To make program debugging easy the program execution can be stopped on the line where a break point is set Procedure 1 Press the F 8 BREAK key in AUTO mode to switch to AUTO BREAK mode 2 Use the cursor keys to s...

Page 102: ...as set press the F 3 SEARCH key 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 However when there is COMMON program 4 break points can be set including the main program For more information on the COMMON program refer to the programming manual If the program is c...

Page 103: ... without executing the command statement of the line number where the pointer is displayed 9 12 Executing the next step Procedure 1 Press the F 13 NEXT key in AUTO mode 2 Each time this key is pressed the command statement of the highlighted line number is executed After execution the pointer moves to the next line If the command statement is a sub routine or sub procedure it is executed at once w...

Page 104: ... the 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 selected e Message line This line shows the number of digits of the program If an error occurs the error message also appears here r Online command execution mark When an online command is being executed ...

Page 105: ...m the cursor position Finds the specified character string searching forwards from the cursor position Allows editing if the selected program is destroyed Menu Function Valid keys Cursor key Page key 10 1 Scrolling a program listing Procedure 1 Pressing the cursor keys in PROGRAM mode scrolls up or down through a program listing one line at a time Pressing the cursor keys scrolls right or left thr...

Page 106: ...e Fig 4 10 2 PROGRAM EDIT mode PROGRAM EDIT TEST2 1 TEST2 PROGRAM 2 GOSUB SUBPROG 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 ORIGIN SELECT COPY CUT PASTE BS 1 2 3 Pressing the key finishes the program input for one line and moves the cursor to the beginning of the next line 3 When program editing is complete press the ESC key n NOTE Program editing is finished when any of the key up down cursor keys...

Page 107: ... input for one line and moves the cursor to the beginning of the next line Selects the starting line for copy or cut Copies the selected line and temporarily stores it in a buffer Cuts the selected lines and temporarily stores it in a buffer Inserts the buffer data directly prior to the cursor line Backs the cursor and deletes the preceding character Displays the program listing from the specified...

Page 108: ...rsor movement PROGRAM EDIT TEST2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0_ ORIGIN 6 MOVE P P1 7 DO2 1 1 SELECT COPY CUT PASTE BS 1 2 3 10 2 2 Insert Overwrite mode switching Procedure 1 Press the INS key in PROGRAM EDIT mode The cursor changes to underline _ form and the screen switches to Insert mode In Insert mode the input character is inserted just previous to the cursor position Fig 4 10 4 In...

Page 109: ... 3 2 3 5 MOVE P P0 ORIGIN 6 MOVE P P1 7 SELECT COPY CUT PASTE BS 1 2 3 10 2 3 Inserting a line Procedure Pressing the L INS LOWER INS key in PROGRAM EDIT mode inserts a blank line at the line previous to the cursor position Fig 4 10 6 Inserting a line PROGRAM EDIT TEST2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 _ 6 MOVE P P0 ORIGIN 7 MOVE P P1 SELECT COPY CUT PASTE BS 1 2 3 10 2 4 Deleting a character Proced...

Page 110: ...er strings on the guideline which are preassigned to function keys F 1 to F 15 Each character string is displayed in up to 7 characters from the beginning 2 Press the function key matching the character string you want to enter For example when the F 2 GOTO key is pressed in Fig 4 10 8 the character string for GOTO is entered at the cursor position Fig 4 10 8 User function keys PROGRAM EDIT TEST2 ...

Page 111: ...ST2 1C TEST2 PROGRAM 2C 3C 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 9 Copying the selected lines Procedure After selecting the lines in 10 2 8 press the F 2 COPY key The data on the selected lines are copied into the buffer The C marks then disappear Fig 4 10 10 Copying the selected lines PROGRAM EDIT TEST2 1 TEST2 PROGRAM 2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 M...

Page 112: ...fer by copy cut operation is inserted just before the cursor line Fig 4 10 12 Pasting the data PROGRAM 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 12 Backspace Procedure Pressing the F 5 BS key in PROGRAM EDIT mode backs the cursor and deletes the preceding character When the cursor is at the beginning of a line it connects to th...

Page 113: ...eline Fig 4 10 13 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 key The program is then displayed from the specified line Fig 4 10 14 Performing line jump PROGRAM EDIT TEST2 45 RESET DO3 4 46 DELAY 1000 47 A 4 48 GOTO T4 49 T5 SELECT COPY CUT PASTE BS 1 2 3 ...

Page 114: ...cter 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 Fig 4 10 16 Character string search PROGRAM EDIT TEST2 18 MOVE P P1 19 A 1 20 TOTO A 21 T2 22 WAIT A 1 SELECT COPY CUT PASTE BS 1 2 3 3 To continuously search for another character string press the F 8 FIND or F 9 FIND key Pressing the F 8 FIND key restarts ...

Page 115: ... item are shown below No Name Line Byte RW RO Date Time Indicates the serial number of the program The number of the program which is currently selected is highlighted reversed background Indicates the program name The mark reversed background shows this program is compiled and the object program exists The s mark reverse background shows an object exists in the sequence program Shows the number o...

Page 116: ...anges the program attribute Shows the object program information Automatically creates the program name FUNCTION 10 3 1 Cursor movement Procedure To select the program use the cursor keys in PROGRAM DIR mode The pointer cursor moves to the selected program number The program name is displayed at the right end on the system line 1st line 10 3 2 Registering a new program name When creating a new pro...

Page 117: ...f program 5 Number of points 124 Source use sum Object use sum Sequence use sum Number of program Number of points Displays a count of used bytes and bytes available for source program and point data Displays a count of used bytes and bytes available for object program Displays a count of used bytes and bytes available for sequence object program 8 bytes are used for one circuit of sequence progra...

Page 118: ...rogram name appears on the guideline along with an edit cursor 3 Enter a new program name Press the ESC key if you want to cancel this operation Fig 4 10 21 Copying a program PROGRAM DIR TEST1 No Name Line Byte RW RO 1 TEST1 55 952 RW 2 TEST2 50 907 RW 3 PARTS100 38 843 RW 4 TEST100 100 1968 RW Enter program name TEST3 4 Press the key to make a copy n NOTE Program names can be up to 8 characters a...

Page 119: ...07 RW 3 PARTS100 38 843 RW 4 TEST100 100 1968 RW Erase program OK YES NO 3 Press the F 4 YES key to erase the selected program Press the F 5 NO key if you want to cancel erasure After the program is erased the lower program names move upward Fig 4 10 23 After erasing a program PROGRAM DIR TEST2 No Name Line Byte RW RO 1 TEST2 50 907 RW 2 PARTS100 38 843 RW 3 TEST100 100 1968 RW 4 TEST200 80 1525 R...

Page 120: ...m name appears on the guideline along with the original program name Fig 4 10 24 Renaming a program PROGRAM DIR TEST1 No Name Line Byte RW RO 1 TEST1 TEST2 55 952 RW 2 PARTS100 50 907 RW 3 TEST100 38 843 RW 4 100 31968 RW Enter program name TEST_ 3 Enter a new program name Press the ESC key if you want to cancel this operation 4 Press the key to rename the program n NOTE Program names can be up to...

Page 121: ...the F 10 ATTRBT key to enter PROGRAM DIR ATTRBT mode A confirmation message appears on the guideline Fig 4 10 25 Changing a program attribute PROGRA DIR ATTRBT TEST2 No Name Line Byte RW RO 1 TEST2 50 907 RW 2 PARTS100 38 843 RW 3 TEST100 100 1968 RW 4 TEST200 80 1525 RW Change attribute OK YES NO 3 Press the F 4 YES key to change the program attribute Press the F 5 NO key if you want to cancel th...

Page 122: ...952 RW 2 TEST2 50 907 RW 3 PARTS100 38 843 RW 4 TEST100 100 1968 RW Overwrite FUNCTION OK YES NO 2 Press the F 4 YES key to perform this operation A sample program will be automatically created under the program name FUNCTION Press the F 5 NO key if you want to cancel this operation 3 Rewrite the contents of this program as needed User function keys can be customized with this program n NOTE Use c...

Page 123: ...ERNATE 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 DO2 0 M_F11 OPEN DO3 0 B1 M_F12 CLOSE DO3 0 O M_F13 AND DO3 1 1 DO3 0 M_F14 DI4 DO4 DO4 DI4 M_F15 DO5INC DO5 DO5 1 P_F1 MOVE P P P_F2 MOVE L P P_F3 GOTO P_F4 DELAY P_F5 WAIT P_F6 GOSUB P_F7 RETURN P_F8 P...

Page 124: ... compiling Press the F 5 NO key if you want to cancel the compiling Fig 4 10 28 Compiling PROGRAM COMPILE TEST2 1 TEST2 PROGRAM 2 GOTO 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 ORIGIN Compile program OK YES NO 2 3 0 4 Compiling If an error is found in the command statements the program listing for that line appears along with an error message and the compiling stops When the compiling ends normally...

Page 125: ...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 In PROGRAM mode press the F 3 DIR key to enter PROGRAM DIR mode 2 Press the F 1 NEW key 3 When the message Enter program name appears on the guideline enter FUNCTION following this message and press the key Fig 4 10 30 Regis...

Page 126: ...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 PROGRAM mode P_F n character string n Function key number to be registered n 1 to15 character string Character string to be assigned to the function key displayed on the screen Example P_F2 MOVE P Charact...

Page 127: ... of up to 65 characters can entered However up to 7 characters following the colon are displayed on the function key menu Fig 4 10 32 Registering user functions PROGRAM EDIT FUNCTION 1 P_F2 MOVE P 2 P_F8 DELAY 3 M_F2 MOMENT 4 DO 20 1 5 DO 20 0 SELECT COPY CUT PASTE BS 1 2 3 7 When the registration is complete press the ESC key n NOTE I O statement 2 may be omitted If omitted the I O statement 1 wi...

Page 128: ...DO2 0 23 OFW 4 WAIT DI3 4 3 2 3 5 MOVE P P0 ORIGIN Error reset OK 1 2 3 YES NO ERROR RESET 2 Press the F 4 YES key to reset the error The program can be edited after resetting the error Press the F 5 NO key if you want to cancel the error reset c CAUTION This function resets an error but does not restore the program data A problem is probably occurring in the program so check and correct the progr...

Page 129: ...oordinate units Message line t Fig 4 11 2 MANUAL mode two robot setting MANUAL 50 50 MG S0H0X s Current position Mx 0 00 My 0 00 Sx 0 00 Sy 0 00 POINT PALLET VEL VEL o Guideline q Mode hierarchy w Manual movement speed e Robot group u Sequence program execution mark y Online command execution mark i Current position r SHIFT HAND coordinate units Message line t Fig 4 11 3 MANUAL mode with auxiliary...

Page 130: ...error occurs the error message appears here A dashed line means return to origin is incomplete A solid line means return to origin return is complete y Online command execution mark When an online command is being executed a mark is displayed in the second column on the second line This mark changes to a dot when the online command ends u Sequence program execution mark When a sequence program is ...

Page 131: ...turn to origin Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases automatic movement speed for the selected robot group in steps 100 50 20 5 1 Switches to the shift data processing screen Switches to the hand data processing screen Changes the current position display units to mm or pulse Increases manual movement speed for the selected robot group in 1 i...

Page 132: ... screen If Tool coordinate mode is selected a letter T is displayed Fig 4 11 5 Display shown in mm units X Mx 151 05 My 35 27 Mz 49 23 MANUAL 50 MG S0H0X Current position POINT PALLET VEL VEL Fig 4 11 6 Display shown in mm units Tool coordinate mode T Mx 204 73 My 81 40 Mz 25 37 Mr 32 51 MANUAL 50 MG S0H1T Current position POINT PALLET VEL VEL w WARNING The robot starts to move when a Jog key is p...

Page 133: ...es the same way as when X is displayed Fig 4 11 7 Robot movement in Tool coordinate mode example Y X Y X 2 1 1 2 4 4 If the above hand is defined the robot moves with Jog keys as illustrated below Y HAND 1 X 100 00mm 90 00 degrees MANUAL HAND 50 MG S0H1T 1 2 3 4 H0 0 00 150 00 0 00 R H1 90 00 100 00 0 00 R H2 0 0 00 0 00 H3 0 0 00 0 00 1 2 Robot movement with to keys 4 4 Robot movement with and ke...

Page 134: ...e the same as when return to origin is complete However the message 0 1 Origin incomplete appears when a Jog key is pressed 2 When the current position is displayed in mm units The robot does not move with the Jog keys The current position display switches automatically to pulse units and the error message 0 1 Origin incomplete appears Performs return to origin c CAUTION If return to origin is inc...

Page 135: ...crolls up or down one line at a time Scrolls right or left one character at a time Scrolls up or down three lines at a time Scrolls right or left one page at a time The 5 digit area on the left side shows the point numbers with the point number for editing shown highlighted The hand system will appear in the sixth line when the SCARA robot is selected and a hand system flag of the extended setting...

Page 136: ...eases manual movement speed for the selected robot group in 1 increments Decreases manual movement speed for the selected robot group in 1 decrements Moves the arm to the specified point Switches to the point comment edit screen Allows editing even if the point data is destroyed Moves the cursor to the left to select another axis Enabled only when auxiliary axis is added Moves the cursor to the ri...

Page 137: ...RIGHTY right handed system 2 Indicates that point has been set with LEFTY left handed system 4 Press the key cursor up down keys or page up down keys to finish the point data input Press the ESC key if you want to cancel the point data input Valid keys and submenu descriptions in MANUAL POINT EDIT mode are shown below Cursor key Page key INS DEL F1 F3 UNDO JUMP Valid keys Menu Function Moves the c...

Page 138: ...is set to the currently selected coordi nate system Fig 4 11 11 Point data teaching with no auxiliary axis 2 MANUAL POINT 50 MG S0H0X x y z r P7 100 00 250 00 15 00 30 00 P8 50 00 100 00 5 00 10 00 P9 122 62 24 54 12 35 23 11 POS 50 00 100 00 5 00 10 00 EDIT TEACH JUMP VEL VEL COMNT n NOTE Point data teaching cannot be performed when return to origin is incomplete Perform point teaching after perf...

Page 139: ...00 5 00 10 00 Overwrite point OK YES NO COMNT Press the F 4 YES key to perform the teaching The specified point number data is rewritten Press the F 5 NO key if you want to cancel the teaching input When an auxiliary axis is used Procedure 1 In MANUAL POINT mode use the cursor keys to select the point number to obtain point data Fig 4 11 13 Point data teaching with auxiliary axis 1 When teaching a...

Page 140: ...00 COMNT POS 100 00 400 00 50 15 111 23 EDIT TEACH JUMP VEL VEL Fig 4 11 15 Point data teaching with auxiliary axis 3 When teaching on standard axes MANUAL POINT 100 MG S0H0X x y z r P7 100 00 250 00 15 00 30 00 P8 220 00 150 00 115 00 90 00 P9 400 00 200 00 15 00 30 00 COMNT POS 100 00 400 00 50 15 111 23 EDIT TEACH JUMP VEL VEL Fig 4 11 16 Point data teaching with auxiliary axis 4 When teaching ...

Page 141: ...y z r P7 100 00 250 00 15 00 30 00 P8 220 00 150 00 115 00 90 00 P9 400 00 200 00 15 00 30 00 POS 212 43 152 31 100 26 86 86 Overwrite point OK YES NO COMNT After teaching the specified point number moves to the next line automatically Fig 4 11 18 Point data teaching with auxiliary axis 6 When teaching on all axes MANUAL POINT 100 MG S0H0X x y z r P7 100 00 250 00 15 00 30 00 P8 212 43 152 31 100 ...

Page 142: ...his procedure you move the robot by hand since the Jog keys cannot be used 11 2 4 Point jump display Procedure 1 Press the F 3 JUMP key in MANUAL POINT mode The message Enter point no appears on the guideline Fig 4 11 21 Point jump 1 MANUAL POINT 50 MG S0H0X x y z r P7 100 00 250 00 15 00 30 00 P8 50 00 100 00 5 00 10 00 P9 122 62 24 54 12 35 23 11 POS 50 00 100 00 5 00 10 00 Enter point no 100_ C...

Page 143: ...MP VEL VEL COMNT 11 2 5 Copying point data Point data can be copied under another point number Procedure 1 Press the F 6 COPY key in MANUAL POINT mode The message Copy appears on the guideline Fig 4 11 23 Copying point data 1 MANUAL POINT 50 MG S0H0X x y z r P30 100 00 250 00 15 00 30 00 P31 50 00 100 00 5 00 10 00 P32 122 62 24 54 12 35 23 11 POS 50 00 100 00 5 00 10 00 Copy COMNT n NOTE Valid po...

Page 144: ...15 00 30 00 P31 50 00 100 00 5 00 10 00 P32 122 62 24 54 12 35 23 11 POS 50 00 100 00 5 00 10 00 30 34 50 Copy OK YES NO COMNT 3 Press the F 4 YES key to make a copy The point data in the selected range is copied onto the data lines starting from the specified copy destination number Press the F 5 NO if you want to cancel the copy 11 2 6 Erasing point data Procedure 1 Press the F 7 ERASE key in MA...

Page 145: ...4 Erase OK YES NO COMNT 3 Press the F 4 YES key to erase the data The point data in the specified range is erased Press the F 5 NO key if you want to cancel erasure 11 2 7 Point data trace Point data positions can be checked by actually moving the robot Refer to 9 7 Executing the point trace earlier in this chapter for details Procedure 1 In MANUAL POINT mode press the F 11 TRACE key to switch to ...

Page 146: ...ally Switches to other screens Edits point comments Enters point data by teaching Displays the specified jumped data Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 Copies point comments Deletes point comments Changes the current position display units to mm or pulse Increases ma...

Page 147: ...2 24 54 12 35 23 11 Comment _ COMNT POS 50 00 100 00 5 00 10 00 3 Enter a point comment with the data keys Up to 15 characters can be entered as a comment 4 Press the enter key to finish the point comment input and display it Press the ESC key if you want to cancel the comment input 11 2 8 2 Point data input by teaching For point data teaching methods use the same procedure as explained in 11 2 2 ...

Page 148: ... 122 62 24 54 12 35 23 11 Enter point no 107_ COMNT POS 50 00 100 00 5 00 10 00 2 Enter the point comment to jump to and press the key A jump is made to the designated point and its comment is then displayed Fig 4 11 30 MANUAL POINT COMMENT 50 MG S0H0X x y z r P107 340 05 250 03 115 00 34 54 340 05 200 05 115 00 34 54 P108 P109 122 62 24 54 12 35 23 11 EDIT TEACH JUMP VEL VEL COMNT WAIT_POS 08 POS...

Page 149: ...7 and P16 onto the lines after P107 enter 7 16 107 and press the key Fig 4 11 31 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 15 00 30 00 P8 P9 122 62 24 54 12 35 23 11 COMNT POS 50 00 100 00 5 00 10 00 Copy 7 16 107_ 3 A confirmation message appears on the guideline Press the F 4 YES key to make a copy The comments in the selected range are copied onto the data lines starting from th...

Page 150: ... enter 7 16 and press the key Fig 4 11 33 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 15 00 30 00 P8 P9 122 62 24 54 12 35 23 11 COMNT POS 50 00 100 00 5 00 10 00 Erase 7 16_ 3 A confirmation message appears on the guideline Press the F 4 YES key to erase the point comments The point comments in the specified range are erased Press the F 5 NO key if you want to cancel erasure Fig 4 1...

Page 151: ...position towards the end of the program and stops at the first matching character string Fig 4 11 36 MANUAL POINT COMMENT 50 MG S0H0X x y z r P334 100 00 250 00 15 00 30 00 P335 P336 122 62 24 54 12 35 23 11 EDIT TEACH JUMP VEL VEL COMNT WAIT_PICKUP POS 50 00 100 00 5 00 10 00 4 To continuously search for another character string press the F 12 FIND or F 13 FIND key Pressing the F 12 FIND key rest...

Page 152: ...5 00 30 00 P31 50 00 100 00 15 00 10 00 P32 122 62 24 54 12 35 23 11 POS 50 00 100 00 5 00 10 00 Error reset OK YES NO COMNT 2 Press the F 4 YES key to reset the error Point data can be edited after resetting the error Press the F 5 NO key if you want to cancel the error reset c CAUTION This function resets an error but does not restore the point data A problem is probably occurring in the point d...

Page 153: ... PL4 PL5 PL6 PL7 PL8 PL9 Point number used P3996 to P4000 P3991 to P3995 P3986 to P3990 P3981 to P3985 P3976 to P3980 P3971 to P3975 P3966 to P3970 P3961 to P3965 P3956 to P3960 P3951 to P3955 Pallet number PL10 PL11 PL12 PL13 PL14 PL15 PL16 PL17 PL18 PL19 Point number used P3946 to P3950 P3941 to P3945 P3936 to P3940 P3931 to P3935 P3926 to P3930 P3921 to P3925 P3916 to P3920 P3911 to P3915 P3906...

Page 154: ...he pallet definition point by teaching Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 Copies pallet definitions Deletes pallet definitions Increases manual movement speed for the selected robot group in 1 increments Decreases manual movement speed for the selected robot group in...

Page 155: ...ints per pallet must be within 32767 NX NY NZ Fig 4 11 40 MANUAL PALLET EDIT 50 MG S0H0X PALLET NO PL0 XY Used point P3996 P4000 NX 3 NY 4 NZ 5_ POINT 5 Press the key to determine the input value 6 To continue editing repeat steps 3 to 5 7 Press the ESC key to quit editing and return to MANUAL PALLET mode Valid keys and submenu descriptions in MANUAL PALLET EDIT mode are shown below Valid keys Men...

Page 156: ...ITCHG VEL VEL Menu Function Specifies the point data or scrolls the screen Edits the point in pallet definition Sets the point in pallet definition by teaching Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 Switches the current position display units Increases manual movement sp...

Page 157: ... cancel the point data input 5 To continue editing repeat steps 2 to 4 6 Press the ESC key to quit editing and return to MANUAL PALLET EDIT POINT mode Valid keys and submenu descriptions in this mode are shown below Cursor key F1 Valid keys undo Menu Function Moves the cursor Reverses the last data input and restores the preceding data 11 3 1 1 2 Setting the point in pallet definition by teaching ...

Page 158: ...0 00 0 00 0 00 0 00 VEL VEL 5 Perform teaching at P 2 P 3 P 4 and P 5 only when 3 D is selected as in step 4 6 Enter the number of points NX between P 1 and P 2 on the pallet with a positive integer Fig 4 11 45 MANUAL PALLET METHOD 50 MG S0H0X PALLET NO PL0 XY Enter number of points NX on P 1 P 2 1 1000 ENTER _ n NOTE Pallets cannot be defined by teaching if return to origin is incomplete Perform ...

Page 159: ... METHOD mode are shown below F4 F5 F8 F9 F10 Valid keys VEL VEL UNITCHG VEL VEL Menu Function Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 Switches between the current display units mm or pulses Increases manual movement speed for the selected robot group in 1 increments Decre...

Page 160: ...7 MANUAL PALLET 50 MG S0H0X PL0 SET PL1 SET PL2 SET PL3 POS 0 00 0 00 0 00 0 00 Copy PL NO 3_ 3 A confirmation message then appears in the guideline Press the F 4 YES key to make a copy Press the F 5 NO key if you want to cancel the copy Fig 4 11 48 MANUAL PALLET 50 MG S0H0X PL0 SET PL1 SET PL2 SET PL3 POS 0 00 0 00 0 00 0 00 PL1 PL3 Copy OK YES NO n NOTE Valid pallet numbers are from 0 to 19 Pall...

Page 161: ...confirmation message then appears asking if the currently selected pallet definition is to be deleted Press the F 4 YES key to delete it Press the F 5 NO key if you want to cancel Fig 4 11 49 MANUAL PALLET 50 MG S0H0X PL0 SET PL1 SET PL2 SET PL3 SET POS 0 00 0 00 0 00 0 00 Erase OK YES NO n NOTE Pallet definition cannot be deleted if the currently selected pallet is undefined ...

Page 162: ...the F 5 VEL key to change the manual move ment speed in steps Each time this key is pressed the speed changes in steps of 1 5 20 50 100 The maximum motor speed is set at 100 2 Press the F 9 VEL or the F 10 VEL key to change the manual move ment speed gradually Each time this key is pressed the speed changes in units of 1 Holding down the key changes the speed continuously n NOTE When two robots ma...

Page 163: ...dinate numbers 0 to 9 can be set to shift the standard coordinates in the X Y Z and R XY plane rotation directions Each shift coordinate can specify the robot operating area Shift coordinate data format Sn dX mm dY mm dZ mm dR degrees n 0 to 9 When the shift amount is dX 0 00 dY 0 00 dZ 0 00 dR 0 00 the shift coordinates equal the standard coordinates Fig 4 11 50 Standard coordinates and shift coo...

Page 164: ...00 180 00 POS 600 00 0 00 0 00 0 00 EDIT RANGE VEL VEL Fig 4 11 52 MANUAL SHIFT mode two robot setting 1 Main robot group is selected MANUAL SHIFT 50 50 MG S1H0X x y z r S0 0 00 0 00 0 00 0 00 S1 300 00 0 00 0 00 0 00 S2 300 00 300 00 100 00 0 00 S3 0 00 0 00 0 00 180 00 POS 600 00 0 00 0 00 0 00 EDIT RANGE VEL VEL Fig 4 11 53 MANUAL SHIFT mode two robot setting 2 Sub robot group is selected MANUA...

Page 165: ...e shift coordinates Sets the shift coordinates range Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 Makes setting 1 for shift coordinates Makes setting 2 for shift coordinates Increases manual movement speed for the selected robot group in 1 increments Decreases manual movement ...

Page 166: ...L SHIFT EDIT 50 MG S1H0X x y z r S0 0 00 0 00 0 00 0 00 S1 300 00 0 00 100 00 180 _ S2 300 00 300 00 100 00 0 00 S3 0 00 0 00 0 00 180 00 POS 600 00 0 00 0 00 0 00 UNDO 5 Press the key cursor up down keys or page up down keys to finish the data input Press the ESC key if you want to cancel the data input 6 To continue the editing repeat steps 3 to 5 7 Press the ESC key to quit editing and return t...

Page 167: ...ou to specify the robot work area more precisely Shift coordinate range data format Plus side SP n dPX mm dPY mm dPZ mm dPR degrees Minus side SMn dMX mm dMY mm dMZ mm dMR degrees n 0 to 9 Fig 4 11 55 Shift coordinate range X X Y Z dMR Y dMZ dPX dPZ dMX d P Y d M Y dPR To edit a shift coordinate range use the procedure below Procedure 1 In MANUAL SHIFT mode use the cursor keys to select the shift ...

Page 168: ...point Fig 4 11 57 Editing shift coordinate range 2 MANUAL SHIFT RANGE 50 MG S1H0X x y z r Range of shift coorinate mm deg SP1 300 00 300 00 250 00 180 _ SM1 0 00 0 00 0 00 0 00 POS 150 00 0 00 0 00 0 00 UNDO 5 Press the key cursor up down keys or page up down keys to finish the data input Press the ESC key if you want to cancel the data input 6 To continue editing the shift coordinate range on the...

Page 169: ... Z value of teach point 1 is the Z value of the shift coordinate Fig 4 11 58 Shift coordinate setting method 1 1 Point 1 1st P Point 2 2nd P X X Y Y Procedure 1 In MANUAL SHIFT mode select the shift coordinate number with the cursor key 2 Press the F 6 METHOD1 key to enter MANUAL SHIFT METHOD1 mode Fig 4 11 59 Shift coordinate setting method 1 2 MANUAL SHIFT METHOD1 50 MG S0H0X x y z r Move arm to...

Page 170: ...dR are automatically calculated and stored The screen then returns to MANUAL SHIFT mode Valid keys and submenu descriptions in MANUAL SHIFT METHOD1 mode are shown below F4 F5 F8 F9 F10 Valid keys VEL VEL UNITCHG VEL VEL Menu Function Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 ...

Page 171: ... setting method 2 2 MANUAL SHIFT METHOD2 50 MG S0H0X x y z r 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 Use the Jog keys to move the robot arm tip to teach point 1 Position it accurately n NOTE When two robots main and sub robots are specified check the currently selected robot group on the MPB screen MG indicates the main robot group is selected and SG ind...

Page 172: ... SHIFT METHOD2 mode are shown below F4 F5 F8 F9 F10 Valid keys VEL VEL UNITCHG VEL VEL Menu Function Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 Switches between the current display units mm or pulses Increases manual movement speed for the selected robot group in 1 increment...

Page 173: ...imal point or an integer of up to 7 digits depending on the robot type setting and hand definition type 2nd to 3rd parameters bbbbbb cccccc Enter a number consisting of an integer portion of up to 5 digits and having 2 or less places below the decimal point 4th parameter R Enter one character depending on the hand definition type When all values for a hand definition are 0 this means the hand defi...

Page 174: ...00 EDIT VEL VEL Valid keys and submenu descriptions in MANUAL HAND mode are shown below Cursor key F1 F4 F5 F6 F8 F9 F10 Valid keys EDIT VEL VEL METHOD1 UNITCHG VEL VEL Menu Function Specifies the hand definition number Edits the hand definition Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 Decreases manual movement speed for the selected robot group in steps ...

Page 175: ...es of the standard 2nd arm and the number of offset pulses of the imaginary 2nd arm of hand n If counterclockwise enter a value unit pulses 2nd parameter Specify with a real number the difference between the imaginary 2nd arm length of hand n and the standard 2nd arm length unit mm 3rd parameter Specify the Z axis offset amount of hand n with a real number unit mm 4th parameter No setting for R Fi...

Page 176: ...al number the angle between the X direction of Cartesian coordinates and hand n If counterclockwise enter a value unit degrees 2nd parameter Specify the length of hand n with a positive real number unit mm 3rd parameter Specify the Z axis offset amount of hand n with a real number unit mm 4th parameter Specify R Fig 4 11 70 Standard 2nd arm 150 00mm 100 00mm 90 00 degrees Y HAND 0 HAND 1 X Fig 4 1...

Page 177: ...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 real number unit mm 4th parameter No setting for R Fig 4 11 72 Y X 100 00mm 100 00mm HAND 1 HAND 0 Fig 4 11 73 Hands attached to 2nd arm Cartesian type MANUAL HAND 50 MG S0H1X 1 2 3 4 H0 0 00 0 00 0 00 H1 100 00 100 00 100 00 H2 0 00 0 00 0 00 H3 0 00 0 0...

Page 178: ... real number the angle between the X direction of Cartesian coordinates and hand n If counterclockwise enter a value unit degrees 2nd parameter Specify the length of hand n with a positive real number unit mm 3rd parameter Specify the Z axis offset amount of hand n with a real number unit mm 4th parameter Specify R Fig 4 11 74 150 00mm 100 00mm 90 00 degree X Y HAND 1 HAND 0 Fig 4 11 75 Hands atta...

Page 179: ...s to enter the data Fig 4 11 77 Hand editing screen 2 MANUAL HAND EDIT 50 MG S0H1X 1 2 3 4 H0 0 0 00 0 00 H1 45 00 300 100 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 5 Pressing the key or cursor up down keys completes the hand definition settings Press the ESC key if you want to cancel the settings 6 To continue editing repeat steps 2 to 4 7 Press the ESC key ...

Page 180: ... 1 2 MANUAL HAND METHOD1 50 MG S0H0X 1 2 3 4 Move arm to P 2 and press ENTER key 1st P 214 45 15 01 20 32 2nd P POS 214 45 15 01 20 32 0 00 VEL VEL n NOTE Cartesian and SCARA robots use mutually different methods for making settings Cartesian robots Hand definition data is set by teaching the identical points that are used for hand working points and non hand working points SCARA robots Hand defin...

Page 181: ...20 50 100 Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 Switches between the current display units mm or pulses Increases manual movement speed for the selected robot group in 1 increments Decreases manual movement speed for the selected robot group in 1 decrements n NOTE When teach point 1 is obtained the Z direction shift value is automatically determined If...

Page 182: ...ht of the MPB 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 Fig 4 11 80 Switching the display units pulse units J mm units X mm units T Tool coordinate mode Selectable only when hand data for the R axis is selected mm units Cartesian coordinates Displays the current position with a number con...

Page 183: ...rn to origin methods include the sensor method and stroke end detection method Each return to origin method is described below Refer to 11 8 3 Return to origin procedure for instructions on how to perform return to origin Return to origin operation using the sensor method Fig 4 11 81 Return to origin direction q e w Return to origin start position Origin sensor q Before performing return to origin...

Page 184: ...strikes and detects the stroke end mechanical stop it moves back slightly and stops and the origin position has now been found At this point the position where the robot stopped is set as an origin shift parameter value c CAUTION During stroke end detection if the robot arm movement is obstructed or a load is applied to the robot arm during return to origin the stroke end might not be detected acc...

Page 185: ...n 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 the origin position is set to zero position on the simple absolute scale Refer to 11 8 3 Return to origin procedure for instructions on how to perform return to origin Sensor method When the origin sen...

Page 186: ...d detection method when stroke end is detected position A the robot moves back toward position B At this point the maximum distance that the robot moves from position A to position B is 76mm e The robot again moves in the return to origin direction determines the current position and then stops The stop position will be between position A and position B n NOTE If the origin sensor was on when the ...

Page 187: ...his case the message 0 14 Stop executed appears on the message line c CAUTION Before performing return to origin check that all axis arms are in positions that allow return to origin operation w WARNING The robot starts moving as soon as return to origin is performed To avoid hazardous situations do not enter the robot movement range c CAUTION Emergency stop might be triggered if return to origin ...

Page 188: ...nt teaching This method sets the standard coordinates by using 4 teach points that form a rectangle The first teach point is specified as the teaching origin and the positions of the other 3 points are entered relative to the first point 3 point teaching This method sets the standard coordinates by using 3 teach points equally spaced on a straight line The direction and length from the first teach...

Page 189: ...ength distance to rotation center of Y axis and R axis or distance to rotation center of Y axis and working point 2 Offset pulse S1 X axis offset pulse angle formed by the X axis when the robot is at the origin 0 pulse position and the X axis on the standard coordinate plane S2 Y axis offset pulse angle formed by the X axis andY axis when the robot is at the origin 0 pulse position S4 R axis offse...

Page 190: ...ptions in MANUAL mode are as shown below F1 F2 F5 Valid keys 4POINTS 3POINTS SIMPLE Menu Function F1 Sets standard coordinates by 4 point teaching F2 Sets standard coordinates by 3 point teaching F5 Sets standard coordinates by simple teaching c CAUTION When two robots main and sub robots are specified check the currently selected robot group on the MPB To switch the robot group use the ROBOT key ...

Page 191: ...n P 1 is set as the origin position Procedure 1 In MANUAL COORDI mode press the F 1 4POINTS key to enter the mode for setting standard coordinates by 4 point teaching Fig 4 11 91 MANUAL COORDI 4POINTS 50 MG J x y z r Move arm to P 1 and press ENTER key P 2 P 3 P 4 POS 0 0 0 0 VEL VEL n NOTE Separate the teach points from each other as much as possible Setting might be impossible if one side is les...

Page 192: ...EL VEL 5 Repeat step 3 4 to set teach points P 3 and P 4 6 A message for checking the length and offset pulse value appears on the guideline If the calculation failed an error message appears Press the F 4 YES key to store the setting Press the F 5 NO key if you want to cancel the setting Fig 4 11 93 MANUAL COORDI 4POINTS 50 MG J x y z r Arm length mm M1 199 96 M2 199 98 Offset pulse M1 12421 M2 2...

Page 193: ...hing Fig 4 11 95 MANUAL COORDI 3POINTS 50 MG J x y z r Move arm to P 1 and press ENTER key P 1 P 2 P 3 POS 0 0 0 0 VEL VEL 2 Use the Jog keys to move the robot arm tip to teach point P 1 and press the key Fig 4 11 96 MANUAL COORDI 3POINTS 50 MG J x y z r Move arm to P 2 and press ENTER key P 1 43202 47158 P 2 P 3 POS 43202 47158 0 0 VEL VEL n NOTE Separate the teach points from each other as much ...

Page 194: ...the key The length should be less than 1000 Fig 4 11 98 MANUAL COORDI 3POINTS 50 MG J Select 1st P to 3nd P get Direction X P 1 P 3 Enter the length of P 1 P 3 mm 1 1000 Enter _ 6 A message for checking the arm length and offset pulse value appears on the guideline If the calculation failed an error message appears Press the F 4 YES key to store the setting Press the F 5 NO key if you want to canc...

Page 195: ...X X Arm Y Arm x y z r POS 24349 1029 0 0 VEL VEL 2 Use the Jog keys or your hands if the servo is off to move the robot arm so that the X and Y arms are set in a straight line then press the key At this point the X direction is set as shown in Fig 4 11 95 3 Enter the X arm length and press the key Fig 4 11 102 MANUAL COORDI SIMPLE 50 MG J Enter the length of X Arm mm 1 1000 Enter 225 00_ x y z r n...

Page 196: ...000 Enter 175 00_ x y z r 5 A message for checking the arm length and offset pulse value appears on the guideline Press the F 4 YES key if you want to store the setting Press the F 5 NO key if you want to cancel the setting Fig 4 11 104 MANUAL COORDI SIMPLE 50 MG J Arm length mm M1 225 00 M2 175 00 Offset pulse M1 24349 M2 1029 Set OK YES NO x y z r ...

Page 197: ...ction key and the preassigned task will be executed just as if using online commands Fig 4 11 105 MANUAL POINT 50 MG S0H0X x y z r P7 100 00 250 00 15 00 30 00 P8 P9 122 62 24 54 12 35 23 11 DO 20 A 1 DO 21 A DO 22 A DO 23 A DO 24 A COMNT POS 0 00 0 00 0 00 0 00 n NOTE When using the user function keys it is necessary to make a program named FUNCTION and then write command statements for storing f...

Page 198: ...bot controller e Message line If an error occurs the error message appears here r Online command execution mark When an online command is being executed a mark appears in the second col umn on the second line This mark changes to a dot when the online command ends t Robot model name Shows the robot model name specified by the controller When two robots main robot and sub robot are specified their ...

Page 199: ...d The number in parentheses indicates a station number n When set to SAFE mode the following display appears Display safemode Meaning Operation mode is set to SAFE mode that enables service mode o Guideline The contents assigned to function keys are shown highlighted A message on what to do next also appears here in some operation steps Valid keys and submenu descriptions in SYSTEM mode are shown ...

Page 200: ...0V M4 RF ROBOT AXIS OTHERS OP BRD 3 Select a parameter item with the cursor keys Or press the F 2 JUMP key and enter a parameter number to jump to that parameter item Fig 4 12 3 Robot parameters SYSTEM PARAM ROBOT V8 30 1 Tip weight kg 2 Origin sequence 4 Armtype at PGM reset 3 R axis orientation EDIT JUMP 4 Press the F 1 EDIT key 5 Edit the selected parameter There are 2 ways to edit parameters T...

Page 201: ... below F1 F2 F3 F5 F10 Valid keys ROBOT AXIS OTHERS OP BRD PASSWRD Menu Function Sets robot parameters for robot operation Sets axis parameters for robot operation Sets other parameters for setting the controller Sets parameters for option boards Allows write prohibited axis parameters to be changed ...

Page 202: ...two robot setting SYSTEM PARAM ROBOT V8 30 1 Tip weight kg MR 5 SR 4 0 200 Enter _ 5 Valid keys and submenu descriptions for editing robot parameters are shown below Cursor key Page key F1 F2 Valid keys EDIT JUMP Menu Function Moves the cursor up and down Switches to other screens Edits the parameter Moves the cursor to the designated parameter n NOTE A description and method for setting robot par...

Page 203: ...ress the F 1 EDIT key 3 Select the parameter with the cursor keys Fig 4 12 6 Setting the Tip weight kg SYSTEM PARAM ROBOT V8 30 1 Tip weight kg MR 5 5 0 200 Enter _ 4 Enter the value with the 0 to 9 keys and then press the key 5 Press the ESC key to quit the edit mode n NOTE This parameter cannot be input if the robot was set to MULTI To set the auxiliary axis tip weight use the axis tip weight se...

Page 204: ...ith surrounding equipment Procedure 1 Select 2 Origin sequence in SYSTEM PARAM ROBOT mode 2 Press the F 1 EDIT key 3 Select the parameter with the cursor keys Fig 4 12 7 Setting the Origin sequence SYSTEM PARAM ROBOT V8 30 2 Origin sequence MG 312456 312456 0 654321 Enter _ 4 Enter the value with the 0 to 9 keys and then press the key 5 Press the ESC key to quit the edit mode n NOTE Perform origin...

Page 205: ...ions the R axis automatically rotates to maintain its direction This is effective only on SCARA robots Procedure 1 Select 3 R axis orientation in SYSTEM PARAM ROBOT mode 2 Press the F 1 EDIT key 3 Select the parameter with the cursor keys Fig 4 12 8 Setting the R axis orientation SYSTEM PARAM ROBOT V8 30 3 R axis orientation MR KEEP KEEP FREE 4 Press the F 1 KEEP key or the F 2 FREE key 5 Press th...

Page 206: ...elected when the parameters are initialized This is effective only on SCARA robots Procedure 1 Select 4 Armtype at PGM reset in SYSTEM PARAM ROBOT mode 2 Press the F 1 EDIT key 3 Select the parameter with the cursor keys Fig 4 12 9 Setting the Armtype at PGM reset SYSTEM PARAM ROBOT V8 30 4 Armtype at PGM reset MR RIGHTY RIGHTY LEFTY 4 Press the F 1 RIGHTY key or the F 2 LEFTY key to select the ha...

Page 207: ... setting two robot setting SYSTEM PARAM AXIS V8 30 1 Accel coefficient M1 100 M2 100 S1 100 S2 100 100 1 100 Enter _ Valid keys and submenu descriptions for editing robot parameters are shown below Cursor key Page key F1 F2 Valid keys EDIT JUMP Menu Function Moves the cursor up and down Scrolls up and down the screen Edits the parameter Moves the cursor to the designated parameter n NOTE A descrip...

Page 208: ...IS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 12 Setting the Accel coefficient SYSTEM PARAM AXIS V8 30 1 Accel coefficient M1 100 M2 100 M3 100 m4 100 1 100 Enter _ 100 4 Enter the value with the 0 to 9 keys and then press the key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mode n NOTE If the robot arm tip shakes or sways du...

Page 209: ...rsor keys Fig 4 12 13 Setting the Decel rate SYSTEM PARAM AXIS V8 30 2 Decel rate M1 100 M2 100 M3 90 m4 100 1 100 Enter _ 100 4 Enter the value with the 0 to 9 keys and then press the key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mode n NOTE This parameter value is a rate to the acceleration n NOTE If the robot arm tip shakes or sways when the robot stops ...

Page 210: ...ys Fig 4 12 14 Setting the Soft limit pulse SYSTEM PARAM AXIS V8 30 3 Soft limit pulse 112 50 mm M1 100000 M2 100000 M3 100000 m4 100000 6144000 Enter _ 100000 4 Enter the value with 0 to 9 and keys and then press the key If the value you input was a real number number containing a decimal point then the soft limit setting is converted into pulse units 5 Repeat the above steps 3 and 4 if necessary...

Page 211: ...Select 5 Tolerance pulse in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 16 Setting the Tolerance pulse SYSTEM PARAM AXIS V8 30 4 Tolerance pulse M1 80 M2 80 M3 80 m4 80 1 Enter _ 80 0 09mm 4 Enter the value with the 0 to 9 and keys and then press the key If the value you input was a real number number containing a decimal point then the tolerance...

Page 212: ...evious positioning operation will end even when executing consecutive PTP operations The value set for the selected axis is displayed in converted units on the 3rd line of the MPB screen Fig 4 12 17 Current position Out position range Target position Tolerance range Procedure 1 Select 6 Out position pulse in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with cursor keys Fig 4 1...

Page 213: ... position Movement of other axes Specified axis movement Specified axis movement Arch position range of arch specified axis Arch position range of other axes Procedure 1 Select 7 Arch position pulse in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with cursor keys Fig 4 12 20 Setting the Arch position pulse SYSTEM PARAM AXIS V8 30 7 Arch position pulse 0 56mm M1 2000 M2 2000 M3...

Page 214: ...YSTEM PARAM AXIS V8 30 8 Origin speed pulse ms M1 20 M2 20 M3 20 m4 20 1 Enter _ 20 4 Enter the value with the 0 to 9 keys and then press the key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mode c CAUTION The maximum return to origin speed on incremental mode axes is determined by the motor The maximum speed of semi absolute mode axes is 20 pulses per millise...

Page 215: ...M AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 22 Setting the Manual accel SYSTEM PARAM AXIS V8 30 9 Manual accel M1 100 M2 100 M3 100 100m4 100 1 100 Enter _ 100 4 Input the value with the 0 to 9 keys and then press the key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mode n NOTE If the robot arm tip shakes or sways durin...

Page 216: ... position before position error then enter a value of A B Procedure 1 Select 10 Origin shift pulse in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 23 Setting the Origin shift pulse SYSTEM PARAM AXIS V8 30 10 Origin shift pulse M1 0 M2 0 M3 0 m4 0 6144000 Enter _ 0 4 Enter the value with the 0 to 9 keys and then press the key 5 Repeat the above ste...

Page 217: ...ect 11 Arm length mm in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 24 Setting the Arm length mm SYSTEM PARAM AXIS V8 30 11 Arm length mm M1 200 00 M2 200 00 M3 0 00 m4 0 00 0 10000 Enter _ 200 00 4 Enter the value with the 0 to 9 and keys and then press the key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mo...

Page 218: ...are set Procedure 1 Select 12 Offset pulse in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 25 Setting the Offset pulse SYSTEM PARAM AXIS V8 30 12 Offset pulse M1 10000 M2 20000 M3 0 m4 1000 6144000 Enter _ 10000 4 Enter the value with the 0 to 9 keys and then press the key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit t...

Page 219: ...s Fig 4 12 26 Setting the Axis tip weight kg SYSTEM PARAM AXIS V8 30 13 Axis tip weight kg M1 0 M2 0 M3 0 m4 10 0 200 Enter _ 0 4 Enter the value with the 0 to 9 keys and then press the key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mode n NOTE This parameter can be entered only for MULTI type robots or auxiliary axes For robots other than MULTI type robots ...

Page 220: ...th the RCX141 Procedure 1 Select 14 Origin method in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 27 Setting the Origin method SYSTEM PARAM AXIS V8 30 14 Origin method M1 SENSOR M2 SENSOR M3 TORQUE M4 TORQUE SENSOR TORQUE MARK 4 Press one of the F 1 SENSOR F 2 TORQUE or F 3 MARK keys 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC ke...

Page 221: ...ent plus direction Procedure 1 Select 15 Origin direction in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the parameter with the cursor keys Fig 4 12 28 Setting the Origin direction SYSTEM PARAM AXIS V8 30 15 Origin direction M1 M2 M3 m4 4 Press the F 1 or F 2 key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mode c CAUTION YAMAHA can accept no liab...

Page 222: ...e servo is off Procedure 1 Select 16 Motor direction in SYSTEM PARAM AXIS mode 2 Press the F 1 EDIT key 3 Select the axis with the cursor keys Fig 4 12 29 Setting the Motor direction SYSTEM PARAM AXIS V8 30 16 Motor direction M1 M2 M3 m4 4 Press the F 1 or F 2 key 5 Repeat the above steps 3 and 4 if necessary 6 Press the ESC key to quit the edit mode n NOTE This parameter cannot be changed while s...

Page 223: ...to other screens Edits the parameter Moves the cursor to the designated parameter 1 Display language DSPLNG This parameter sets the language for displaying messages on the MPB Procedure 1 Select 1 Display language JPN ENG in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 31 Setting the display language SYSTEM PARAM OTHERS V8 30 1 Display language JPN ENG E...

Page 224: ...5 Watch on STD DIO DC24V VALID 6char 8char 3 Press the F 1 6char or F 2 8char key 4 Press the ESC key to quit the edit mode 3 Parameter display unit PDUNIT This parameter sets the units for showing axis parameters This is automatically set to pulses when the parameters are initialized Procedure 1 Select 3 Parameter display units in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The function key...

Page 225: ...k signal input when there is no STD DIO DC24V power being supplied This is automatically enabled valid when the parameters are initialized Procedure 1 Select 5 Watch on STD DIO DC24V in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 35 Setting the Watch on STD DIO DC24V SYSTEM PARAM OTHERS V8 30 1 Display language JPN ENG ENGLISH 2 Data display length 6cha...

Page 226: ...IT key The function key menu changes Fig 4 12 36 SYSTEM PARAM OTHERS V8 30 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Watch on STD DIO DC24V VALID 6 Incremental Mode control INVALID 7 IO cmd DI05 on STD DIO VALID INVALID VALID 3 Press the F 1 INVALID or F 2 VALID key 4 Press the ESC key to quit the edit mode n NOTE Command functions using DI05 I O command execution trigger input of the...

Page 227: ...roller does not respond to any signal input shorter than 25msec This prevents the controller from responding to noise inputs Procedure 1 Select 8 DI noise filter in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 37 Setting DI noise filter SYSTEM PARAM OTHERS V8 30 4 DO cond on EMG HOLD 5 Watch on STD DIO DC24V VALID 6 Incremental Mode control INVALID 8 DI ...

Page 228: ...If the value is other than 1 and 0 an error 6 35 EXPRESSION ERROR occurs When conditional expression is a numeric expression the result is TRUE if the expression value is other than 0 and is FALSE if 0 Procedure 1 Select 9 TRUE condition in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 38 Setting TRUE condition SYSTEM PARAM OTHERS 5 Watch on STD DIO DC24V...

Page 229: ...inate mode Sets mm unit system in tool coordinate mode Procedure 1 Select 10 Unit select in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 39 Setting Unit select SYSTEM PARAM OTHERS Normal J pls X mm T mm 10 Unit select Normal 6 Incremental Mode control INVALID 7 IO cmd DI05 on STD DIO INVALID 9 TRUE condition 1 8 DI noise filter VALID V8 63 3 Press a key ...

Page 230: ...tomatic operation started 4 When STEP SKIP or NEXT execution started 5 Return to origin or absolute reset started 6 When an I O command was received 7 When a remote command was received 8 When manual movement started with the programming box in MANUAL mode 9 When an online command was executed Procedure 1 Select 11 Error output DO SO in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The functio...

Page 231: ... when operation resumes after a relative motion interruption The original target position prior to re execution is changed to a new target position Compatible with previous versions Procedure 1 Select 12 MOVEI DRIVEI start position in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key Fig 4 12 41 Setting MOVEI DRIVEI start position SYSTEM PARAM OTHERS V8 66 Keep Reset 8 DI noise filter VALID 9 TRUE...

Page 232: ...ach time the power to the controller is turned on Procedure 1 Select 13 Skip undefined parameters in SYSTEM PARAM OTHERS mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 42 Setting Skip undefined parameters SYSTEM PARAM OTHERS V8 66 INVALID VALID 9 TRUE condition 1 10 Unit select Normal 11 Error output DO SO Off 13 Skip undefined parameters INVALID 12 MOVEI DRIVEI start pos Kee...

Page 233: ..._P n CCLnk n m D_Net n m Profi n m E_Net YCLnk Mn Meaning An option DIO board of NPN specifications is installed The number in parentheses is an ID number An option DIO board of PNP specifications is installed The number in parentheses is an ID number A CC Link unit is installed Letters in parentheses indicate a station number n and a communication speed m A DeviceNet unit is installed Letters in ...

Page 234: ...D 3 4 SELECT 1 In SYSTEM PARAM OP BRD mode select the option DIO board with the cursor keys and press the F 1 SELECT key Fig 4 12 45 SYSTEM PARAM OP BRD SELECT V8 30 1 Board condition VALID EDIT JUMP 2 Press the F 1 EDIT key Fig 4 12 46 SYSTEM PARAM OP BRD SELECT V8 30 1 Board condition VALID INVALID VALID 3 Press the F 1 INVALID or F 2 VALID key to select whether to monitor the DC 24V supply inpu...

Page 235: ...tput When set to Small 2 channels each are occupied by the input output This parameter cannot be set to Small when parameter 3 is set to VALID Procedure Fig 4 12 47 SYSTEM PARAM OP BRD V8 63 1 D_Net M4 500k VALID 2 DIO_N 1 VALID 3 4 SELECT 1 In SYSTEM PARAM OP BRD mode select the serial I O board with the cursor keys and press the F 1 SELECT key Fig 4 12 48 SYSTEM PARAM OP BRD SELECT V8 63 1 board...

Page 236: ... Output MSG to SOW 1 INVALID EDIT JUMP 4 IO size Large 3 Press the F 1 EDIT key Fig 4 12 50 SYSTEM PARAM OP BRD SELECT V8 63 1 board condition VALID 2 remote cmd IO cmd SI05 VALID 3 Output MSG to SOW 1 INVALID INVALID VALID 4 IO size Large 4 Press the F 1 INVALID or F 2 VALID key To select 4 IO size press the F 1 Large or F 2 Small key 5 Press the ESC key to quit the edit mode ...

Page 237: ...VALID the Ethernet can be used When set to INVALID Ethernet cannot be used Sets the IP address Sets the subnet mask Sets the gateway Procedure Fig 4 12 51 SYSTEM PARAM OP BRD V8 30 1 E_Net VALID 2 3 4 SELECT 1 In SYSTEM PARAM OP BRD mode select E_Net with the cursor keys and press the F 1 SELECT key Fig 4 12 52 SYSTEM PARAM OP BRD SELECT V8 30 1 board condition VALID 2 IP address 3 Subnet mask 4 g...

Page 238: ...t unit When changing other parameters use the 0 to 9 and keys to make the setting and press the key 4 Press the ESC key to quit the edit mode c CAUTION Changes you made to the IP address and subnet mask are enabled after restarting the robot controller When connecting the robot controller to an existing network always consult with the network administrator for the IP address subnet mask and gatewa...

Page 239: ...ig 4 12 54 Communication parameter screen SYSTEM CMU V8 30 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD EDIT JUMP 2 Select the parameter with the cursor keys Or press the F 2 JUMP key and enter a parameter number to jump to that parameter item Page keys can be also used 3 Press the F 1 EDIT key to enter the edit mode The edit mode stays open until the ESC key is press...

Page 240: ... Procedure 1 Select 1 CMU mode in SYSTEM CMU mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 55 Setting the CMU mode SYSTEM CMU V8 30 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD ONLINE OFFLINE 3 Select the communication mode with the F 1 OFFLINE or F 2 ONLINE key 4 Press the ESC key to quit the setting To continue selecting other items use the cu...

Page 241: ...sets the communication speed Procedure 1 Select 3 Baud rate in SYSTEM CMU mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 57 Setting the Baud rate SYSTEM CMU V8 30 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 4800 9600 19200 38400 57600 3 Select the baud rate with the F 1 4800 through F 5 57600 keys 4 Press the ESC key to quit the setting To conti...

Page 242: ...ng To continue selecting other items use the cursor keys 5 Parity This parameter sets the parity check Procedure 1 Select 5 Parity in SYSTEM CMU mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 59 Setting the Parity SYSTEM CMU V8 30 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD NON ODD EVEN 3 Select the parity check with the F 1 NON F 2 ODD or F 3 E...

Page 243: ...cting other items use the cursor keys 7 XON XOFF control This parameter sets whether to control the data flow using XON XOFF control Procedure 1 Select 7 XON XOFF control in SYSTEM CMU mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 61 Setting the XON XOFF control SYSTEM CMU V8 30 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 6 Termination code CR 7 XON XOFF control YES YES NO 3 ...

Page 244: ...ether to control the data flow using RTS CTS signal Procedure 1 Select 8 RTS CTS CONTROL in SYSTEM CMU mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 62 RTS CTS CONTROL setting SYSTEM CMU V8 30 4 Stop bit 1 5 Parity ODD 6 Termination code CRLF 7 XON XOFF control YES 8 RTS CTS control YES YES NO 3 Select the F 1 YES or F 2 NO key 4 Press the ESC key to quit the edit mode ...

Page 245: ...ouble carrier type robots Procedure 1 In SYSTEM mode press the F 3 OPTION key to enter SYSTEM OPTION mode 2 In SYSTEM OPTION mode press a key from F 1 POS OUT to F 4 W CARRIER to show the parameter items Fig 4 12 63 OPTION parameter setting SYSTEM OPTION V8 30 POS OUT SERVICE SIO W CARRIER Parameters can be edited by entering data with the number keys or by selecting the function keys Refer to eac...

Page 246: ...ystem Comparison point 2 Z X Y Comparison point 1 n NOTE If the port used for area check output is the same as the output port used by the program then the output data might be changed So do not use the same output port If the same port is designated for a different area check output OR will be output On controllers of Ver 8 63 onwards the area check cannot be performed and an error is displayed u...

Page 247: ...keys and press the F 1 SELECT key 3 Select the parameter items with the cursor keys Fig 4 12 66 Selecting the area check output parameters SYSTEM OPTION POS OUT SELECT V8 63 1 Output of area1 2 Output port1 DO SO 20 3 Compare Point number11 PO 4 Compare Point number12 PO 5 Condition IN EDIT JUMP NO Valid keys and submenu descriptions in this mode are shown below Cursor key F1 F2 Valid keys EDIT JU...

Page 248: ...e selecting other items use the cursor keys 2 Area check output port No This parameter specifies the port to output the area check results to The following ports can be used as area check output ports DO20 to DO27 SO20 to SO27 Procedure 1 Select 2 Output port1 DO SO in SYSTEM OPTION POS OUT SELECT mode 2 Press the F 1 EDIT key The function key menu changes Fig 4 12 68 Selecting the area check outp...

Page 249: ...4 12 70 When points are designated in Cartesian coordinates mm unit system Comparison point 2 Z X Y Comparison point 1 n NOTE The units of comparison point numbers 1 and 2 must be the same to perform correct operation On controllers of Ver 8 63 onwards the area check cannot be performed and an error is displayed unless comparison points exist or the units of comparison points are the same If this ...

Page 250: ...ers a specified area Turns on when the robot goes out of a specified area 4 Press the ESC key to quit the setting To continue selecting other items use the cursor keys n NOTE This parameter is supported by controllers of Ver 8 63 onwards On earlier version controllers the area check output turns on when the robot is within a specified area and turns off when outside it Any point on the boundary of...

Page 251: ...ly when the keys are held down on the MPB 2 Operating speed limits in SERVICE mode Specify the maximum robot operating speed Description Sets robot operation within 3 of maximum operating speed Sets no limit on robot operating speed 3 100 3 Operating device during SERVICE mode Specify the operating device to use ALL MPB COM MPB DI MPB Description Only MPB operation is allowed Allows MPB and dedica...

Page 252: ...t password is entered Fig 4 12 73 SERVICE mode initial screen SYSTEM OPTION SERVICE V8 30 1 Service level 2 Movement Vel 3 3 Operating device MPB EDIT JUMP SAVE HELP LEVEL 3 Valid keys and submenu descriptions in this mode are shown below Cursor key F1 F2 F4 F5 Valid keys EDIT JUMP SAVE HELP Menu Function Selects the SERVICE mode parameters Edits the SERVICE mode parameters Moves to the designated...

Page 253: ...vel SYSTEM OPTION SERVICE V8 30 1 Service level 2 Movement Vel 3 3 Operating device MPB LEVEL 0 LEVEL 1 LEVEL 2 LEVEL 3 LEVEL 3 3 Select the SERVICE mode level with the F 1 LEVEL 0 to F 4 LEVEL 3 keys 4 Press the ESC key to quit the setting To continue selecting other items use the cursor keys n NOTE The settings made here are only valid until the controller power is turned off Save these settings...

Page 254: ... SYSTEM OPTION SERVICE V8 30 1 Service level 2 Movement Vel 3 Operating device MPB 100 3 LEVEL 3 3 3 Select the maximum robot operating speed with the F 1 100 or F 2 3 key 4 Press the ESC key to quit the setting To continue selecting other items use the cursor keys n NOTE The settings made here are only valid until the controller power is turned off Save these settings if you want to use them agai...

Page 255: ...ode devices SYSTEM OPTION SERVICE V8 30 1 Service level 2 Movement Vel 3 Operating device MPB MPB DI MPB COM ALL LEVEL 3 3 MPB 3 Select the operating device with the F 1 MPB to F 4 ALL keys 4 Press the ESC key to quit the setting To continue selecting other items use the cursor keys n NOTE The settings made here are only valid until the controller power is turned off Save these settings if you wan...

Page 256: ...key if you want to cancel the settings 12 3 2 2 Help display in SERVICE mode To display the help messages for SERVICE mode parameters proceed as follows Procedure 1 Press the F 5 HELP key in SYSTEM OPTION SERVICE mode Fig 4 12 78 Help display in SERVICE mode SYSTEM OPTION SERVICE HELP V8 30 Security level of serv mode LEVEL0 No limit LEVEL1 Hold to Run LEVEL2 Prohibit operation in AUTO LEVEL3 LEVE...

Page 257: ... DI3 DI4 DI5 SO2 SO3 SO4 SO5 DO2 DO3 DO4 DO5 SI2 SI3 SI4 SI5 DO port SI port Output devices such as valves Input devices such as sensors Procedure 1 Press the F 3 SIO key in SYSTEM OPTION mode Fig 4 12 80 SIO setting initial screen SYSTEM OPTION SIO V8 30 1 Direct SI2 DO2 NO 2 Direct SI3 DO3 NO 3 Direct SI4 DO4 NO 4 Direct SI5 DO5 NO 5 Direct SO2 DI2 NO EDIT JUMP Valid keys and submenu description...

Page 258: ... to 4 in SYSTEM OPTION SIO mode 2 Press the F 1 EDIT key Fig 4 12 81 Editing the SIO settings 1 SYSTEM OPTION SIO V8 30 1 Direct SI2 DO2 NO 2 Direct SI3 DO3 NO 3 Direct SI4 DO4 NO 4 Direct SI5 DO5 NO 5 Direct SO2 DI2 NO EDIT JUMP 3 Press the F 1 SET key to set the direct connection or press the F 2 NO key not to set it 4 Press the ESC key to quit the setting To continue selecting other items use t...

Page 259: ... to 8 in SYSTEM OPTION SIO mode 2 Press the F 1 EDIT key Fig 4 12 82 Editing the SIO settings 2 SYSTEM OPTION SIO V8 30 4 Direct SI5 DO5 NO 5 Direct SO2 DI2 NO 6 Direct SO3 DI3 NO 7 Direct SO4 DI4 NO 8 Direct SO5 DI5 NO SET NO 3 Press the F 1 SET key to set the direct connection or press the F 2 NO key not to set it 4 Press the ESC key to quit the setting To continue selecting other items use the ...

Page 260: ...ition where no collision will occur and next moves to the target position or the operation stops as an error 12 3 4 1 Before using a double carrier Check the following items before using the anti collision function 1 As shown in the drawing below each carrier should approach the other carrier when it moves in the direction If not please consult us Fig 4 12 84 Double carrier setting direction for c...

Page 261: ... keys EDIT JUMP Menu Function Edits the parameter being selected with the cursor Jumps to the specified point number Moves the cursor up and down 1 Stroke setting Procedure 1 Select 1 Stroke mm and press F 1 EDIT Fig 4 12 86 Double carrier parameter setting 2 SYSTEM OPTION W CARRIER EDIT V8 58 1 Stroke mm 0 00 2 Carrier1 M1 3 Carrier2 M2 4 Control mode OFF 1 Enter 650 00 n NOTE The stroke correspo...

Page 262: ... carrier is closest to the other Stroke 2 Carrier 1 setting 3 Carrier 2 setting Procedure 1 Select 2 Carrier 1 or 3 Carrier 2 and press F 1 EDIT Fig 4 12 88 Double carrier parameter setting 3 SYSTEM OPTION W CARRIER EDIT V8 58 1 Stroke mm 650 00 2 Carrier1 M1 3 Carrier2 M2 4 Control mode OFF M1 M2 M3 M4 M5 2 Select the double carrier axis with the function key n NOTE Each function key display diff...

Page 263: ...ands by until interference free motion is possible Anti collision function is disabled During Manual movement During auto operation During Manual movement During auto operation The manual movement and auto operation conditions indicated in the above table are defined as shown below During Manual movement Manual movement at MPB Jog and inching movement by I O commands Jog and inching movement by on...

Page 264: ...en SYSTEM INIT V8 30 PARAM MEMORY CMU CLOCK 2 Select the item to initialize with the F 1 PARAM to F 4 CLOCK keys Valid keys and submenu descriptions in SYSTEM INT mode are shown below F1 F2 F3 F4 F6 F10 Valid keys PARAM MEMORY CMU CLOCK GENERAT PASSWRD Menu Function Initializes the parameter settings Deletes the user memory Sets the communication parameters to the initial values Sets the clock Set...

Page 265: ...press the key Fig 4 12 91 Initializing the parameters 1 SYSTEM INIT V8 30 Enter password _ 2 When the correct password was entered a confirmation message appears on the guideline Fig 4 12 92 Initializing the parameter 2 SYSTEM INIT PARAM V8 30 ROBOT YK400X D1 M1 YK400X D5 M5 no axis D2 M2 YK400X D6 M6 no axis D3 M3 YK400X D4 M4 YK400X Initialize OK YES NO 3 Press the F 4 YES key to initialize the ...

Page 266: ...of program 5 Number of points 124 PROGRAM POINT SHIFT HAND ALL 2 Select the item to initialize with the F 1 PROGRAM to F 7 COMMENT keys A confirmation message appears on the guideline Fig 4 12 94 Initializing the memory program SYSTEM INIT MEMORY PROGRAM V8 30 Source use sum 1316 364580 bytes Object use sum 528 98304 bytes Sequence use sum 0 4096 bytes Number of program 5 Number of points 124 Init...

Page 267: ...int comment data 12 4 3 Initializing the communication parameters To initialize the communication parameters proceed as follows Procedure 1 Press the F 3 CMU key in SYSTEM INIT mode A confirmation message appears on the guideline Fig 4 12 95 Initializing the communication parameters SYSTEM INIT CMU V8 30 MODE DATA RATE STOP PARI TERM XON RTS ONLINE 8 9600 1 ODD CRLF YES NO Initialize OK YES NO 2 P...

Page 268: ...CLOCK V8 30 DATE TIME 04 05 01 10 13 35 DATE TIME 2 Select the item with the F 1 DATE or F 2 TIME key A confirmation message appears on the guideline 3 Enter the date or time in the specified format and then press the key Enter this data using the 0 to 9 and keys F1 F2 Valid keys DATE TIME Menu Function Sets the year month date Sets the hours minutes seconds c CAUTION The clock used in the control...

Page 269: ...correct 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 PC storage device by way of the RS 232C Please contact us for system generation operating methods c CAUTION If you change the system generation by mistake this may adversely effect robot operation or...

Page 270: ...ime Displays details of major software errors that occurred in the past 12 5 1 Controller check This makes a self diagnosis check of the controller Procedure 1 Press the F 1 CHECK key to enter SYSTEM DIAGNOS CHECK mode Fig 4 12 98 System check SYSTEM DIAGNOS CHECK V8 30 System check OK NEXT P PREV P An error message appears if an error is detected 2 Check the error message if displayed Pressing th...

Page 271: ...plays the past 5 errors in order from the most recent error Error information is displayed in the following format Date Time Error No Error message The hour minute and second are displayed for the time 2 Check the error history Pressing the cursor keys changes the display one line at a time Pressing the F 1 NEXT P or F 2 PREV P key changes the display one screen at a time 3 Press the F 5 key if yo...

Page 272: ... time that the controller power has been on The Run time is the total time that the controller has performed automatic operation Pressing the F 5 CLEAR key resets the total operation time The display shows the new total operation time starting from the date and time after reset 2 Press the ESC key to return to SYSTEM DIAGNOS mode 12 5 4 System error details display Details of important software er...

Page 273: ... FROM ALL 311800 04 04 22 17 32 SYSTEM BACKUP FROM V8 30 LOAD SAVE INIT Valid keys and submenu descriptions in SYSTEM BACKUP FROM mode are shown below Valid keys F1 F2 F4 Menu LOAD SAVE INIT Function Loads the data backed up in the internal flash ROM into the controller s internal memory Saves the controller s internal memory data into the internal flash ROM as backup data Initializes the internal...

Page 274: ...s are loaded Only point comment files are loaded 3 A confirmation message appears on the guidelines Press the F 4 YES key to load the data Press the F 5 NO key to cancel the procedure Fig 4 12 105 Check of FROM loading No File Ext Size Data Time 1 FROM ALL 311800 04 04 22 17 32 SYSTEM BACKUP FROM LOAD PGM V8 30 Load from FROM OK YES NO 4 The message 0 5 Accessing will appear during the procedure n...

Page 275: ... If data has already been written in it cannot be overwritten and 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 data onto an external PC storage device If an abnormal process occurs such as if the power is turned OFF while saving the data the data ...

Page 276: ...00000000 DI2 B00000000 DI6 B00000000 DI3 B00000000 DI7 B00000000 EDIT TEACH JUMP VEL VEL _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _ _ _ _ _ _ _ _ z _ _ _ _ _ _ _ _ _ r _ _ _ Display format Port No B bit 7 bit 6 to bit 0 2 Press the DISPLAY key again Input status is displayed in the data area 3rd to 7th lines as shown below Fig 4 13 2 Input status display 2 MANUAL POINT 50 MG S0H0J DI mo...

Page 277: ... _ _ _ _ _ _ _ _ z _ _ _ _ _ _ _ _ _ r _ _ _ The information is displayed with the following format Port No B 7th bit 6th bit to 0th bit Fig 4 13 4 Example of word information display MANUAL POINT 50 MG S0H0J SIW monitor SIW 0 H0000 SIW 1 H0000 SIW 2 H0000 SIW 3 H0000 SIW 4 H0000 SIW 5 H0000 SIW 6 H0000 SIW 7 H0000 EDIT TEACH JUMP VEL VEL _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _ _ _ _...

Page 278: ...r 100 Max torque D1 20 D5 0 D2 5 D6 0 D3 3 D7 0 D4 0 D8 0 EDIT TEACH JUMP VEL VEL _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _ _ _ _ _ _ _ _ z _ _ _ _ _ _ _ _ _ r _ _ _ Display format is as follows D axis number current command value Current command value is shown as a percent of the maximum current command ...

Page 279: ...de UTILITY Date Time 04 05 20 18 59 40 36 C Execut level LEVEL0 Access level LEVEL0 EXECUTE ACCESS RST DO Valid keys and submenu descriptions in UTILITY mode are shown below F1 F2 F3 F5 Valid keys MOTOR SEQUENC ARMTYPE RST DO Menu Function Turns the motor power and servo on and off Prohibit or permits executing the sequence program Sets the arm hand type Valid only on SCARA robots Clears the outpu...

Page 280: ... Procedure 1 Press the UTILITY LOWER ESC key 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 guideline Fig 4 14 3 Canceling emergency stop UTILITY Date Time 04 05 20 18 59 37 36 C motor power Off Sequence DISABLE Armtype RIGHTY Cancel emergency flag YES NO 2 Press the F 4 YES key to cancel the interna...

Page 281: ...n Off or Free select the axis 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 Fig 4 14 5 Setting the servo of each axis UTILITY MOTOR motor power On D1 M1 Free D5 M5 no axis D2 M2 Servo D6 M6 no axis D3 M3 Servo D4 M4 Servo Servo Brake 5 Set the servo status with the F 1 Servo F 2 Brake or F 8 Free key c CAUTION...

Page 282: ...ce programs press the F 2 DISABLE key To enable DO reset during sequence program execution press the F 6 RST DO key Fig 4 14 6 Enabling disabling the sequence program UTILITY SEQUENC Scan time 10msec Sequence ENABLE ENABLE DISABLE n NOTE The following conditions must be satisfied before executing a sequence program 1 An object program must be made for sequence execution 2 Sequence execution must b...

Page 283: ...ters are initialized Arm type can be changed only for SCARA robots Procedure 1 Press the F 3 ARMTYPE key in UTILITY mode Fig 4 14 7 Main sub robot specifications UTILITY ARMTYPE Armtype at Present Main robot RIGHTY Sub robot LEFTY RIGHTY LEFTY 2 Select the parameter item with the cursor keys 3 Press the F 1 RIGHTY or F 2 LEFTY key to set the right handed or left handed system 4 Press the ESC key t...

Page 284: ...to SO27 SOW 2 to SOW 15 Procedure 1 Press the F 5 RST DO key in UTILITY mode A confirmation message appears on the guideline Fig 4 14 8 Resetting the output ports UTILITY RST DO Date Time 04 05 20 18 59 37 36 C Reset OUTPUT port OK YES NO Execut level LEVEL0 Access level LEVEL0 2 Press the F 4 YES key to reset Press the F 5 NO key if not resetting ...

Page 285: ... mode AUTO mode AUTO mode MANUAL mode AUTO mode AUTO mode AUTO mode NO NO YES NO YES YES YES NO YES NO NO NO NO NO YES YES NO YES Invalid Invalid Invalid Invalid Invalid Invalid Invalid Valid Note 1 Valid Note 1 Level Program execution at origin incomplete When power is turned on Mode Program reset Return to origin signal in AUTO mode Program reset at program start Description Note 1 When the retu...

Page 286: ...twice to enter UTILITY mode then press the F 1 EXECUTE key Fig 4 14 9 UTILITY Date Time 04 05 23 12 36 37 36 C Execut level LEVEL7 Access level LEVEL0 EXECUTE ACCESS RST DO 2 Select the execution level with the F 1 LEVEL0 to F 9 LEVEL8 keys Fig 4 14 10 UTILITY EXECUTE Execut level LEVEL7 LEVEL0 LEVEL1 LEVEL2 LEVEL3 LEVEL4 3 Press the ESC key to exit UTILITY mode ...

Page 287: ... or press the F 2 PREV P or cursor key to refer to the previous page Fig 4 14 11 UTILITY EXECUTE HELP LEVEL0 Program cannot execute if arm has not returned to ORIGIN PowerOn mode is MANUAL PowerOn without program reset NEXT P PREV P Fig 4 14 12 UTILITY EXECUTE HELP LEVEL1 Program can execute if arm has not returned to ORIGIN PowerOn mode is MANUAL PowerOn without program reset NEXT P PREV P 2 Pres...

Page 288: ...assword appears on the guideline Enter with LVL here and press the key Fig 4 14 13 Setting the access level 1 UTILITY Date Time 04 05 20 18 59 37 36 C Execut level LEVEL7 Access level LEVEL0 Enter password LVL_ 2 If the correct password was entered the following screen appears Fig 4 14 14 Setting the access level 2 UTILITY ACCESS Access level LEVELO LEVEL0 LEVEL1 LEVEL2 LEVEL3 HELP n NOTE Access l...

Page 289: ... Help screen appears Press the F 1 NEXT P key or cursor key to refer to the next page or press the F 2 PREV P or cursor key to refer to the previous page Fig 4 14 16 Access level Help screen first page UTILITY ACCESS HELP LEVEL0 All data access available LEVEL1 Data change invalid NEXT P PREV P Fig 4 14 17 Access level Help screen second page UTILITY ACCESS HELP LEVEL2 LEVEL1 SYSTEM PROGRAM mode c...

Page 290: ...4 232 MEMO ...

Page 291: ... 5 12 1 8 3 Switching to AUTO mode program reset and execution 5 13 1 8 4 Stopping due to program interlocks 5 14 1 9 General purpose I O signals 5 15 1 9 1 General purpose input signals 5 15 1 9 2 General purpose output signals 5 15 1 9 3 General purpose output signal reset off 5 15 2 Option I O interface overview 5 16 2 1 ID settings 5 17 2 2 Power supply 5 17 2 3 Connector I O signals 5 18 2 4 ...

Page 292: ...MEMO ...

Page 293: ...edicated 9 General purpose 16 Dedicated 11 General purpose 8 STD DIO MR 50LM Honda Tsushin Kogyo 0 3mm2 or more 1 1 Power supply The standard I O interface uses an external 24V power supply Connect the 24V and ground terminals of the external power supply to pins 47 to 50 of the STD DIO connector on the controller c CAUTION See 7 I O connections in Chapter 3 for a definition of NPN and PNP specifi...

Page 294: ...eral purpose input 34 General purpose input 35 General purpose input 36 General purpose input 37 Relay common CPU_OK contact B normally closed CPU_OK contact A normally open Servo ON contact B normally closed Servo ON contact A normally open Alarm contact B normally closed Alarm contact A normally open AUTO mode Return to origin complete Sequence program in progress Robot program in progress Progr...

Page 295: ... O interface 1 Standard I O interface overview 1 3 Connector pin numbers STD DIO 33 1 19 50 18 32 1 33 19 18 50 32 Connection side Solder side Connector type MR 50LM An STD DIO connector is supplied with the controller ...

Page 296: ...o DI 17 DI 20 DI 21 DI 22 DI 37 GND N COM DI DI 23 DI 36 Protective circuit External power supply NPN Controller side to PNP specifications DC24V P COM DI DI 01 DI 10 DI 11 DI 12 to DI 37 GND N COM DI DI 36 Protective circuit External power supply PNP Controller side c CAUTION See 7 I O connections in Chapter 3 for a definition of NPN and PNP specifications ...

Page 297: ...Dedicated outputs NPN specifications COMMON DO 01a DO 01b DO 02a DO 02b DO 03a DO 03b DO 10 to DO 14 Controller side PNP specifications COMMON DO 01a DO 01b DO 02a DO 02b DO 03a DO 03b DO 10 to DO 14 Controller side c CAUTION See 7 I O connections in Chapter 3 for a definition of NPN and PNP specifications ...

Page 298: ...580 or equivalent External power supply DC 24V Controller side DC24V GND DO 20 to DO27 Photocoupler PS2801 or equivalent c CAUTION When an inductive load solenoid relay etc is used always connect a diode in parallel as a surge killer Never short the DO output to DC 24V NPN specifications since this will damage the internal circuitry Never short the DO output to GND PNP specifications since this wi...

Page 299: ...ed and robot manual operation is disabled when the DI11 contact is open 5 DI12 Program start input DI12 is used to start the program When the DI12 contact is closed ON in AUTO mode the robot program starts at the rising edge of the signal pulse DO13 Robot program in progress is issued when the robot program is executed Input signal pulse width 100ms minimum n NOTE If two or more dedicated inputs a...

Page 300: ...ecution flag setting DO14 program reset status is output when the program is correctly reset Input signal pulse width 100ms minimum 8 DI16 MANUAL mode input DI16 is used to switch to MANUAL mode Input signal pulse width 100ms minimum 9 DI17 Return to origin input DI17 is used to perform return to origin When the DI17 contact is closed ON in MANUAL mode return to origin or absolute search starts at...

Page 301: ...y open This output turns on in the following cases 1 When contacts on the emergency stop switch open 2 When a driver unit detects a serious malfunction such as an overload However does not include abnormalities from when the power is turned on 3 When the host CPU has stopped due to a major abnormality or other causes 4 When battery voltage for retaining the memory is low or the battery is disconne...

Page 302: ...normally closed This is a complementary inverted logic output of the alarm A contact signal 7 DO10 AUTO mode output DO10 is always on when AUTO mode is selected 8 DO11 Return to origin complete output DO11 is always on when return to origin on all axes is complete If this output is off return to origin must be performed 9 DO12 Sequence program in progress output DO12 is always on when the sequence...

Page 303: ...servo ON output turns off Shifting from emergency stop to servo ON e Emergency stop input turns on f Servo ON input turns on g Alarm output turns off h Servo ON output turns on i Servo ON input turns off after checking for servo ON output If the emergency stop input contacts are open or a major error malfunction occurs when the controller power is turned on the servo remains off Likewise if SAFE m...

Page 304: ... movement stops e Return to origin complete output turns on Interlocks during return to origin f Return to origin input turns on and return to origin complete output turns off g Robot axis starts moving to origin position h Return to origin input turns off i Interlock input turns off j On going robot axis movement stops k Interlock input turns on When the return to origin complete output is on ret...

Page 305: ...b AUTO mode output turns on c AUTO mode input turns off after checking AUTO mode output is turned on Program reset d Program reset input turns on e Program reset status output turns on f Program reset input turns off after checking program reset status output is turned on Program execution g Program start input turns on h Program reset status input turns off and robot program in progress output tu...

Page 306: ...ck input turns off e Robot program in progress output turns off Program execution after stopping program due to interlock input f Interlock input turns on g Program start input turns on h Robot program in progress output turns on i Program start input turns off after checking that the robot program in progress output is turned on Program will stop if switching to emergency stop An alarm is output ...

Page 307: ...utput signals are reset off in the following cases 1 When the F 5 RST DO key was pressed in UTILITY mode 2 When any of the following operations is performed without executing a sequence program or the sequencer execution flag was reset When compiling was done in PROGRAM mode When a program was compiled in AUTO mode When a program was reset in AUTO mode When the dedicated input signal DI15 Program ...

Page 308: ...ons is set prior to shipment Inputs are referred to here as DI Digital Inputs and outputs as DO Digital Outputs Specifications ID 1 2 3 4 Number of I O points Connector name OPT DIO Connector type No MR 50LM Honda Tsushin Kogyo Conductor wire 0 3mm2 or more General purpose input 24 General purpose output 16 General purpose input 24 General purpose output 16 General purpose input 24 General purpose...

Page 309: ...7 DI170 to DI177 DO110 to DO117 DO120 to DO127 2 2 Power supply The option I O interface uses an external 24V power supply Be sure to always connect the 24V and ground terminals of the external power supply to pins P COMxx and N COMxx of the OPT DIO connector on the controller An error is issued when the controller power is turned on if the external 24V power supply is not connected c CAUTION Alwa...

Page 310: ... 174 24 DI65 DI115 DI145 DI175 Input 65 Input 115 Input 145 Input 175 25 DI66 DI116 DI146 DI176 Input 66 Input 116 Input 146 Input 176 26 DI67 DI117 DI147 DI177 Input 67 Input 117 Input 147 Input 177 27 P COM A P COM A common 28 DO30 DO50 DO70 DO110 Output 30 Output 50 Output 70 Output 110 Transistor output 29 DO31 DO51 DO71 DO111 Output 31 Output 51 Output 71 Output 111 NPN or PNP specifications ...

Page 311: ...I O interface 2 Option I O interface overview 2 4 Connector pin numbers OPT DIO 33 1 19 50 18 32 1 33 19 18 50 32 Connection side Solder side Connector type MR 50LM An OPT DIO connector is supplied with the controller ...

Page 312: ...switches or sensors and can be specified for use as needed in the robot program or sequence program 2 7 2 General purpose output signals All signals are Darlington transistor open collector outputs The general purpose outputs on the option I O interface are all available to the user These are connectable to pushbutton switches or sensors and can be specified for use as needed in the robot program ...

Page 313: ... When compiling the program in automatic mode and compiling was routinely quit When F 1 RESET is executed in AUTO mode When in Auto mode the dedicated input signal DI15 program reset input was set on while the program was being stopped When either of the following was initialized in SYSTEM mode initialization 1 Program memory SYSTEM INIT MEMORY PROGRAM 2 Entire memory SYSTEM INIT MEMORY ALL In AUT...

Page 314: ...ethod Load Response time NPN open collector negative common type Photocoupler insulation method DC 24V 10 100mA point resistance load 10ms Max PNP specifications Method Load Response time PNP open collector positive common type Photocoupler insulation method DC 24V 10 100mA point resistance load 10ms Max 2 Relay contact output A contact partly C contact common ground DC 24V 0 5A Max DC 24V 1mA Min...

Page 315: ... protect 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 activated it is not possible to restore the previous state Furthermore heat generated inside might damage the internal circuits so always draw current only within the rated load 4 As a noise prevention keep...

Page 316: ...5 24 MEMO ...

Page 317: ...s 1 SAFETY I O interface overview 6 1 1 1 Power 6 1 1 2 Connector I O signals 6 1 1 3 Connector terminal numbers 6 2 1 4 Emergency stop input signal connections 6 3 1 5 Dedicated input signal connections 6 6 1 6 Input signal description 6 7 ...

Page 318: ...MEMO ...

Page 319: ...V EMG RDY Reserved SERVICE mode Do not use Emergency stop input 1 Emergency stop input 2 Emergency stop input 3 Emergency stop input 4 Enable switch input 1 Enable switch input 2 Enable switch input 3 Enable switch input 4 DC 24V P COMDI GND N COMDI Emergency stop input power Emergency stop READY signal Do not use NPN PNP specs conform to STD DIO settings Common terminal P COM N COM Usable only wh...

Page 320: ...6 2 SAFETY I O interface 6 1 SAFETY I O interface overview 1 3 Connector terminal numbers 1 8 9 15 1 8 9 15 Connection side Solder side ...

Page 321: ...the controller internal motor power relay b When emergency stop is triggered power to EMG RDY of the SAFETY connector is cut off and the motor power supply turns off Emergency stop is triggered if the MPB and SAFETY connector are removed Pins 13 and 14 on the MPB connector are shorted in the MPB terminator that comes with the robot controller Pin 3 is shorted to pin 13 and pin 4 is shorted to pin ...

Page 322: ...ncy stop switch but can be bypassed with the service key switch 1 When the service key switch contact is close The enable switch is inoperable at this point a In normal operation EMG 24V is connected to EMG RDY via the MPB E2 emergency stop switch and SAFETY connector and turns on the controller internal motor power relay b When emergency stop is triggered power to EMG RDY of the SAFETY connector ...

Page 323: ...r internal motor power relay b When emergency stop is triggered power to EMG RDY of the SAFETY connector is cut off and the motor power supply turns off Emergency stop is triggered if the MPB E2 and SAFETY connector are removed Pins 13 and 14 pins 15 and 16 pins 17 and 18 and pins 19 and 20 on the MPB connector are shorted in the MPB terminator that comes with the robot controller Pin 3 is shorted...

Page 324: ...cations DI02 N COM Protective circuit P COMDI for STD DIO PNP specifications DI02 P COMDI P COMDI for STD DIO Protective circuit c CAUTION See 7 I O connections in Chapter 3 for a definition of NPN and PNP specifications n NOTE Connect DC 24V and ground for STD DIO n NOTE Connect DC 24V and ground for STD DIO ...

Page 325: ...or the system to function normally Refer to the connection examples in this chapter when making actual connections Closing the emergency stop contact points ON allows turning on the servo power supply The servo power supply cannot be turned on when the emergency stop contact points are open OFF Emergency stop signal inputs 3 and 4 are valid only when an MPB E2 MPB compatible with an enable switch ...

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Page 327: ... 3 Communication specifications 7 3 3 1 Connector 7 3 3 2 Transmission mode and communication parameters 7 4 3 3 Communication flow control 7 5 3 3 1 Flow control during transmit 7 5 3 3 2 Flow control during receive 7 5 3 4 Other caution items 7 6 3 5 Character code table 7 8 3 6 Connecting to a PC 7 9 ...

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Page 329: ...s are received The robot controller communicates in compliance with the these commands 2 Various commands are transmitted directly through a communication port from the external devices These commands are called online commands If this function is used some operations can be performed from an external device just by turning on power to the robot controller Example AUTO Switches to AUTO mode RUN Ex...

Page 330: ...e 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 also valid even in ONLINE mode To set ONLINE mode select ONLINE as a communication parameter in SYSTEM mode The ONLINE statement in the program can also be used to set ONLINE mode ONLINE command format _ online co...

Page 331: ...EQUIPMENT MADE IN JAPAN CAUTION READ INSTRUCTION MANUAL 6 1 9 5 Specifications 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 SUB 9 pin male connector 2 Pin arrangement of D SUB 9 pin connector is as follows Name NC RXD TXD NC GND NC RTS CTS NC Pin No 1 2 3...

Page 332: ... Stop bit bit 1 2 Parity None even odd RTS CTS control Yes No Termination code CR CRLF XON XOFF control Yes No Receive buffer 1024 bytes Transmit buffer 1024 bytes Numbers or items in square brackets indicate settings after initialization n NOTE 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 ...

Page 333: ...nsmits XOFF when available space in receive buffer falls below a certain capacity Transmits XON when receive buffer is empty Turns RTS off when available space in receive buffer falls below a certain capacity Turns RTS on when receive buffer is empty XON and XOFF are not transmitted XON and XOFF are ignored if received RTS is always on n NOTE 1 Transmission stops when transmission is disabled in e...

Page 334: ...g the controller on 3 When the 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 take countermeasures such as reducing the communication speed baud rate 4 When the communication speed is set at a high rate communication errors might occur due to external...

Page 335: ...Ground wire was not at ground potential 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 connection Failure to use ground wire might raise the voltage potential External device Notebook PC using an AC adapter etc AC100 to 200V ...

Page 336: ...X Y Z 6 a b c d e f g h i j k l m n o 7 p q r s t u v w x y z 8 9 E A B C D F 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 language Small letters are used for program comments and so on However these cannot be entered on the MPB Note 4 BS deletes the preceding character in the receive buffer Note 5 T...

Page 337: ...R7 M538F 300 Cable part No Straight serial conversion adapter part No KX0 M657E 000 2 Using the PC s USB port PC RCX141 RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODEL SER NO MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN CAUTION READ INSTRUCTION MANUAL 25 pins 25 pins 9 pins 9 pins U...

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Page 339: ... Specifications Contents 1 Controller basic specifications 8 1 2 Controller basic functions 8 2 3 Robot controller external view 8 3 3 1 RCX141 external view 8 3 4 MPB basic specifications and external view 8 4 ...

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Page 341: ...Optimum speed setting matching SCARA robot arm position YAMAHA BASIC conforming to JIS B8439 SLIM language 8 tasks maximum 1 program 364KB Total of program and point data Available size for program when maximum number of points is used 84KB 100 programs maximum number of programs 9999 lines maximum lines per program 98KB maximum capacity per program maximum capacity per object program 10000 points...

Page 342: ...tatements Parameter commands ACCEL OUTPOS TOLE statements etc Condition wait command WAIT statement Task related commands START SUSPEND CUT statements etc etc Arithmetic functions SIN COS TAN functions etc Character string functions STR LEFT MID RIGHT functions etc Point functions WHERE JTOXY XYTOJ functions etc Parameter functions ACCEL OUTPOS TOLE statements etc etc Simple variables integer vari...

Page 343: ...NUAL 250 180 139 5 15 5 15 5 204 15 5 5 5 44 8 100 27 6 180 290 265 235 10 5 5 5 5 5 10 25 20 30 Fig 8 3 1 2 RCX141 with RGU 2 option installed P N RGEN RGU 2 YAMAHA MOTOR CO LTD CAUTION ELECTRIC HAZARD SANYODENKI RCX141 MOTOR XM YM ZM RM PWR SRV ERR SAFETY MPB COM STD DIO RGEN ACIN P N L N ROB I O XY ROB I O ZR OP 1 OP 3 OP 2 OP 4 200 230V 50 60Hz MAX 2500VA MODEL SER NO MANUFACTURED FACTORY AUTO...

Page 344: ...nsation storage temperature 10 to 65 C W189 H241 D28 6 5m 700g excluding cable MPB external view F 1 F 2 F 3 F 4 F 5 F6 F7 F8 F9 F10 F11 F12 F13 F14 F15 A B C D E START STOP 7 8 9 4 5 6 1 2 3 0 UPPER LOWER SPACE 1 2 3 4 5 6 1 2 3 4 5 6 F G H I J K L M N O P Q R S T U V W X Y Z A B C D E START STOP 7 8 9 4 5 6 1 2 3 0 UPPER LOWER SPACE 1 2 3 4 5 6 1 2 3 4 5 6 F G H I J K L M N O P Q R S T U V W X Y...

Page 345: ...on errors 9 19 9 Memory errors 9 24 10 System setting or hardware errors 9 26 12 I O and option board errors 9 28 13 MPB errors 9 32 14 RS 232C communication errors 9 33 15 Memory card errors 9 34 17 Motor control errors 9 37 21 Major software errors 9 43 22 Major hardware errors 9 44 1 2 MPB Error Messages 9 48 2 Troubleshooting 9 50 2 1 When trouble occurs 9 50 2 2 Acquiring error information 9 ...

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Page 347: ...w Group No 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 Contents Warnings and messages Warnings error history entry Robot operating area errors Program file operating errors Data entry and edit errors Robot language syntax compiling errors Robot language execution errors Not used Not used Memory errors System setting or hardware errors Not used I O and option board errors MPB errors ...

Page 348: ...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 driver unit The axes viewed by the robot and the axes viewed by the driver are normally a one to one match with each other but when dual drive axes are used one axis viewed by the robot may sometimes be treated as 2 axes by...

Page 349: ...oved or disconnected c Return to origin or absolute search operation was interrupted d System generation was changed or parameters initialized Or parameters for specifying the origin position such as for the return to origin direction or axis polarity were changed Equivalent to writing ALL or PRM file on controller Action Perform return to origin to completion 0 2 Running Code H0002 Meaning Cause ...

Page 350: ...Break point was reached during program execution Action 0 10 INC motor disconnected Code H000A Meaning Cause Return to origin command was attempted on an absolute axis or an axis that does not exist Action 1 Select the correct axis 2 Check the system generation data 0 11 ABS motor disconnected Code H000B Meaning Cause Absolute reset was attempted on an incremental mode axis or semi absolute mode a...

Page 351: ...g the DC 24V supply 1 Warnings error history entry 1 31 CPU Reset start Code H011F Meaning Cause Power was turned on and CPU operation commenced Action 1 32 CPU Normal start Code H0120 Meaning Cause Start up checks and initialization ended and controller operation started Action 2 Robot operating area errors 2 1 Over soft limit Code H0201 Meaning Cause Soft limit value preset in the parameter for ...

Page 352: ...ting pallet definition failed Action Set pallet definition correctly 2 8 Movable range cal failed Code H0208 Meaning Cause a Calculation of movement path failed b Current position is not within movement range Action 1 Change to a correct movement point 2 Change current position to within movement range 2 9 Overlap soft limit Code H0209 Meaning Cause On SCARA robots the sum of the absolute values f...

Page 353: ...tion 2 19 LEFTY now selected Code H0213 Meaning Cause On SCARA type robots arm will now use the left handed system for starting Cartesian movement Action 2 20 Illegal hand type Code H0214 Meaning Cause An R axis hand definition was attempted on a robot not having an R axis Action 1 Change to Y axis hand definition 2 Do not use a hand definition 2 22 Arm length is 0 Code H0216 Meaning Cause When ar...

Page 354: ...MANUAL mode 1 Move the other carrier to a position where the two carriers will not interfere with each other and then move the robot manually If this error occurred during AUTO mode 1 Change the target position of one carrier so it will not inter fere with the other carrier 2 Move the other carrier to a position where it will not interfere with the first carrier s target position and then move tha...

Page 355: ...e does not exist Action Correctly enter a registered program name 3 4 Writing prohibited Code H0304 Meaning Cause The specified program is write protected Action Use a program that is not write protected 3 5 File 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 e...

Page 356: ...ata cannot be changed because access level is not at 0 Action Set the access level to 0 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 H030F Meaning Cause There is a mistake in the password entry Action Enter the correct password 3 16 Cannot reset AB...

Page 357: ...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 Define the pallet 4 4 Undefined robot number Code H0404 Meaning Cause Specified robot number does not exist Action Enter a correct robot number 4 5 Undefined axis number Code H0405 Meaning Cause Specified axis number does not exist Action En...

Page 358: ...on 1 Change to the correct port number 2 Change output for ports DO MO SO to a port other than port 0 or port 1 5 6 Digit number error Code H0506 Meaning Cause a Binary number has exceeded 8 digits places b Octal number has exceeded 6 digits places c Decimal number has exceeded the specified range d Hexadecimal number has exceeded 8 digits places e Cartesian coordinate point data has more than 3 d...

Page 359: ...ent of CALL statement especially character variables 5 13 Illegal variable Code H050D Meaning Cause A variable other than a global variable was used in SEND READ WRITE commands Action Change to a global variable 5 14 Type mismatch Code H050E Meaning Cause a Expression does not match on both sides b Prohibited type constant variable expression was used Action 1 Change so that both sides of expressi...

Page 360: ...R statement 2 Add a NEXT statement corresponding to the FOR statement 5 20 ENDIF without IF Code H0514 Meaning Cause There is no IF statement corresponding to ENDIF statement Action 1 Delete the ENDIF statement 2 Add an IF statement corresponding to the ENDIF statement 5 21 ELSE without IF Code H0515 Meaning Cause There is no IF statement corresponding to ELSE statement Action 1 Delete the ELSE st...

Page 361: ...Cause Two or more array variables were defined for the same name Action Delete a definition statement for the array variables with the same name 5 27 Duplicated identifier Code H051B Meaning Cause Two or more identifiers were defined for the same name Action Define another identifier 5 28 Duplicated label Code H051C Meaning Cause Two or more of the same labels were defined Action Define another la...

Page 362: ...e H0524 Meaning Cause The number of SUB statement arguments does not correspond to the CALL statement Action Make the number of SUB statements correspond to the CALL state ment 5 37 Specification mismatch Code H0525 Meaning Cause Cannot execute command under present robot specifications Action Change command for execution 5 38 Illegal option Code H0526 Meaning Cause Error is present in command opt...

Page 363: ...se Command cannot use an external label Action 1 Change to an internal label 2 Change execution command 5 45 Illegal program name Code H052D Meaning Cause a When transmitting a program file by SEND command the NAME statement was not defined on beginning line of the program data b Characters other than alphanumeric and underscore _ were used in the program name c Program name has exceeded 8 charact...

Page 364: ...SE state ment Action 1 Delete the CASE statement 2 Add an END SELECT statement corresponding to the CASE statement 5 51 Illegal command line Code H0533 Meaning Cause Cannot execute command statement between SELECT and CASE statements Action Delete the command statement between SELECT and CASE state ments 5 52 Command doesn t exist Code H0534 Meaning Cause Line does not have a command statement Act...

Page 365: ... Cause A command to divide by 0 0 was attempted Action Change from the divide by 0 command 6 4 Point doesn t exist Code H0604 Meaning Cause Assignment movement reference to an undefined point was at tempted Action Define the point 6 5 Coordinate type error Code H0605 Meaning Cause a Arithmetic operations of joint coordinate point data and Cartesian coordinate point data were attempted b Joint coor...

Page 366: ...xecution of SUB command 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 Meaning Cause CUT command was executed for a task not executed by START command Action Confirm execution of START command 6 12 RESTART without START Code H060C Meaning Cause REST...

Page 367: ...0 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 routine Code H0611 Meaning Cause Command which could not be executed was attempted within an error processing routine Action Delete the command which could not be executed 6 18 EXIT FOR without FOR Code H0612 Meaning Cause EXIT FOR command...

Page 368: ...OVE C command to 1mm or more for circular arc radius 6 24 Circular arc radius too large Code H0618 Meaning Cause MOVE C command radius exceeded 5000mm 5 meters Action Change MOVE C command to within 5000mm 5 meters for circular arc radius 6 25 Too low speed Code H0619 Meaning Cause Specified speed was too low so movement time exceeded 300 seconds Maximum movement time is 300 seconds Action Increas...

Page 369: ...t s current position is not the start position of PATH mo tion Action Move the robot to the start position specified with PATH SET and then execute PATH START 6 32 PATH execute error Code H0620 Meaning Cause Cannot execute PATH motion a Acceleration zone distance is too short b Speed is too high in the position where the direction changes Action 1 Reduce the speed setting 2 Lengthen the straight l...

Page 370: ...se a Part or all of the point data has been destroyed b This error message is sometimes issued due to a major error or the power being turned off during rewrite of point data Action Initialize the point data 9 3 Memory destroyed Code H0903 Meaning Cause Error or malfunction occurred in the memory Action Initialize memory 9 4 Parameter destroyed Code H0904 Meaning Cause Part or all of the parameter...

Page 371: ...that the object program size is smaller 9 33 Sys generation destroyed Code H0921 Meaning Cause Part or all of the system generation data has been destroyed Action Remake the system generation data correctly 9 34 Sys generation mismatch Code H0922 Meaning Cause Mistake made in specifying the robot type axis number of sys tem generation data Action Redo the system generation correctly 9 35 Program t...

Page 372: ...ne has ex ceeded upper limit Action 1 Reduce number of local variables defined in the subroutine 2 Use the global variable 10 System setting or hardware errors 10 1 Robot disconnected Code H0A01 Meaning Cause Axis control was attempted with no axis specified for all axes of system generation Action Re perform the system generation 10 3 D unit disconnected Code H0A03 Meaning Cause Manual movement w...

Page 373: ...Change the axis setting 10 10 Cannot change axis Code H0A0A Meaning Cause Changing of an axis whose setting cannot be changed was at tempted The following axes cannot be changed X and Y axes on SCARA type robots Action 1 Do not change that axis 2 Change a different axis 10 13 Cannot set Dualdrive Code H0A0D Meaning Cause A dual drive setting was attempted on an axis that cannot be set to dual driv...

Page 374: ... mode 12 I O and option board errors 12 1 Emg stop on Code H0C01 Meaning Cause a Emergency stop button was pressed b Emergency stop terminals on SAFETY connector are open emergency stop status c MPB or terminator are not connected to MPB connector d SAFETY connector is not connected Action 1 Release the MPB emergency stop button 2 Close the emergency stop terminals on SAFETY connector 3 Connect MP...

Page 375: ...or in CC Link system communications due to noise pickup etc 2 Master station sequencer PLC power 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 correctly 12 16 DeviceNet link error Code H0C10 Meaning Cause a Error in cable for DeviceNet system b The Devi...

Page 376: ...PLC has stopped operating or is not operating correctly or is broken d Breakdown in PROFIBUS compatible unit Action 1 Check for a break misconnection or wiring error in PROFIBUS cable and check the specifications cable length etc 2 Check the station address settings 3 Check whether the master station PLC is operating correctly 4 Check the hardware configuration settings 5 Replace the PROFIBUS comp...

Page 377: ...o handle 12 34 POS OUT Point not exist Code H0C22 Meaning Cause Comparison point data does not exist Action Set comparison point data correctly 12 35 POS OUT Point unit error Code H0C23 Meaning Cause Comparison points 1 and 2 do not use the same unit system Action Change them to the same unit system 12 41 EtherNet link error Code H0C29 Meaning Cause TELENET is disconnected a The cable is broken or...

Page 378: ...mand data is incorrect Action 1 Check the remote command or command data 13 MPB errors 13 1 MPB communication error Code H0D01 Meaning Cause Error occurred in communication with MPB Action 1 Install the MPB correctly 2 Replace the MPB 3 Replace the controller 13 2 MPB parity error Code H0D02 Meaning Cause Abnormal data was entered in communication with MPB Action 1 Install the MPB correctly 2 Inst...

Page 379: ...ble capacity Action 1 Delay the communication parameter speed baud rate 2 Change communication parameter so that flow control is enabled 14 12 CMU is not ready Code H0E0C Meaning Cause Could not sent data from controller because receive prohibit status of other party continued for more than 10 seconds Action 1 Replace the communications cable 2 Check that flow control is normal in software process...

Page 380: ...h could not previously be executed 14 25 Illegal command in this mode Code H0E19 Meaning Cause Cannot execute the specified online command in the current mode Action 1 Stop the online command 2 Change the mode 14 26 Illegal command SERVICE mode Code H0E1A Meaning Cause Unable to execute since operation is in SERVICE mode Action 1 Cancel SERVICE mode 2 Change the exclusive control setting so it can...

Page 381: ...that currently exists 15 11 Directory full Code H0F0B Meaning Cause The file storage capacity was exceeded Action 1 Use a new memory card 2 Change the directory to save 3 Delete unnecessary files 15 12 Disk full Code H0F0C Meaning Cause Write failed No space is available on memory card File con tents cannot be guaranteed Action 1 Use a new memory card 2 Delete unnecessary files 15 13 Unformatted m...

Page 382: ...d correctly in slot Action Insert the memory card correctly 15 23 Aborted Code H0F17 Meaning Cause STOP key was pressed during reading writing from or into memory card and the operation halted Action 15 24 Media hardware error Code H0F18 Meaning Cause a Memory card is defective b Error occurred in controller Action 1 Replace the memory card 2 Replace the controller 15 27 Data read error Code H0F1B...

Page 383: ...ed in software for driver unit Action Contact our company with details of the problem Dedicated output 2 17 2 Watchdog error DRIVER Code H1102 Meaning Cause a Malfunction occurred in driver unit due to external noise b Controller is defective Action 1 Turn the power on again 2 Replace the controller Dedicated output 2 17 3 Over current Code H1103 Meaning Cause a Short in motor cable b Malfunction ...

Page 384: ...ot used correctly Action 1 Perform robot service and maintenance 2 Decrease load on motor 3 Lower the motor acceleration 4 Redo the system generation 5 Wire the motor cable correctly 6 Replace the motor cable 7 Replace the magnetic brake for holding the vertical axis 8 Replace the robot I O cable 9 Do not use DC 24V from SAFETY connector as power source for external loads Dedicated output 2 17 5 O...

Page 385: ...robot I O cable 8 Do not use DC 24V from SAFETY connector as power source for driving external loads Dedicated output 2 17 9 Command error Code H1109 Meaning Cause Driver cannot identify commands from CPU Action Check the versions of the CPU unit and driver unit Dedicated output 2 17 10 Feedback error 1 Code H110A Meaning Cause Wiring of motor cable or encoder cable is incorrect Action 1 Rewire th...

Page 386: ...r manual orthogonal movement Action Contact our company with details on the problem Dedicated output 2 17 20 Motor type error Code H1114 Meaning Cause A motor type unidentifiable by drive unit was selected Action 1 Redo the system generation 2 Replace the controller 17 21 Bad origin sensor Code H1115 Meaning Cause a Origin sensor is defective b Sensor cable is broken Action 1 Replace the origin se...

Page 387: ...g Cause Cannot perform positioning Action 1 Turn the power off and then on again 2 Replace the controller Dedicated output 2 17 31 Servo off Code H111F Meaning Cause Movement command was attempted in servo OFF state Action Change status to servo ON 17 33 Busy now Code H1121 Meaning Cause a Servo Off command was attempted while the driver was stopped b Return to origin command was attempted before ...

Page 388: ...the torque mode 17 73 Resolver wire breakage Code H1149 Meaning Cause a Resolver signal wire is broken b Motor malfunction occurred c Controller malfunction occurred Action 1 Replace the robot I O cable 2 Replace the motor 3 Replace the controller 17 78 Power module error Code H114E Meaning Cause a Power module overheated b Power module motor drew excessive current Action Lighten the load on the r...

Page 389: ...on Contact our company with details of this problem 21 2 System error srvmod Code H1502 Meaning Cause Software error occurred Action Contact our company with details of this problem 21 3 System error TaskID Code H1503 Meaning Cause Software error occurred Action Contact our company with details of this problem 21 4 System error drcom Code H1504 Meaning Cause Software error occurred Action Contact ...

Page 390: ...rent position of driver does not match the instructed position Action 1 Replace the driver 2 Replace the controller 21 14 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 a Software error occurred Action 1 Contact our company with details of this pr...

Page 391: ...or d Cable connecting regenerative unit and controller is defective e Regenerative unit is defective f Safety connector is used incorrectly Action 1 Check the power supply voltage 2 Connect the regenerative unit 3 Lower the robot operating duty 4 Replace the connecting cable 5 Replace the regenerative unit 6 Do not supply DC 24V to SAFETY connector from external source 22 10 Abnormal drop in volta...

Page 392: ...d Code H1614 Meaning Cause 1 CPU unit could not recognize driver unit 2 Dual port RAM is defective Action Replace the controller Dedicated output 1 22 30 DRIVER unit abnormality Code H161E Meaning Cause 1 Wrong DIP switch setting on drive unit 2 Drive unit not operating correctly 3 Dual port RAM is defective Action Replace the controller Dedicated output 1 or 2 22 40 PCMCIA interface overtime Code...

Page 393: ...ace with option board connected to option slot 3 Action 1 Replace the option board connected to option slot 3 2 Replace the controller Dedicated output 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 connected to option slot 4 2 Replace the controller Dedicate...

Page 394: ...d c The connector is not making contact Action 1 Separate equipment away from noise source 2 Replace the MPB cable 3 Replace the MPB M P B R e c e i v e E r r o r P a r i t y E r r o r Contents Parity error occurred during communication Cause a Malfunction occurred due to noise b The cable is broken or disconnected c The connector is not making contact Action 1 Separate equipment away from noise s...

Page 395: ...control the 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 MPB cable 2 Replace the controller M P B R S 4 2 2 E r r o r D A T A L I N E E r r o r Contents Data communication with controllers is defective Cause a The cable is broken or disconnected b The connector is not making contact Action 1 Rep...

Page 396: ...to particular location during program operation Status on MPB screen example Nothing is displayed on screen Error message appears on screen Robot servo status example Servo won t turn on Abnormal sound when robot is moved Sets to origin incomplete MPB operating status example Keys won t function Response after pressing key is slow Only the emergency stop switch functions etc How often above proble...

Page 397: ...To check controller error status press the F 1 DIAGNOS key A maximum of 5 error histories are displayed 3 To check a particular error history press the F 2 HISTORY key A maximum of 500 error histories can be checked 2 2 2 Acquiring information from the RS 232C Procedure 1 Connect the robot controller to the PC with the RS 232C cable 2 Set the communication conditions 3 Send READ LOG from the PC to...

Page 398: ... power supply voltage Replace the controller Plug in MPB connector correctly Replace the MPB Replace the controller Release MPB emergency stop switch Insert MPB connector Connect the emergency stop terminal of SAFETY connector Check the axis from the error information Check the cause from the error information Eliminate the cause of the error Check the cause from the error information Eliminate th...

Page 399: ...e the robot frame Tighten the robot cover screws Remove foreign matter if found Replace if warped or damaged guides or ball screws are found If operation is normal use the substitute controller Replace motor if count is incorrect Replace cable if found to be defective Ground the robot and controller Isolate from noise sources around robot Isolate from noise sources around robot I O cable Adjust to...

Page 400: ...ct wiring on option I O interface connector Make the correct option I O interface setting Check the cause from the error information Eliminate the cause of the error Check items Check that DC 24V is supplied from standard I O interface connector Check DI04 on MPB screen Check wiring on standard I O interface connector Connect MPB and check robot settings in SYSTEM mode Check if ERR LED is lit on f...

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Page 402: ...2 00 Ver 2 01 Ver 2 02 English manual Ver 1 00 is based on Japanese manual 3rd edition English manual Ver 1 01 is based on Japanese manual Ver 4 00 English manual Ver 1 02 is based on Japanese manual Ver 4 01 English manual Ver 1 03 is based on Japanese manual Ver 4 02 English manual Ver 1 04 is based on Japanese manual Ver 4 04 English manual Ver 1 05 is based on Japanese manual Ver 4 05 English ...

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