Yamaha RCX142, User Manual

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2.2.3.1 Point data input by teaching .............................................................................. 5-9
2.2.3.2 Input by point data direct teaching .................................................................. 5-10
2.2.4 Pallet definition ............................................................................................... 5-10
2.2.4.1 Setting the point in pallet definition by teaching .............................................. 5-11
2.2.4.2 Pallet definition by teaching ............................................................................. 5-11
2.2.5 Changing the manual movement speed .......................................................... 5-12
2.2.6 Shift coordinates ............................................................................................. 5-13
2.2.6.1 Shift coordinates setting method 1 ................................................................... 5-15
2.2.6.2 Shift coordinates setting method 2 ................................................................... 5-16
2.2.7 Hand definition .............................................................................................. 5-17
2.2.7.1 Hand definition setting method 1 .................................................................... 5-17
2.2.8 Absolute reset ................................................................................................. 5-19
2.2.8.1 Checking absolute reset status ......................................................................... 5-19
2.2.8.2 Absolute reset on each axis (Mark Method) ..................................................... 5-20
2.2.8.3 Absolute reset on each axis (Stroke end method / sensor method) .................... 5-21
2.2.8.4 Absolute reset on all axes ................................................................................ 5-22
2.3 "SYSTEM" mode ................................................................................ 5-24
2.3.1 "SYSTEM" mode initial screen format .............................................................. 5-24
2.3.2 Robot parameters screen format ...................................................................... 5-25
2.3.3 Axis parameters screen format ........................................................................ 5-25
2.3.4 Setting the area check output .......................................................................... 5-26
2.3.5 Double-carrier collision prevention ................................................................ 5-27
2.4 Error message displays ...................................................................... 5-31
3. Programming ...........................................................................5-32
3.1 Robot languages used in the two-robot setting .................................. 5-32
Chapter 6 Parallel I/O interface
1. Standard I/O interface overview ...............................................6-1
1.1 Power supply ...................................................................................... 6-1
1.2 Connector I/O signals ......................................................................... 6-2
1.3 Connector pin numbers ...................................................................... 6-3
1.4 Typical input signal connection .......................................................... 6-4
1.5 Typical output signal connection ........................................................ 6-5
1.5.1 Dedicated outputs ............................................................................................ 6-5
1.5.2 General-purpose outputs .................................................................................. 6-6
1.6 Dedicated input signal description ...................................................... 6-7
1.7 Dedicated output signal description .................................................... 6-9
1.8 Dedicated I/O signal timing chart ..................................................... 6-11
1.8.1 Controller power ON, servo ON and emergency stop ..................................... 6-11
1.8.2 Absolute reset ................................................................................................. 6-12
1.8.3 Switching to AUTO mode, program reset and execution ................................. 6-13
1.8.4 Stopping due to program interlocks ................................................................ 6-14
1.9 General-purpose I/O signals .............................................................. 6-15
1.9.1 General-purpose input signals ........................................................................ 6-15
1.9.2 General-purpose output signals ...................................................................... 6-15
1.9.3 General-purpose output signal reset (off) ......................................................... 6-15
2. Option I/O interface overview ................................................6-16
2.1 ID settings ......................................................................................... 6-17
2.2 Power supply .................................................................................... 6-17
2.3 Connector I/O signals ....................................................................... 6-18
2.4 Connector pin numbers .................................................................... 6-19
2.5 Typical input signal connection ........................................................ 6-20
2.6 Typical output signal connection ...................................................... 6-20
2.7 General-purpose I/O signals .............................................................. 6-20