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any form without the permission of YAMAHA MOTOR CO., LTD.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible
inaccuracies or omissions. If you find any part unclear in this manual,
please contact your distributor.

2-axis Robot Controller

User's Manual

YAMAHA MOTOR CO., LTD. IM Operations

RCX

222

Revision record

Manual version Issue date

Description

Ver. 1.13

Jan. 2011

The description regarding "Warranty" was changed. Clerical error

corrections.

Jun. 2011

The manual's version number was changed to match that for the

Japanese manual.

Ver. 1.17

Jun. 2011

Addition of new parameters to Other parameters.

Ver. 1.18

Dec. 2011 Error messages such as "[19] YC-Link (SR1) related error"

were added or changed. ABS reset timing chart was corrected.

Descriptions of "4.1 Connection example" and "4.7 Installing

an electromagnetic contactor" in " 4. Connecting to the power"

of Chapter 3 were added or corrected. A parameter (manual

movement mode) was added to Other parameters, and so forth.

Ver. 1.19

Jul. 2012

A parameter (DO cond. on PGM reset / RESCDO) was added

to Other parameters. The description regarding "Warranty" was

changed. Clerical error corrections, etc.

Ver. 1.20

Dec. 2012 Content regarding the restriction function was changed, and

Chapter 3 "5.2 Noise countermeasures" was added, etc.

Ver. 1.21

Apr. 2013

The "Overload error reset" and "Overload error reset and motor

and servo power on/off" sections were added in Chapter 4.

Clerical error corrections, etc.

Ver. 1.22

Jul. 2013

Parameter items were added to "Parameters" in Chapter 4.

Limitless motion was added to the axis parameters, etc.

Ver. 1.23

May 2014

The "Safety instructions" "Warranty" were added. The description
regarding "Chapter 1 Using the Robot Safely" was changed. The
diagram of "Chapter 5 Typical output signal connection" was
changed. 17.112: Current limit error was added in Chapter 9
"TROUBLESHOOTING".

Ver. 1.30

Mar. 2015

Descriptions of "Safety Instructions" were changed. Contents of
"1. Usage environments" were added in Chapter 1. Warning "9.
Connecting the absolute battery"was added in Chapter 3, etc.

Mar. 2015
Ver. 1.30

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Summary of Contents for RCX222

Page 1: ...RCX222 EUR2153130 E99 Ver 1 30 Userʼs Manual YAMAHA 2 AXIS ROBOT CONTROLLER ...

Page 2: ......

Page 3: ...s S 12 4 4 Moving and installation S 13 4 4 1 Precautions for robots S 13 4 4 2 Precautions for robot controllers S 14 4 5 Safety measures S 16 4 5 1 Safety measures S 16 4 5 2 Installing a safety enclosure S 17 4 6 Operation S 18 4 6 1 Trial operation S 18 4 6 2 Automatic operation S 20 4 6 3 Precautions during operation S 20 4 7 Inspection and maintenance S 22 4 7 1 Before inspection and mainten...

Page 4: ...2 2 Part names and functions 2 3 2 1 RCX222 Maximum number of axes 2 2 3 2 2 RCX222HP Maximum number of axes 2 2 3 3 Control system 2 4 3 1 RCX222 RCX222HP 2 4 4 Optional devices 2 5 4 1 RPB programming box 2 5 4 2 I O expansion 2 5 4 3 Regenerative unit 2 5 5 Basic sequence from installation to operation 2 6 Chapter 3 INSTALLATION 1 Unpacking 3 1 1 1 Packing box 3 1 1 2 Unpacking 3 1 2 Installing...

Page 5: ...es 3 14 5 2 Noise countermeasures 3 15 6 Connecting the RPB programming box 3 16 7 I O connections 3 17 8 Connecting a host computer 3 18 9 Connecting the absolute battery 3 19 10 Replacing the absolute battery 3 21 11 Connecting a regenerative unit 3 22 12 Precautions for cable routing and installation 3 24 12 1 Wiring methods 3 24 12 2 Precautions for installation 3 26 12 3 Methods of preventing...

Page 6: ... 7 Mode configuration 4 21 7 1 Basic operation modes 4 21 7 2 Other operation modes 4 22 7 3 Mode hierarchy 4 23 8 SERVICE mode 4 28 8 1 Operation device 4 28 8 2 Prohibition of AUTO mode operation 4 28 8 3 Hold to Run function 4 28 8 4 Limits on robot moving speed 4 29 9 AUTO mode 4 30 9 1 Automatic operation 4 33 9 2 Stopping the program 4 34 9 3 Resetting the program 4 35 9 4 Switching task dis...

Page 7: ...elected lines 4 61 10 2 10Cutting the selected lines 4 61 10 2 11Pasting the data 4 62 10 2 12Backspace 4 62 10 2 13Line jump 4 63 10 2 14Searching a character string 4 64 10 3 Directory 4 65 10 3 1 Cursor movement 4 67 10 3 2 Registering a new program name 4 67 10 3 3 Directory information display 4 68 10 3 4 Copying a program 4 69 10 3 5 Erasing a program 4 70 10 3 6 Renaming a program 4 71 10 3...

Page 8: ... point in pallet definition 4 110 11 3 1 1 2 Setting the point in pallet definition by teaching 4 110 11 3 2 Pallet definition by teaching 4 111 11 3 3 Copying a pallet definition 4 114 11 3 4 Deleting a pallet definition 4 115 11 4 Changing the manual movement speed 4 116 11 5 Displaying editing and setting shift coordinates 4 117 11 5 1 Editing shift coordinates 4 119 11 5 1 1 Restoring shift co...

Page 9: ...SIO settings 4 238 12 3 4 Double carrier setting 4 241 12 3 4 1 Before using a double carrier 4 241 12 3 4 2 Setting the double carrier parameters 4 242 12 4 Initialization 4 245 12 4 1 Initializing the parameters 4 246 12 4 2 Initializing the memory 4 247 12 4 3 Initializing the communication parameters 4 248 12 4 4 Clock setting 4 249 12 4 5 System generation 4 250 12 5 Self diagnosis 4 251 12 5...

Page 10: ...anging the access level operation level 4 285 14 6 1 Entering the password 4 286 14 6 2 Changing the access level 4 287 14 6 3 Displaying the Help message 4 288 Chapter 5 PARALLEL I O INTERFACE 1 Standard I O interface overview 5 1 1 1 ID setting 5 2 1 2 Connector I O signals 5 3 1 3 Connector pin numbers 5 6 1 4 Connecting the power supply 5 7 1 4 1 NPN PNP power connector wiring 5 8 1 5 Typical ...

Page 11: ... 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 5 3 3 Communication flow control 7 6 3 3 1 Flow control during transmit 7 6 3 3 2 Flow control during receive 7 6 3 4 Other caution items 7 7 3 5 Character code table 7 9 3 6 Connecting to a PC 7 10 Chapter...

Page 12: ...rrors 9 21 9 Memory errors 9 26 10 System setting or hardware errors 9 29 12 I O and option board errors 9 31 13 RPB errors 9 35 14 RS 232C communication errors 9 36 15 Memory card errors 9 38 17 Motor control errors 9 40 19 YC Link SR1 related error 9 48 21 Major software errors 9 54 22 Major hardware errors 9 56 1 2 RPB Error Messages 9 62 2 Troubleshooting 9 64 2 1 When trouble occurs 9 64 2 2 ...

Page 13: ...n S 13 4 4 1 Precautions for robots S 13 4 4 2 Precautions for robot controllers S 14 4 5 Safety measures S 16 4 5 1 Safety measures S 16 4 5 2 Installing a safety enclosure S 17 4 6 Operation S 18 4 6 1 Trial operation S 18 4 6 2 Automatic operation S 20 4 6 3 Precautions during operation S 20 4 7 Inspection and maintenance S 22 4 7 1 Before inspection and maintenance work S 22 4 7 2 Precautions ...

Page 14: ......

Page 15: ...l regulations and comply with the instructions Warning labels attached to the robots are written in English Japanese Chinese and Korean This manual is available in English or Japanese or some parts in Chinese Unless the robot operators or service personnel understand these languages do not permit them to handle the robot Cautions regarding the official language of EU countries For equipment that w...

Page 16: ...mbol and signal word and then read this manual w DANGER This indicates an immediately hazardous situation which if not avoided will result in death or serious injury w WARNING This indicates a potentially hazardous situation which if not avoided could result in death or serious injury c CAUTION This indicates a potentially hazardous situation which if not avoided could result in minor or moderate ...

Page 17: ...before entering the safety enclosure Instructions on this label Always install a safety enclosure to keep all persons away from the robot movement range and prevent injury from contacting the moving part of the robot Install an interlock that triggers emergency stop when the door or gate of the safety enclosure is opened The safety enclosure should be designed so that no one can enter inside excep...

Page 18: ...r operation may cause serious injury To avoid hazard Before installing or operating the robot read the manual and instructions on the warning labels and understand the contents 90K41 001290 Warning label 4 SCARA robots This label is not attached to omnidirectional type SCARA robots c CAUTION Do not remove the parts on which Warning label 4 is attached Doing so may damage the ball screw Instruction...

Page 19: ...7 controllers TS X TS P w WARNING Before touching the terminals or connectors on the outside of the controller turn off the power and wait at least 10 minutes to avoid burns or electrical shock Motors and heatsinks become hot during and shortly after operation so do not touch them c CAUTION Before using the controller be sure to read the manual thoroughly Be sure to ground the ground terminal Inst...

Page 20: ...label 9 single axis linear motor robots c CAUTION A magnetic scale is located inside this cover Bringing a magnet close to it may cause malfunction Instructions on this label To prevent the robot from operating improperly due to magnetic scale malfunction do not bring a strong magnet to the cover Do not bring tools close to the magnetic scale 90K41 001510 Warning label 10 single axis linear motor ...

Page 21: ... power supply to the controller read the manual carefully and make checks before beginning the work Connectors have an orientation Insert each connector in the correct direction 93005 X0 00 Warning label 12 single axis robots Cartesian robots Some robot models w WARNING If a load is applied to the motor cover this may cause breakage The robot may drop at installation causing personal injury Instru...

Page 22: ...lied with the robot and should be affixed to an easy to see location on the door or gate of the safety enclosure Warning label comes supplied with the robot and should be affixed to an easy to see location SCARA robots Cartesian robots Single axis robots Warning label 1 1 Warning label 2 1 2 Warning label 3 1 1 See Part names in each SCARA robot manual for label positions 2 This label is not attac...

Page 23: ...e units become hot so do not touch them Instructions by this symbol This indicates the area around this symbol may become very hot Motors heatsinks and regenerative units become hot during and shortly after operation To avoid burns be careful not to touch those sections 93008 X0 00 Caution symbol 333 c CAUTION Always read the manual carefully before using the controller Instructions by this symbol...

Page 24: ...eneral public In equipment intended to carry or transport people In environments which are subject to vibration such as onboard ships and vehicles Qualification of operators workers 222 Operators or persons who perform tasks for industrial robots such as teaching programming movement check inspec tion adjustment and repair must receive appropriate training and also have the skills needed to perfor...

Page 25: ...structions in this manual when grounding the linear conveyor module and installing the termination module Do not touch the motor of the linear conveyor module when it is on Always comply with the instructions in the manual when performing maintenance and be sure to turn off the power before starting maintenance tasks If cracked or broken plastic motor parts are found stop using the linear conveyor...

Page 26: ... power electricity air pressure etc is shut off or power fluctuations occur If the object gripped by the end effector might possibly fly off or drop then provide appropriate safety protection taking into account the object size weight temperature and chemical properties Provide adequate lighting 444 Provide enough lighting to ensure safety during work Install an operation status light 555 w WARNIN...

Page 27: ...le parts of the robot As instructed in Warning label 2 use caution to prevent hands or fingers from being pinched or crushed by movable parts when transporting or moving the robot For details on warning labels see 3 Warning labels in Safety instruc tions Take safety measures when moving robots 222 To ensure safety when moving a SCARA robot with an arm length of 500mm or more use the eyebolts that ...

Page 28: ...st be installed at a location that is outside the robot safety enclosure yet where it is easy to operate and view robot movement Install the robot controller in locations with enough space to perform work teaching inspection etc safely Limited space not only makes it difficult to perform work but can also cause injury Install the robot controller in a stable level location and secure it firmly Avo...

Page 29: ...correctly using the tool specified by the connector manufacturer c CAUTION When disconnecting the cable from the robot controller detach by gripping the connector itself and not by tugging on the cable Loosen the screws on the connector if fastened with the screws and then disconnect the cable Trying to detach by pulling on the cable itself may damage the connector or cables and poor cable contact...

Page 30: ...ollowing actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation or faulty robot operation as listed below Place a display sign on the operator panel Ensure the safety of workers performing tasks within the robot safety enclosure Clearly specify position and posture during work Specify a position and posture where worker can constantly check ro...

Page 31: ... damage and malfunction Do not touch or operate the robot controller or programming box with wet hands Touching or operating them with wet hands may result in electrical shock or breakdown Do not disassemble and modify 666 w WARNING Never disassemble and modify any part in the robot controller and programming box Do not open any cover Doing so may cause electrical shock breakdown malfunction injur...

Page 32: ...WAY sign to keep the operator or other personnel from entering within the movement range of the robot w WARNING Use sturdy stable posts which will not fall over easily The rope or chain should be easily visible to everyone around the robot Check the following points before turning on the controller 222 Is the robot securely and correctly installed Are the electrical connections to the robot wired ...

Page 33: ... SCARA robots Follow the precautions and procedure described in Setting the standard coordinates Soft limit settings SCARA robots Follow the precautions and procedure described in Setting the soft limits Cartesian robots Single axis robots Follow the precautions and procedure described in Soft limit in each controller manual Work with power turned on Teaching SCARA robots Cartesian robots Single a...

Page 34: ...ot to emergency stop 2 Place a sign on the start switch indicating that the robot is being inspected in order to keep other persons from restarting the robot 4 6 3 Precautions during operation When the robot is damaged or an abnormal condition occurs 111 w WARNING If unusual odors noise or smoke occur during operation immediately turn off power to prevent possible electrical shock fire or breakdow...

Page 35: ...op due to obstruction from peripheral equipment the Z axis may move suddenly after the obstruction is removed causing injury such as pinched or crushed hands Turn off the controller and reduce the air pressure before attempting to remove the obstruction Before reducing the air pressure place a support under the Z axis because the Z axis will drop under its own weight Be careful of Z axis movement ...

Page 36: ...ized technical knowledge and skills and may also involve hazards if attempted by an unskilled person This adjustment must be performed only by persons who have the required qualifications described in 2 Qualification of operators workers in section 4 1 of this Safety instructions Shut off all phases of power supply 333 w WARNING Always shut off all phases of the power supply externally before clea...

Page 37: ...robot since this may cause injury Devices that may malfunction due to magnetic fields must be kept away from this robot See 6 Cautions regarding strong magnetic fields in Safety instructions for detailed information on strong magnetic fields Use the following caution items when disassembling or replacing the pneumatic equipment 555 w WARNING Air or parts may fly outward if pneumatic equipment is d...

Page 38: ... regulations or entrust disposal to a licensed industrial waste disposal company We do not collect and dispose of the used batteries Disposal of packing boxes and materials 222 When disposing of packing boxes and materials use the correct disposal method in compliance with your local regula tions We do not collect and dispose of the used packing boxes and materials Strong magnet 333 w WARNING Stro...

Page 39: ...ontain parts generating strong magnetic fields which may cause bodily injury death or device malfunction Always comply with the following instructions Persons wearing medical electronic devices such as cardiac pacemakers or hearing aids must keep away from the linear single axis robot and linear conveyor Stay at least 100mm away Persons wearing ID cards purses and or wristwatches must keep away fr...

Page 40: ...he manipulator tip and the solenoid valves attached to the robot arms move To make the robot motion easier to understand the figures below only show the movement ranges of the tool attachment section tool and workpiece Please note that during actual operation the movement range includes all areas where the robot arms and any other parts move along with the robot Movement range Figure A Movement ra...

Page 41: ...d on the R axis YK TW series robots do not have mechanical stoppers intended to protect the human body due to the product characteristic of the orbit movement When it is necessary to restrict the arm rotation angle so as to ensure the safety install additional stopper separately Single axis robots Cartesian robots The linear movement axis has a mechanical stopper at both ends of the maximum moveme...

Page 42: ...perform the job correctly and safely They must also read the manual carefully to understand its contents before attempting the robot operation or maintenance Tasks related to industrial robots teaching programming movement check inspection adjustment repair etc must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots C...

Page 43: ......

Page 44: ...rk sequence for working within the safety enclosure changed typing errors corrected etc Ver 1 02 Sep 2012 Description of warning labels was added descriptions of soft limits mechanical stoppers and work performed with vertical axis brake released were changed and residual risk description was added Ver 1 03 Dec 2012 Warning on restricting the robot moving speed was added and description of warning...

Page 45: ... causes other than the above that are not the fault or responsibility of YAMAHA The following cases are not covered under the warranty 1 Products whose serial number or production date month year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 Products whose trouble cannot be reproduced or identified by YAMAHA 4 Pr...

Page 46: ......

Page 47: ... to install and operate the YAMAHA robot controller Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA robot controller safely and correctly Refer to the Programming Manual that comes with the robot controller for detailed information on robot programs ...

Page 48: ...ng the controller always be sure to connect the absolute battery while referring to 9 Connecting the absolute battery in Chapter 3 before connecting the robot cables An error relating to absolute settings is always issued if the robot controller power is turned on without connecting the absolute batteries so the origin position cannot be detected This means the robot connected to this controller c...

Page 49: ...n of complex movements such as multi task operations and uses a compiling method 2 for rapid execution of programs 1 Standard Language for Industrial Manipulators 2 This compiling method checks the syntax in a 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 du...

Page 50: ...4 MEMO ...

Page 51: ...Chapter 1 USING THE ROBOT SAFELY Contents 1 Operating environment 1 1 ...

Page 52: ......

Page 53: ...ot controller is stored in a location at high temperatures for extended periods deterioration of the electronic components may occur and the memory backup time may decrease Operating humidity Operating humidity 35 to 85 RH no condensation The ambient humidity should be 35 to 85 RH no condensation in order to guarantee continuous operation of the robot controller that meets the initial specificatio...

Page 54: ...ocations where dust particles of gases may generate it is recommended to install the controller in a box with a cooling unit Installation location Always install the robot controller indoors at a height of less than 1000 meters above sea level Install the controller in a control panel with a structure that does not allow water oil carbon or dust particles to penetrate it Do not install the control...

Page 55: ...nition 2 2 2 Part names and functions 2 3 2 1 RCX222 Maximum number of axes 2 2 3 2 2 RCX222HP Maximum number of axes 2 2 3 3 Control system 2 4 3 1 RCX222 RCX222HP 2 4 4 Optional devices 2 5 4 1 RPB programming box 2 5 4 2 I O expansion 2 5 4 3 Regenerative unit 2 5 5 Basic sequence from installation to operation 2 6 ...

Page 56: ......

Page 57: ...de various inspection instruments sealers and spray equipment utilizing linear and circular interpolation functions 1 1 Main system configuration Configuration 1 System for controlling one XY robot Example XY X series n System for controlling one XY robot XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 EXT E STOP PIN11 12 OP 1 OP 2 YAMAHA robot PLC ...

Page 58: ...RR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 EXT E STOP PIN11 12 OP 1 OP 2 YAMAHA robot PLC RPB or RPB E PC 1 2 RCX22 series axis definition The software for the RCX22 series is common to the RCX14 series and allows defining the main sub robots and their axes However the RCX22 series basically does not require axis definition since it is a two axis controller If using axis definition refer to t...

Page 59: ...2 front view XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 2 2 RCX222HP Maximum number of axes 2 n RCX222HP front view HP XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 ...

Page 60: ...gram D POWER BOARD ASSY CPU BOARD ASSY DRIVER2 BOARD ASSY DRIVER2 BOARD ASSY FAN OP BOARD OP BOARD CN3 CN4 AC200 230V Regenerative unit X axis motor Y axis motor CN5 CN2 CN2 CN3 CN2 XY axis motor ABS backup battery RPB SAFETY circuit RS 232C SD memory card CN1 CN1 CN3 CN3 CN5 CN2 CN6 CN14 16 CN4 CN8 CN5 CN12 CN1 CN1 CN2 CN3 CN1 CN1 CN4 MOTHER BOARD ASSY CN1 CN1 ...

Page 61: ...ations including manual operations program input and editing teaching and parameter settings Emergency stop button Emergency stop button RPB connector Enable switch Selector switch RPB RPB E RPB E rear side 4 2 I O expansion Interface boards can be selected as needed 4 3 Regenerative unit A regenerative unit may be required depending on the robot type ...

Page 62: ...eeded Always perform absolute reset when using the robot for the first time After that reperform it only when the origin position becomes indefinite return to origin incomplete 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 13 Checking the robot controller operation 12 SYSTEM mode Robot type can be checke...

Page 63: ...eat amount 3 10 4 5 Installing an external leakage breaker 3 11 4 6 Installing a circuit protector 3 11 4 7 Installing an electromagnetic contactor 3 12 4 8 Installing a noise filter 3 12 4 9 Installing a surge absorber 3 13 5 Robot connections 3 14 5 1 Connecting the robot cables 3 14 5 2 Noise countermeasures 3 15 6 Connecting the RPB programming box 3 16 7 I O connections 3 17 8 Connecting a ho...

Page 64: ... Wiring methods 3 24 12 2 Precautions for installation 3 26 12 3 Methods of preventing malfunctions 3 26 13 Checking the robot controller operation 3 27 13 1 Cable connection 3 27 13 2 Operation check 3 28 ...

Page 65: ...when unpacking After unpacking check the accessories to make sure that nothing is missing cCAUTION The robot and controller are very heavy Take sufficient care not to drop them during unpacking as this may damage the equipment or cause bodily injury n Unpacking RPB Accessories XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD CO M RDY E STOP B A BAT RCX222 OP 1 OP 2 Accessories St...

Page 66: ... the connectors 4 Install the controller inside the control panel 5 Keep the controller away from oil and water If the controller is to be used under such adverse conditions put it in a watertight box equipped with a cooling device 6 Install the controller on a flat level surface Do not stand the controller on its side or end and do not install in an inverted position Do not install in locations s...

Page 67: ... When installing the robot controller follow the precautions below 1 Provide a clearance of at least 50mm from the top and side panels of the controller 2 Do not block the heat sink on the side panel 3 Do not block the fan on the bottom of the controller cCAUTION The cooling fan is located on the bottom of the controller Do not block the bottom since air is sucked in through the bottom air vents a...

Page 68: ...M YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 EXT E STOP PIN11 12 OP 1 OP 2 2 Attaching the L type brackets supplied as standard accessories to the front n Attaching the L type brackets to the front XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 EXT E STOP PIN11 12 OP 1 OP 2 2 Installing the robot c...

Page 69: ...M YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 EXT E STOP PIN11 12 OP 1 OP 2 L type bracket part No single item Standard for front and rear KAS M410H 000 When attaching an L type bracket to the top and bottom of the controller use two same brackets for one controller 2 Installing the robot controller ...

Page 70: ...name Function q XM YM Connectors for servomotor drive w ROB I O Connectors for servomotor feedback and sensor signals e SAFETY Input output connector for safety function such as emergency stop r RPB Connector for RPB t COM RS 232C interface connector y OP 1 2 Connectors attached to optional ports STD DIO unit is installed on OP 1 u SD SD memory card slot i BAT A B Battery connectors for absolute b...

Page 71: ...he controller as shown below 4 1 Connection example L N L1 N1 Leakage breaker Noise filter Circuit protector Circuit protector Surge absorber Electro magnetic contactor RCX221 222 Single phase AC 200V See 4 6 See 4 5 See 4 8 See 4 7 See 4 9 cCAUTION Do not make incorrect terminal connections Incorrect connections may cause malfunction 4 Connecting to the power ...

Page 72: ...eck that the power supply voltage matches the power specifications of your controller Symbol Wiring Remarks L 200 to 230V Live Main power supply for motor power Wire cross section 2 0 sq mm or more N 200 to 230V Neutral L1 200 to 230V Live Power for control Wire cross section 1 25 sq mm or more N1 200 to 230V Neutral Ground Class D grounding 100 ohms or less Tightening torque 1 4 Nm n Power termin...

Page 73: ...all the way into the opening round hole while still holding the lever down 3 Release the lever to make the wiring connection Pull gently on the wire to make sure it is securely attached Do not pull strongly on the wire Lever n When using a flat blade screwdriver 1 Insert the screwdriver into the upper slot to depress the internal spring 2 Insert the wire with properly exposed lead all the way into...

Page 74: ...operation at a voltage higher than specified may damage the robot controller or trigger emergency stop due to detecting an excessive motor power supply voltage Use the following tables as a guide to prepare a power supply and to determine the control panel size controller installation method and cooling means n When connected to 2 axes Cartesian robot or multi axis robot Axis current sensor value ...

Page 75: ...ce between the cable and FG may vary depending on the cable installation condition causing the leakage current to fluctuate Leakage current RCX222 control power supply L1 N1 1mA in total RCX222 main power supply L N 4 6 Installing a circuit protector An inrush current which might be from several to more than 10 times higher than the rated current flows at the instant the controller is turned on or...

Page 76: ...y category In this case separate the main power supply line from the control power supply line and install the electromagnetic contactor on the main power supply side To control the operation using emergency stop turn the main power on and off 4 8 Installing a noise filter Installation of a noise filter is recommended in order to suppress power line noise n Dimensional outlines of recommended nois...

Page 77: ...kes should install a surge absorber n Dimensional outlines of recommended surge absorber Manufacturer SOSHIN ELECTRIC CO LTD Type No LT C12G801WS Status indicator φ 4 3 0 3 0 1 25 1 0 4 33 5 1 0 19 1 0 Wire line Black Wire earth Green Yellow 38 1 0 22 5 1 0 250 25 0 28 1 0 4 0 5 Green Normal Red Abnormal 4 Connecting to the power ...

Page 78: ...e robot controller power connection lines and other equipment power lines Using them in close contact with lines carrying power may cause malfunctions cCAUTION Always securely connect the robot cables If they are not securely connected and fail to make good contact the robot may malfunction Before turning on the controller make sure again that the cables are securely connected Also make sure that ...

Page 79: ...les If such malfunctions occur the following countermeasures are recommended 1 Install the sensor etc further away from the motor cable 2 Use a shielded cable for the sensor etc and ground the shield 3 Install a noise filter in the cable which connects the controller to the robot Noise filters Model KBG M6563 00 for XM Model KBG M6563 10 for YM n Noise filter connection XM YM MOTOR RGEN TEMP ACIN ...

Page 80: ...gramming box l Connecting a terminator If not connecting the RPB plug the terminator supplied into the RPB connector n Connecting a terminator XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 EXT E STOP PIN11 12 OP 2 cCAUTION...

Page 81: ...he 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 n Connection for NPN specifications 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 NPN open emitter tran...

Page 82: ...S 232C port of the computer using a communication cable For more detailed information on the RS 232C interface see RS 232C Interface in Chapter 7 n NOTE D SUB 9P female connector is for RS 232C interface n Host computer connection XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 COM connector Host computer 25 pins 25 pin...

Page 83: ...nected to the both BAT A and BAT B connectors standard the data retention time backup time will be doubled compared to that of one battery n Battery connection YM RGEN TEMP RPB I O B A BAT RCX222 BAT A connector BAT B connector XM MOTOR SRV ERR RDY E STOP OP 1 OP 2 Connector on controller Backup time Battery connection Both BAT A and BAT B About 1 year Standard 2 batteries BAT A or BAT B About hal...

Page 84: ...ies to the connectors on the controller even if one of the axes is not used n NOTE Return to origin is incomplete if an absolute battery connector is unplugged from the BAT connector while the controller power is turned off When shipped to the customer the absolute batteries are not connected to the controller so an error message is always issued when the power is first turned on Please note that ...

Page 85: ... when the total time that the controller power has been off reaches one year after being connected to the controller Always charge the new battery after it is installed Battery type 3 6V 2750mAH Battery part No KAS M53G0 11 Battery case part No KBG M5395 00 Replacing the absolute battery 1 Remove the battery from the battery holder n Removing the battery 2 Insert the new battery slowly into the ba...

Page 86: ...s and other damage before connecting wWARNING The power to the controller must be off when connecting the regenerative unit to the controller To prevent electrical shocks never touch the RGEN connector when power is supplied to the controller cCAUTION Always securely connect the cable Poor connections or contact failure may cause malfunctions n Generative unit connection XM YM MOTOR RGEN TEMP ACIN...

Page 87: ...ear an object that is vulnerable to heat 2 When the thermal sensor is activated an RGU overheat alarm occurs to stop the robot If this happens change the resistor to a larger one or adjust the deceleration time and or speed to reduce the braking load factor 3 Always connect the thermal sensor cable to the TEMP connector Failure to do so will cause an overheat alarm If the generative unit is not ne...

Page 88: ...wer cable separate from each other Never bundle them together 2 Keep the communication cable robot cables and power cable separate from each other Never bundle them together 3 Keep robot cables separate from the power cable 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 sole...

Page 89: ...e connections n Cable connection XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 DIO cable SAFETY cable Power cable Robot cable Communication cable 12 Precautions for cable routing and installation ...

Page 90: ...to 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 n Bad example Noise filter Robot controller Primary wiring Secondary wiring L1 N1 L N Ground wire Primary wiring and secondary wiring of the noise filter are bundled together Ground wire is bundled with prima...

Page 91: ... cable RPB programming box Absolute battery Regenerative unit if needed SAFETY connector supplied Pins 1 and 10 are shorted pins 2 3 11 and 14 are shorted and pins 12 and 13 are shorted in the SAFETY connector The connection status of emergency stop input signal is described in detail in Chapter 6 SAFETY I O interface 13 1 Cable connection n Cable connection XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SA...

Page 92: ...er light up The ERR LED lamp is off When the SAFE mode setting is enabled and the serial I O is connected the SRV LED lamp does not light up Abnormal operation The RDY and ERR LED lamps on the front panel of the controller light up However the RDY LED flashes if a serious error has occurred Check the error message displayed on the RPB and take corrective action according to the description given i...

Page 93: ... keys 4 8 5 1 RPB screen 4 8 5 2 Operation key layout 4 9 5 3 Basic key operation 4 10 5 4 Function keys 4 11 5 5 Control keys 4 13 5 6 Data keys 4 15 5 7 Other keys 4 15 6 Emergency stop 4 16 6 1 Emergency stop reset 4 17 6 2 Overload error reset 4 19 7 Mode configuration 4 21 7 1 Basic operation modes 4 21 7 2 Other operation modes 4 22 7 3 Mode hierarchy 4 23 8 SERVICE mode 4 28 8 1 Operation d...

Page 94: ... 12 Executing the next step 4 51 10 PROGRAM mode 4 52 10 1 Scrolling a program listing 4 53 10 2 Program editing 4 54 10 2 1 Cursor movement 4 56 10 2 2 Insert Overwrite mode switching 4 57 10 2 3 Inserting a line 4 58 10 2 4 Deleting a character 4 58 10 2 5 Deleting a line 4 58 10 2 6 User function key display 4 59 10 2 7 Quitting program editing 4 60 10 2 8 Specifying the copy cut lines 4 60 10 ...

Page 95: ... 97 11 2 7 Point data trace 4 98 11 2 8 Point comment input and editing 4 98 11 2 8 1 Point comment input and editing 4 100 11 2 8 2 Point data input by teaching 4 100 11 2 8 3 Jump to a point comment 4 101 11 2 8 4 Copying a point comment 4 101 11 2 8 5 Erasing point comments 4 103 11 2 8 6 Point comment search 4 104 11 2 9 Point data error reset 4 105 11 3 Displaying editing and setting pallet d...

Page 96: ...7 12 1 1 Parameter list 4 159 12 1 2 Robot parameters 4 161 12 1 3 Axis parameters 4 165 12 1 4 Other parameters 4 185 12 1 5 Parameters for option boards 4 201 12 1 5 1 Option DIO setting 4 203 12 1 5 2 Serial IO setting 4 204 12 1 5 3 Setting the network parameters 4 209 12 2 Communication parameters 4 211 12 3 OPTION parameters 4 220 12 3 1 Setting the area check output 4 221 12 3 2 Setting the...

Page 97: ...the files 4 270 13 MONITOR mode 4 271 14 UTILITY mode 4 274 14 1 Canceling emergency stop Motor power and servo on off 4 276 14 1 1 Canceling emergency stop 4 276 14 1 2 Motor power and servo on off 4 277 14 2 Overload error reset and motor and servo power on off 4 279 14 2 1 Emergency stop reset 4 279 14 2 2 Overload error reset 4 279 14 3 Enabling disabling the sequence execution flag 4 280 14 4...

Page 98: ......

Page 99: ...rface Refer to Chapter 7 for RS 232C interface n Operation overview Parallel I O interface Robot Power input External circuit AC power input terminal Programming box RPB SAFETY I O interface Used to supply power to the controller RPB 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 swit...

Page 100: ...terminal Supplies power to the controller w SRV LED Lights up when the motor power turns on and turns off when the motor power turns off e ERR LED Lights up when a serious error occurs r RDY LED Lights up when the internal control circuit operates normally Flashes immediately after power is turned on or a serious error occurs t E STOP LED Lights up when the external E STOPRDY signal turns off y RP...

Page 101: ...crystal screen This is a liquid crystal display LCD with 40 characters 8 lines showing various types of information The screen contrast is adjustable w Sheet keys Use these keys to operate the robot or edit programs The sheet keys are grouped into three main types function keys control keys and data keys e Emergency stop button Pressing this button during operation immediately stops robot operatio...

Page 102: ...d Emergency stop Configure the external safety circuit so that this enable switch functions as described above 3 3 Connection to the robot controller Connect the RPB programming box to the RPB connector on the front panel of the robot controller Connect the cable securely since poor connections might cause malfunctions or breakdowns n NOTE Emergency stop is triggered when the RPB is connected to o...

Page 103: ...g procedure to make adjustments To adjust the screen contrast Setting range 0 bright to 100 dark 1 Press brightness 5 or brightness 5 to make adjustments 2 Press to end the setting The screen returns to the normal menu screen To change the key press volume Setting range 0 off to 100 maximum 1 Press volume 5 or volume 5 to make adjustments 2 Press to end the setting The screen returns to the normal...

Page 104: ...the screen when the robot controller is turned on be sure to initialize the parameters and memory in SYSTEM mode before performing absolute reset Refer to 12 SYSTEM mode in this chapter for detailed information If the error message 10 21 Sys backup battery low voltage appears while the power supply is turned on replace the lithium battery typically 4 years service life in the robot controller n NO...

Page 105: ...ate the problem and perform absolute reset Then start the robot operation Refer to 11 8 Absolute reset in this chapter for how to perform absolute reset n MANUAL mode screen MANUAL Current position M1 0 M2 0 POINT PALLET VEL VEL 50 MG S0H0J 4 Turning power on and off ...

Page 106: ...ne 2nd line If an error occurs the error message appears on the 2nd line Other displays on this line indicate the following status Dashed line Return to origin incomplete Solid line Return to origin complete Double solid line Program is being executed mark in 2nd column Online command is being executed through RS 232C interface Changes to a dot when the command ends s mark in 1st column Sequence p...

Page 107: ...peration key layout The operation keys are covered with a plastic sheet to prevent dust There are 3 main kinds of keys 1 Function keys 2 Control keys 3 Data keys n Sheet key layout Function key Data key Control key 5 Operation keys ...

Page 108: ... needed to enable various functions n Key configuration Shift 1 Shift 2 Shift 3 2 There are 3 ways shift 1 to shift 3 to use each operation key Shift Example of key input Input data 1 Shift 1 Use a key while holding down 2 Shift 2 Use a key without holding down and 3 Shift 3 Use a key while holding down 5 Operation keys ...

Page 109: ...lect the menus by pressing the function keys The relation of the function keys to their menus in MANUAL mode is shown below Function key Selected menu F1 POINT F2 PALLET F4 VEL F5 VEL F6 SHIFT F7 HAND F8 UNITCHG F9 VEL F10 VEL F13 ABS RST F15 COORDI 5 Operation keys ...

Page 110: ...12 F13 F14 F15 LOWER M1 0 M2 0 Function keys to sheet keys on the RPB correspond to the function key menus on the screen from the left Pressing switches to function keys to and pressing switches to function keys to n NOTE From hereon when to are mentioned it means to press to while holding down on the side of the RPB Likewise when to are mentioned it means to press to while holding down on the sid...

Page 111: ...archy 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 edited Moves the cursor to the ri...

Page 112: ... trace execution and return to origin operation Moves axis 1 in the direction or the robot in the X direction on the XY coordinates Moves axis 1 in the direction or the robot in the X direction on the XY coordinates Moves axis 2 in the direction or the robot in the Y direction on the XY coordinates Moves axis 2 in the direction or the robot in the Y direction on the XY coordinates Moves axis 3 in ...

Page 113: ... Enters numbers to Enters alphabetic characters Inserts spaces 2 Symbol keys 5 7 Other keys 1 Enter key Pressing this key executes a direct command when in AUTO DIRECT mode When the cursor is displayed pressing this key completes the data input on the cursor line 2 Shift keys Selects shift 1 for key operation Selects shift 3 for key operation 5 Operation keys ...

Page 114: ...e appears on the RPB screen as shown below The highlighted display for the mode name is cancelled during emergency stop MANUAL 50 MG S0H0J 12 1 Emg stop on Current position POINT PALLET VEL VEL M1 0 M2 0 n Emergency stop RPB programming box Emergency stop button n NOTE Besides the emergency stop button on the RPB an external dedicated input emergency stop terminal is provided in the SAFETY connect...

Page 115: ...thout absolute reset 1 Cancel the emergency stop button on the RPB Emergency stop is released by turning the emergency stop button clockwise 2 Press while holding down The screen switches to UTILITY mode and the message Cancel emergency flag appears n Emergency stop reset 1 Cancel emergency flag YES NO 3 Press YES The following screen appears n Emergency stop reset 2 UTILITY Date Time 06 06 01 18 ...

Page 116: ...rvomotor sets to HOLD status The mode name UTILITY on the system line 1st line is highlighted n NOTE If the motor power is turned off due to a serious error the motor power will not turn on with UTILITY MOTOR mode In this case the robot controller must be turned back on again n 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 no axis D4 M4...

Page 117: ...ration is not required after the emergency stop status is reset The overload error reset function is available in software Ver 9 36 onwards In Ver 9 35 and prior versions the controller must be restarted in order to reset an overload error status 1 While pressing the key press the key The Utility Mode screen is then displayed n Emergency stop reset Cancel emergency flag YES NO 2 Press the YES key ...

Page 118: ...2 Brake D6 M6 no axis D3 M3 no axis D4 M4 no axis On Off 5 Press the ON key to turn the motor power ON A servo motor HOLD status is established at this time The Utility word is highlighted on the system line n NOTE The motor power will not switch ON if it has been switched OFF due to a serious error In this case the controller must be restarted n Motor power ON 2 UTILITY MOTOR motor power On D1 M1...

Page 119: ... be used only when SAFE mode is enabled Use this mode to perform work using the programming box while 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 input OFF The following functions are selected in SERVICE mode 1 Robot is controlled only by RPB operation 2 Automatic operation is ...

Page 120: ... on the parameter settings in SERVICE mode n NOTE Absolute reset can be performed only in MANUAL mode AUTO mode may be selected depending on the execution level when the robot controller is turned on 5 SYSTEM mode Select this mode to perform maintenance and adjustment of the YAMAHA robots such as robot parameter and axis parameter settings 7 2 Other operation modes Other than the basic operation m...

Page 121: ...0J Current position AUTO PROGRAM MANUAL SYSTEM M1 0 M2 0 These are basic modes at the highest hierarchy on the menu The display position for each mode name corresponds to each function key of and from the left For example when AUTO is pressed AUTO mode is entered n AUTO mode menu AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 RESET TASK DIR VEL VEL When AUTO mode is e...

Page 122: ...ile the mark shows that is pressed Some submenus have other menus for accessing the next hierarchical mode For example pressing in AUTO mode while holding down switches to BREAK mode Submenus relating to BREAK mode then appear As explained above operation can proceed through each hierarchy by selecting the menu items with the function keys To return to the previous mode hierarchy press To return t...

Page 123: ...the order as shown below First highest hierarchy Second hierarchy Third hierarchy Fourth hierarchy Example PROGRAM DIR ERASE The above example shows that the current mode is entered by selecting PROGRAM from the first hierarchy menu DIR from the second hierarchy menu and ERASE from the third hierarchy menu See the figure titled Mode hierarchy diagram on the next page for the entire mode hierarchy ...

Page 124: ... 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 F4 VEL F5 VEL F1 PTP ARCH LINEAR F2 ARCHPOS when F1 is ARCH F3 JUMP F4 VEL F5 VEL F6 A AXIS when F1 is ARCH F7 A AXIS when F1 is ARCH F8 UNITCHG F9 VEL F10 VEL F11 MODIF...

Page 125: ...P BRD F10 PASSWRD F1 EDIT F2 JUMP F1 POS OUT F2 SERVICE F3 SIO F4 W CAREER F4 SYSTEM F1 EDIT F2 JUMP F1 EDIT F2 JUMP F1 EDIT F2 JUMP F1 EDIT F2 JUMP F1 EDIT F2 JUMP F4 SAVE F5 HELP F1 EDIT F2 JUMP F1 PARAM F2 CMU F3 OPTION F4 INIT F5 DIAGNOS F9 BACKUP 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 LA...

Page 126: ...e commands made via the RS 232C 8 1 Operation device Only RPB operation is enabled when in the SERVICE mode All other devices are disabled at this time However users can enable additional devices if desired but only after determining that doing so will pose no hazard 8 2 Prohibition of AUTO mode operation As a general rule AUTO mode operation is prohibited in the SERVICE mode However users can ena...

Page 127: ...l function and is not a safety related function defined by ISO13849 1 In other words this function does not meet the PL performance level indicating the safety related performance level To lower the risk of collision between the robot and workers the user must install necessary protective measures such as enable switches based on the user s risk assessment If the robot moving speed must be set hig...

Page 128: ...ted it means the servomotor power is on w Task display Shows the task number for the program listing being displayed e Automatic movement speed Robot movement speed is displayed during automatic operation r Program name Shows the program name currently selected t Message line If an error occurs the error message appears here A dashed line means return to origin is incomplete A solid line means ret...

Page 129: ... 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 Usually return to origin must be completed before starting AUTO mode If return to origin is not complete the message Origin incomplete appears In such a case ref...

Page 130: ...movement speed for the selected robot group in steps 100 50 20 5 1 F6 POINT Moves to the specified point number position F7 DIRECT Executes a command statement written on one line F8 BREAK Sets a break point F9 VEL Increases automatic movement speed for the selected robot group in 1 increments F10 VEL Decreases automatic movement speed for the selected robot group in 1 decrements F11 STEP Executes...

Page 131: ...omplete When the execution level 5 6 or 8 is selected the program will always be executed from the beginning Procedure Press in AUTO mode Command statements are executed in order from the line number where the pointer is displayed The program listing disappears during automatic operation and the message Running appears on the message line the second line The message line changes from a single soli...

Page 132: ...er the automatic operation is complete 9 2 Stopping the program Procedure 1 Press during program execution to stop the program cCAUTION Do not turn off the robot controller during program execution If 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 program before turning t...

Page 133: ... 4 Other parameters 2 A sequence program is being executed without enabling the DO reset in the sequence execution flag setting Procedure n Program reset 1 AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 START SUBTASK T2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 RESET TASK DIR VEL VEL When the program _SELECT does not exist 1 Press RESET in AUTO mode 2 Press YES The program listing appears from the first line ...

Page 134: ... is pressed in Step 1 the following message then appears on the guideline Press YES to reset the current program or press NO to cancel the reset n Program reset 4 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 in the following cases 1 DO cond on PGM reset RESC...

Page 135: ...e number to be executed in the current task n Main task T1 display AUTO T1 100 TEST1 5 MOVE P P0 6 L1 7 MOVE P P1 8 MOVE P P2 9 GOTO L1 RESET TASK DIR VEL VEL 3 Press TASK to select a lower order task program Each time TASK 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 n Sub task T2 to T8 disp...

Page 136: ... PGM reset RESCDO in 12 1 4 Other parameters 2 A sequence program is being executed without enabling the DO reset in the sequence execution flag setting Procedure 1 Press DIR in AUTO mode Program information appears A pointer is displayed on the line number of the program which is currently selected 2 Use the cursor keys to select the desired program and press The selected program will automatical...

Page 137: ... will be the product of that speed and the automatic movement speed For example if the automatic movement speed is 80 and the speed specified by the SPEED statement is 50 then the robot movement speed is set as follows Operating speed 80 50 40 Procedure 1 Press VEL or VEL in AUTO mode to change the speed in steps Each time VEL or VEL is pressed the speed changes in steps of 1 5 20 50 100 The maxim...

Page 138: ...ion at the sub robot is not supported in controller versions prior to Ver 9 11 n NOTE Point trace cannot be performed unless return to origin is complete Procedure 1 Press POINT in AUTO mode The screen switches to AUTO POINT mode and the point data appears as shown below n Point trace screen AUTO POINT 100 MG S0H0J x y z r P3 150 50 64 53 P4 96 65 224 89 P5 63432 19735 COMNT POS 50 00 100 00 0 00 ...

Page 139: ...the arch axis to the right during ARCH motion mode F7 A AXIS Moves the arch axis to the left during ARCH motion mode F8 UNITCHG Switches the units for indicating the current position to mm pulse F9 VEL Increases automatic movement speed for the selected robot group in 1 increments F10 VEL Decreases automatic movement speed for the selected robot group in 1 decrements F11 MODIFY Switches to the poi...

Page 140: ... 00 0 00 0 00 0 00 0 00 0 00 2 Use the cursor keys to select the point number to be checked n Point trace screen in PTP motion mode 2 AUTO POINT 100 MG S0H0J x y z r P3 150 50 64 53 P4 96 65 224 89 P5 63432 19735 0 PTP JUMP VEL VEL COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 3 Press and the robot moves by PTP motion to the specified point position The trace speed is one fifth of...

Page 141: ...S to select the axis to move by arch motion The selected axis is indicated on the message line as in ARCH y n Point trace screen in ARCH motion mode 2 AUTO POINT 100 MG S0H0J x ARCH y z r P3 150 50 64 53 P4 96 65 224 89 P5 63432 19735 ARCH A POS JUMP VEL VEL COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 3 Press A POS and set the arch motion position n Point trace screen in ARCH mo...

Page 142: ...keys to select the point number to be checked 5 Press to move the robot by arch motion to the specified point position The trace speed is one fifth of the automatic movement speed To stop the trace press wWARNING Upon pressing the robot starts to move To avoid danger do not enter the robot movement range ...

Page 143: ...nt number to be checked n NOTE Linear interpolation motion at the sub robot is not supported in controller versions prior to Ver 9 11 n Point trace screen in linear interpolation motion mode 2 AUTO POINT 100 MG S0H0J x y z r P3 150 50 64 53 P4 96 65 224 89 P5 63432 19735 LINEAR JUMP VEL VEL COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 3 Press to move the robot by linear interpola...

Page 144: ...and execution AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 START SUBTASK T2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 DO 25 1_ 2 Enter one line of the command statement 3 Press to execute the command you have 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 return to o...

Page 145: ...creen Page key Switches the page display F1 SET Sets the break point F2 CANCEL Deletes the break point F3 SEARCH Searches for the line set with the break point F6 JUMP Shows the program listing from specified line F7 FIND Specifies the character string to be found F8 FIND Finds the specified character string searching backwards from the cursor position F9 FIND Finds the specified character string ...

Page 146: ...1 Press BREAK in AUTO mode to switch to AUTO BREAK mode 2 Use the cursor keys to select the line number on which a break point is to be set 3 Press SET A B mark appears to the left of the command statement and a break point is set on that line n Break point setting AUTO BREAK T1 100 TEST1 1 TEST1 PROGRAM 2 START SUBTASK T2 3 DO2 0 0 4BWAIT DI3 4 3 2 3 5 MOVE P P0 SET CANCEL SEARCH ...

Page 147: ... set press SEARCH This function makes it easier to find a break point that you want to delete n NOTE Up to 4 break points can be set in one program These 4 break points cannot set in different programs 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 compiled or edi...

Page 148: ...a sub routine or sub procedure its top line is executed n STEP execution AUTO T1 100 TEST1 1 TEST1 PROGRAM 2 START SUBTASK T2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 STEP SKIP NEXT n NOTE During STEP SKIP and NEXT execution the message Running is displayed on the screen After execution is complete the pointer moves to the line number of the next command statement 9 11 Skipping a step Procedure 1 ...

Page 149: ...ted To avoid danger do not enter the robot movement range Procedure 1 Press NEXT in AUTO mode 2 Each time this key is pressed the command statement of the highlighted line number is executed After execution the pointer moves to the next line If the command statement is a sub routine or sub procedure it is executed at once ...

Page 150: ...hen 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 execut...

Page 151: ...tring searching backwards from the cursor position F9 FIND Finds the specified character string searching forwards from the cursor position F13 ERR RST Allows editing if the selected program is destroyed n NOTE Refer to the separate Programming Manual for details on the programming language 10 1 Scrolling a program listing Procedure 1 Pressing the cursor keys in PROGRAM mode scrolls up or down thr...

Page 152: ...ntered on one line n NOTE Program editing is finished when any of up down cursor keys page up down keys or is pressed during program editing A maximum of 9999 lines can be written in one program as long as the program size is within about 98 Kbytes n 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 P...

Page 153: ...oves the cursor to the beginning of the next line F1 SELECT Selects the starting line for copy or cut F2 COPY Copies the selected line and temporarily stores it in a buffer F3 CUT Cuts the selected lines and temporarily stores it in a buffer F4 PASTE Inserts the buffer data directly prior to the cursor line F5 BS Backs the cursor and deletes the preceding character F6 JUMP Displays the program lis...

Page 154: ...s the cursor up or down one line at a time Pressing the cursor keys moves the cursor right or left one character at a time 2 Pressing the page key moves the cursor one page screen at a time n Cursor 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 ...

Page 155: ... to the cursor position n Insert mode PROGRAM EDIT TEST2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 6 _ ORIGIN 7 MOVE P P1 SELECT COPY CUT PASTE BS 1 2 3 2 Press again The cursor changes back to a thick line and the screen returns to Overwrite mode In Overwrite mode the input character replaces the character at the cursor position n Overwrite mode PROGRAM EDIT TEST2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MO...

Page 156: ... 4 Deleting a character Procedure Pressing in PROGRAM EDIT mode deletes one character at the cursor position 10 2 5 Deleting a line Procedure Pressing in the PROGRAM EDIT mode deletes one line at the cursor position The program lines after the cursor position then move upward For example deleting one line on the screen shown in section 10 2 1 changes to the following screen n Deleting a line PROGR...

Page 157: ...ering user function keys later in this chapter Procedure 1 Press in PROGRAM EDIT mode to display the character strings on the guideline which are preassigned to function keys to Each character string 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 GOTO is pressed on the following screen the character st...

Page 158: ...py cut range A C mark appears on each line which was specified Press if you want to cancel this operation n Specifying the copy cut lines PROGRAM EDIT TEST2 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 n NOTE When selecting a line range the maximum number of characters is 200 If the number of characters exceeds 200 the selected line range must...

Page 159: ...OGRAM EDIT TEST2 1 TEST2 PROGRAM 2 3 DO2 0 0 4 WAIT DI3 4 3 2 3 5 MOVE P P0 ORIGIN SELECT COPY CUT PASTE BS 1 2 3 10 2 10 Cutting the selected lines Procedure After selecting the lines in 10 2 8 press CUT The data on the selected lines are cut and stored into the buffer The C marks then disappear n Cutting the selected lines PROGRAM EDIT TEST2 1 WAIT DI3 4 3 2 3 2 MOVE P P0 ORIGIN 3 MOVE P P1 4 DO...

Page 160: ...SELECT COPY CUT PASTE BS 1 2 3 n NOTE The data stored in the buffer can be pasted repeatedly until you exit PROGRAM mode However if another copy cut operation is performed then the data within the buffer is rewritten 10 2 12 Backspace Procedure Pressing BS 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 the end ...

Page 161: ... on the guideline n 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 program is then displayed from the specified line n 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 162: ...0 ORIGIN Character string MOV_ 1 2 3 Search starts from the cursor position towards the end of the program and stops at the first matching character string n 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 FIND or FIND Pressing FIND restarts the search from the curr...

Page 163: ...EST1 55 952 RW 2 TEST2 50 907 RW 3 PARTS100 38 843 RW 4 TEST100 100 1968 RW NEW INFO Name Line Byte RW RO Pressing on the above screen displays the DATE and TIME data Press to return to the previous display n NOTE The date and time are updated when the program is created or edited n Program data 2 PROGRAM DIR TEST1 No 1 TEST1 06 06 01 10 18 2 TEST2 06 06 01 17 20 3 PARTS100 06 06 01 13 19 4 TEST10...

Page 164: ...writing enabled RO Reading only enabled writing inhibited Date Shows the date when the program was made or edited Time Shows the time when the program was made or edited Valid keys and submenu descriptions in PROGRAM DIR mode are shown below Valid keys Menu Function Cursor key Selects the program or scrolls the screen vertically Cursor key Switches between the program information display and the d...

Page 165: ...ssage Enter program name appears on the guideline 2 Use to to or to enter a program name A maximum of 8 characters can be used Press if you want to cancel the data input n NOTE Program names can be up to 8 characters consisting of a combination of alphanumeric characters 0 to 9 A to Z and underscores _ n Registering a new program PROGRAM DIR TEST1 No RW RO 1 TEST1 55 952 RW 2 TEST2 50 907 RW 3 PAR...

Page 166: ...ytes Number of program 5 Number of points 124 Item Description Source use sum Displays a count of used bytes and bytes available for source program and point data Object use sum Displays a count of used bytes and bytes available for object program Sequence use sum Displays a count of used bytes and bytes available for sequence object program 8 bytes are used for one circuit of sequence program Num...

Page 167: ...ocedure 1 In PROGRAM DIR mode use the cursor keys to select the program to be copied 2 Press COPY to enter PROGRAM DIR COPY mode The message Enter program name appears on the guideline along with an edit cursor 3 Enter a new program name Press if you want to cancel this operation n Copying a program PROGRAM DIR TEST1 No RW RO 1 TEST1 55 952 RW 2 TEST2 50 907 RW 3 PARTS100 38 843 RW 4 TEST100 100 1...

Page 168: ...rogram to be erased 2 Press ERASE to enter PROGRAM DIR ERASE mode A confirmation message appears on the guideline n Erasing a program PROGRAM DIR ERASE TEST1 No RW RO 1 TEST1 55 952 RW 2 TEST2 50 907 RW 3 PARTS100 38 843 RW 4 TEST100 100 1968 RW Erase program OK YES NO Name Line Byte 3 Press YES to erase the selected program Press NO if you want to cancel erasure After the program is erased the lo...

Page 169: ... Enter program name appears on the guideline along with the original program name n Renaming a program PROGRAM DIR TEST1 No RW RO 1 TEST1 TEST2 55 952 RW 2 PARTS100 50 907 RW 3 TEST100 38 843 RW 4 100 31968 RW Enter program name TEST_ Name Line Byte 3 Enter a new program name Press if you want to cancel this operation 4 Press to rename the program n NOTE Program names can be up to 8 characters and...

Page 170: ... default when a program name is registered 2 RO read only Program contents cannot be edited or erased Procedure 1 In PROGRAM DIR mode use the cursor keys to select the program with the attribute to be changed 2 Press ATTRBT to enter PROGRAM DIR ATTRBT mode A confirmation message appears on the guideline n Changing a program attribute PROGRAM DIR ATTRBT TEST2 No RW RO 1 TEST2 50 907 RW 2 PARTS100 3...

Page 171: ...nformation on an executable object program proceed as follows Procedure 1 Press OBJECT to enter PROGRAM DIR OBJECT mode 2 Object information appears as shown below n Object program information PROGRAM DIR OBJECT TEST2 No RW RO 1 TEST2 55 750 RO 2 COMMON 20 374 RO 3 SEQUENCE 40 320 RO Name Line Byte ...

Page 172: ...fer to 10 6 Registering user function keys when registering user function keys Procedure 1 In PROGRAM DIR mode press EXAMPLE to enter PROGRAM DIR EXAMPLE mode A confirmation message appears on the guideline n Loading a sample program PROGRAM DIR EXAMPLE TEST1 No RW RO 1 TEST1 55 952 RW 2 TEST2 50 907 RW 3 PARTS100 38 843 RW 4 TEST100 100 1968 RW Overwrite FUNCTION OK YES NO Name Line Byte 2 Press ...

Page 173: ... ALTERNATE DO 23 DO 23 M_F5 DO 24 ALTERNATE DO 24 DO 24 M_F6 DO 25 MOMENTARY DO 25 1 DO 25 0 M_F7 DO 26 MOMENTARY DO 26 1 DO 26 0 M_F8 DO 27 MOMENTARY DO 27 1 DO 27 0 M_F9 DO2 ON DO2 255 M_F10 DO2 OFF 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_...

Page 174: ...ation message appears on the guideline 3 Press YES to compile the program The message Compiling is displayed during compiling Press NO if you want to cancel the compiling n 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...

Page 175: ...user function keys The robot controller recognizes a program named FUNCTION as a special program for registering the user function keys Therefore do not use this name for normal programs Procedure 1 In PROGRAM mode press DIR to enter PROGRAM DIR mode 2 Press NEW 3 When the message Enter program name appears on the guideline enter FUNCTION following this message and press n Registering FUNCTION pro...

Page 176: ...er a command statement for registering function keys in the following format The command statement format differs between the PROGRAM mode and MANUAL mode When registering function keys for editing in 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 Ch...

Page 177: ...contents of the FUNCTION program in the PROGRAM EDIT mode to create desired user functions When assignment was made to a function key that has already been assigned the new assignment will be valid M_F n character string I O statement 1 I O statement 2 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 I O st...

Page 178: ...0 is highlighted when is pressed In the above example ALTER defines an alternate type function and MOMENT a momentary type function A character string of up to 65 characters can entered However up to 7 characters following the colon are displayed on the function key menu n 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 ...

Page 179: ... in PROGRAM EDIT mode n NOTE This function is enabled for each program This reset function does not work if an error 9 3 Memory destroyed occurs In this case initialize the memory Procedure 1 Press ERR RST in PROGRAM mode A confirmation message appears on the guideline n Resetting an error in the selected program PROGRAM TEST2 1 TEST2 PROGRAM 2 GOSUB SUBPROG 3 DO2 0 23 OFW 4 WAIT DI3 4 3 2 3 5 MOV...

Page 180: ... servomotor power is off w Manual movement speed Shows the robot movement speed selected for manual operation e Robot group This shows the robot group currently selected for manual movement When one robot is specified only MG main group appears r SHIFT HAND coordinate units Shows the shift coordinate number hand definition number and coordinate units t Message line If an error occurs the error mes...

Page 181: ...hown below Valid keys Menu Function Jog key Moves the robot manually F1 POINT Switches to the point data processing screen F2 PALLET Switches to the pallet data processing screen F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases automatic movement speed for the selected robot group in steps 100 50 20 5 1 F6 SHIFT Switches to the shift data ...

Page 182: ...et too large and the movement time exceeds 300 seconds at the specified speed the robot movement will stop in 300 seconds To move the robot further use jog movement once again The robot moves as follows 1 Manual movement when return to origin has been completed 1 When the current position is displayed in pulse units A letter J is displayed on the upper right of the RPB screen n Display shown in pu...

Page 183: ...bot keeps moving The robot stops when the Jog key is released or either of the soft limit or shift coordinate range is reached The robot stops when the Jog key is released or the soft limit is reached The movement distance inching distance is equal to the manual movement speed setting multiplied by 0 01mm or 0 01 deg Example When manual movement speed is 20 Inching distance in mm units 0 20mm If r...

Page 184: ...ned on 1 When the current position is displayed in pulse units Robot movement with the Jog keys is possible 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 ...

Page 185: ...ed on the screen along with a point comment on the selected point number To see the other data scroll the screen with the cursor keys or page keys Scrolls up or down one line at a time Scrolls right 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 edi...

Page 186: ...steps 100 50 20 5 1 F6 COPY Copies point data F7 ERASE Deletes point data F8 UNITCHG Changes the current position display units to mm or pulse F9 VEL Increases manual movement speed for the selected robot group in 1 increments F10 VEL Decreases manual movement speed for the selected robot group in 1 decrements F11 TRACE Moves the arm to the specified point F12 COMMENT Switches to the point comment...

Page 187: ...llows n NOTE Enter point data for both X axis and Y axis If omitted 0 will be automatically entered for that axis The error message Digit number error appears when the data format is wrong Enter it in the correct format To enter the data in joint coordinates pulse units Enter an integer of up to 8 digits Even if the input data is less than 8 digits it will be displayed in 8 digits when the number ...

Page 188: ...ion Cursor key Moves the cursor and scrolls the screen Page key Switches to other screen INS Toggles between Insert mode and Overwrite mode DEL Deletes one character on the cursor position F1 UNDO Restores the point data F3 JUMP Jumps to the specified point number 11 2 1 1 Restoring point data Procedure During point data editing pressing UNDO reverses the last data input and restores the preceding...

Page 189: ...number to obtain point data n Point data teaching 1 When teaching at P8 MANUAL POINT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 EDIT TEACH JUMP VEL VEL COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 2 Use the Jog keys to move the robot arm As the arm moves the current position data on the 7th line on the screen changes 3 When the arm arrives at the target point press TEACH Teach...

Page 190: ...already allotted to the currently selected point number a confirmation message appears on the guideline when TEACH is pressed n Point data teaching 3 MANUAL POINT TEACH 50 MG S0H0X x y z r P7 100 00 250 00 P8 50 00 100 00 P9 122 62 24 54 Overwrite point OK YES NO COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 Press YES to perform the teaching The specified point number data is rewr...

Page 191: ...E When the robot servo is off automatic and manual operation cannot be performed There are two methods for turning on the robot servo One is to use the RPB and the other is to use the dedicated input Refer to 14 UTILITY mode in this chapter or refer to 1 Standard I O interface overview in Chapter 5 Procedure 1 Press the emergency stop button on the RPB 2 Move the robot by hand to the target point ...

Page 192: ... 00 P9 122 62 24 54 Enter point no 100_ COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 2 Enter the point number to jump to and press A jump is made so that the point data is displayed from the designated point number n NOTE Valid point numbers are from 0 to 9999 n Point jump 2 MANUAL POINT 50 MG S0H0X x y z r P100 0 00 0 00 P101 P102 10000 20000 EDIT TEACH JUMP VEL VEL COMNT POS 50...

Page 193: ... 50 MG S0H0X x y z r P30 100 00 250 00 P31 50 00 100 00 P32 122 62 24 54 Copy COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 2 Use to and to enter the point number range for the copy source and the point number for the copy destination in the following format and press copy start number copy end number copy destination number For example to copy the data between P30 and P34 onto th...

Page 194: ...0 00 P31 50 00 100 00 P32 122 62 24 54 30 34 50 Copy OK YES NO COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 3 Press YES to make a copy The point data in the selected range is copied onto the data lines starting from the specified copy destination number Press NO if you want to cancel the copy ...

Page 195: ...int number range in the following format and press erase start number erase end number For example to erase the data between P30 and P34 enter 30 34 and press A confirmation message appears on the guideline n NOTE Valid point numbers are from 0 to 9999 n Erasing point data 2 MANUAL POINT 50 MG S0H0X x y z r P30 100 00 250 00 P31 50 00 100 00 P32 122 62 24 54 30 34 Erase OK YES NO COMNT POS 50 00 1...

Page 196: ...cedure 1 In MANUAL POINT mode press TRACE to switch to AUTO POINT mode 11 2 8 Point comment input and editing Press COMMENT in MANUAL POINT mode The data display on the screen does not change same as MANUAL POINT mode The 5 digit area on the left shows point numbers with the currently selected point number highlighted n NOTE Point comments can be entered for point numbers having no data A point co...

Page 197: ... movement speed for the selected robot group in steps 100 50 20 5 1 F6 COPY Copies point comments F7 ERASE Deletes point comments F8 UNITCHG Changes the current position display units to mm or pulse F9 VEL Increases manual movement speed for the selected robot group in 1 increments F10 VEL Decreases manual movement speed for the selected robot group in 1 decrements F11 FIND Enters the character st...

Page 198: ...T mode An edit cursor appears on the guidline n Entering a point comment 2 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 Comment _ COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 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 if you want to ca...

Page 199: ... 0 00 0 00 0 00 2 Enter the point comment to jump to and press A jump is made to the designated point and its comment is then displayed n Jumping to a point comment display 2 MANUAL POINT COMMENT 50 MG S0H0X x y z r P107 340 05 250 03 340 05 200 05 P108 P109 122 62 24 54 EDIT TEACH JUMP VEL VEL COMNT WAIT_POS 08 POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 11 2 8 4 Copying a point comm...

Page 200: ...t comment 1 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 Copy 7 16 107_ COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 3 A confirmation message appears on the guideline Press YES to make a copy The comments in the selected range are copied onto the data lines starting from the specified copy destination number Press NO if you want to cancel the copy n Copying ...

Page 201: ...e to erase the data between P7 and P16 enter 7 16 and press n Deleting a point comment 1 MANUAL POINT COMMENT 50 MG S0H0X x y z r P7 100 00 250 00 P8 P9 122 62 24 54 Erase 7 16_ COMNT POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 3 A confirmation message appears on the guideline Press YES to erase the point comments The point comments in the specified range are erased Press NO if you want to canc...

Page 202: ...0 00 0 00 0 00 0 00 0 00 0 00 0 00 3 Search starts from the cursor position towards the end of the program and stops at the first matching character string n Searching for a point comment 2 MANUAL POINT COMMENT 50 MG S0H0X x y z r P334 100 00 250 00 P335 P336 122 62 24 54 EDIT TEACH JUMP VEL VEL COMNT WAIT_PICKUP POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 4 To continuously search for another c...

Page 203: ...OINT EDIT mode n NOTE This reset function does not work if an error 9 3 Memory destroyed occurs In this case initialize the memory Procedure 1 Press ERR RST in MANUAL POINT mode A confirmation message appears on the guideline n Resetting a point data error MANUAL POINT 50 MG S0H0X 9 2 Point data destroyed P30 100 00 250 00 P31 50 00 100 00 P32 122 62 24 54 Error reset OK YES NO COMNT POS 50 00 100...

Page 204: ...aximum number of points that can be defined in one pallet is 32767 Data in the point data area is used for pallet definition n NOTE When two robots main and sub robots are specified pallet definitions can be shared between them n Pallet definition 1 P 5 P 3 P 4 P 2 P 1 NZ NX NY Pallet number Point number used Pallet number Point number used PL0 P3996 to P4000 PL10 P3946 to P3950 PL1 P3991 to P3995...

Page 205: ... Switches to other screens F1 EDIT Edits pallet definitions F2 METHOD Sets the pallet definition point by teaching F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F6 COPY Copies pallet definitions F7 ERASE Deletes pallet definitions F9 VEL Increases manual movement ...

Page 206: ... Use to to enter the desired value The maximum number of points per pallet must be within 32767 NX NY NZ n Editing pallet definitions MANUAL PALLET EDIT 50 MG S0H0X PALLET NO PL0 XY Used point P3996 P4000 NX 3 NY 4 NZ 5_ POINT 5 Press to determine the input value 6 To continue editing repeat steps 3 to 5 7 Press to quit editing and return to MANUAL PALLET mode Valid keys and submenu descriptions i...

Page 207: ... r The 3rd line shows the point numbers and point data in the pallet definition Valid keys and submenu descriptions in this mode are shown below Valid keys Menu Function Cursor key Specifies the point data or scrolls the screen F1 EDIT Edits the point in pallet definition F2 TEACH Sets the point in pallet definition by teaching F4 VEL Increases manual movement speed for the selected robot group in...

Page 208: ...122 62 24 54 P 3 98 62 94 54 UNDO POS 50 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 x y z r 2 Use the cursor keys to move the cursor to the position you want edit 3 Use to and to enter the point data 4 Press or cursor up down keys to finish the point data input Press if you want to cancel the point data input 5 To continue editing repeat steps 2 to 4 6 Press to quit editing and return to MA...

Page 209: ...ane or 3 D solid n Pallet definition by teaching 1 MANUAL PALLET METHOD 50 MG S0H0X PALLET NO PL0 XY Select dimension of this pallet 2 D 3 D 4 Move the robot work point to P 1 used in the pallet definition and perform teaching by pressing wWARNING To avoid hazardous situations do not enter the robot movement range when manipulating the robot n NOTE Each pallet is generated outlined with 5 points f...

Page 210: ...he pallet with a positive integer n Pallet definition by teaching 3 MANUAL PALLET METHOD 50 MG S0H0X PALLET NO PL0 XY Enter number of points NX on P 1 P 2 1 1000 ENTER _ 7 Enter the number of points NY and NZ only when 3 D is selected as in step 6 8 A confirmation message then appears after setting the number of points Press YES to determine the setting Press NO if you want to cancel the setting n...

Page 211: ...LET METHOD mode are shown below Valid keys Menu Function F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F8 UNITCHG Switches between the current display units mm or pulses F9 VEL Increases manual movement speed for the selected robot group in 1 increments F10 VEL De...

Page 212: ... COPY and then enter the pallet number where you want to copy the currently selected pallet definition n Copying a pallet definition 1 MANUAL PALLET 50 MG S0H0X PL0 SET PL1 SET PL2 SET PL3 Copy PL NO 3_ POS 50 00 100 00 0 00 0 00 3 A confirmation message then appears in the guideline Press YES to make a copy Press NO if you want to cancel the copy n Copying a pallet definition 2 MANUAL PALLET 50 M...

Page 213: ...e 1 Select the pallet number in MANUAL PALLET mode with the cursor keys 2 Press ERASE A confirmation message then appears asking if the currently selected pallet definition is to be deleted Press YES to delete it Press NO if you want to cancel n Deleting a pallet definition MANUAL PALLET 50 MG S0H0X PL0 SET PL1 SET PL2 SET PL3 SET Erase OK YES NO POS 50 00 100 00 0 00 0 00 ...

Page 214: ...d One fifth of the maximum speed in AUTO mode is equal to the maximum movement speed in MANUAL mode Procedure 1 Press VEL or VEL to change the manual movement speed in steps Each time this key is pressed the speed changes in steps of 1 5 20 50 100 The maximum motor speed is set at 100 2 Press VEL or VEL to change the manual movement speed gradually Each time this key is pressed the speed changes i...

Page 215: ...ion within the robot work area The work area can also be restricted in each direction Up to 10 shift coordinates shift coordinate numbers 0 to 9 can be set to shift the standard coordinates in the X and Y XY plane rotation directions Each shift coordinate can specify the robot operating area n NOTE When two robots are specified the shift data can be shared between them Shift coordinate numbers can...

Page 216: ... Menu Function Cursor key Specifies the shift coordinate number Page key Switches to other screens F1 EDIT Edits the shift coordinates F2 RANGE Sets the shift coordinates range F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F6 METHOD1 Makes setting 1 for shift coor...

Page 217: ...er the data in Cartesian coordinates mm units Enter a number consisting of an integer portion of up to 5 digits and having 2 or less places below the decimal point n NOTE Enter point data for both X axis and Y axis If omitted 0 will be automatically entered for that axis n Editing shift coordinate data MANUAL SHIFT EDIT 50 MG S1H0X x y z r S0 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 S1 300 00 ...

Page 218: ...for the currently selected robot group Valid keys and submenu descriptions in MANUAL SHIFT EDIT mode are shown below Valid keys Menu Function F1 UNDO Reverses the last data input and restores the preceding data 11 5 1 1 Restoring shift coordinates Procedure 1 During shift coordinate data editing pressing UNDO reverses the last data input and restores the preceding data This function is enabled onl...

Page 219: ...PX mm dPY mm dPZ mm dPR degrees Minus side SMn dMX mm dMY mm dMZ mm dMR degrees n 0 to 9 n NOTE n is a shift coordinate number Example SP1 Plus side work area of shift coordinate S1 SM 2 Minus side work area of shift coordinate S2 When the plus and minus sides on an axis x y z r are both at 0 00 the work area on that axis is not be restricted n Shift coordinate range X X Y Y dPX dMX d P Y d M Y To...

Page 220: ... to separate between the data for x and y The data input formats are as follows To enter the data in Cartesian coordinates mm units Enter a number consisting of an integer portion of up to 5 digits and having 2 or less places below the decimal point n NOTE Enter point data for both X axis and Y axis If omitted 0 will be automatically entered for that axis n Editing shift coordinate range 2 MANUAL ...

Page 221: ...shift coordinates for the currently selected robot group Valid keys and submenu descriptions for editing shift coordinates range are shown below Valid keys Menu Function F1 UNDO Reverses the last data input and restores the preceding data 11 5 2 1 Restoring a shift coordinate range Procedure 1 During editing of shift coordinate range data pressing UNDO reverses the last data input and restores the...

Page 222: ...Y Y Point 1 1st P Point 2 2nd P Procedure 1 In MANUAL SHIFT mode select the shift coordinate number with the cursor key 2 Press METHOD1 to enter MANUAL SHIFT METHOD1 mode n Shift coordinate setting method 1 2 MANUAL SHIFT METHOD1 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 the teach point 1 Po...

Page 223: ...ove arm to P 2 and press ENTER key 1st P 214 45 15 01 2nd P POS 214 45 15 01 0 00 0 00 0 00 VEL VEL 5 Determine the teach point 2 with the same procedure as for point 1 6 Select the plus minus direction of point 1 towards point 2 by using X X Y or Y n Coordinate direction setting MANUAL SHIFT METHOD1 50 MG S0H0X Press F key to get Direction X 1st P 2nd P X X X Y Y x y z r 7 When the coordinate dir...

Page 224: ...peed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F8 UNITCHG Switches between the current display units mm or pulses F9 VEL Increases manual movement speed for the selected robot group in 1 increments F10 VEL Decreases manual movement speed for the selected robot group in 1 decrements ...

Page 225: ...n MANUAL SHIFT mode select the shift coordinate number with the cursor key 2 Press METHOD2 to enter MANUAL SHIFT METHOD2 mode n Shift coordinate 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 the teach point 1 Position it accurately wWARNING The robot start...

Page 226: ... P line n Shift coordinate setting MANUAL SHIFT METHOD2 50 MG S0H0X x y z r Enter the point data mm 1st P _ 0 00 0 00 2nd P POS 13 00 150 00 0 00 0 00 VEL VEL 5 Use to and to enter the point data x y z and press n NOTE Enter all point data x y z x y If omitted 0 will be automatically entered for that axis cCAUTION If teach points and input points are not accurately determined calculation results w...

Page 227: ...n then returns to MANUAL SHIFT mode Valid keys and submenu descriptions in MANUAL SHIFT METHOD2 mode are shown below Valid keys Menu Function F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F8 UNITCHG Switches between the current display units mm or pulses F9 VEL In...

Page 228: ...nd definitions can be set to change the robot working points with standard coordinate settings to the working points of the hand installed to the 2nd arm Y axis or the R axis This function allows movement using different hands towards point data in the same Cartesian coordinate format Data format for hand definition Hn aaaaaa bbbbbb cccccc R main robot n 0 to 3 sub robot n 4 to 7 1st parameter aaa...

Page 229: ...shown below Valid keys Menu Function Cursor key Specifies the hand definition number F1 EDIT Edits the hand definition F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F6 METHOD1 Makes setting 1 for hand coordinates F8 UNITCHG Switches between the current display uni...

Page 230: ...offset amount of hand n with a real number unit mm 2nd parameter Specify the Y axis offset amount of hand n with a real numbers unit mm 3rd parameter Specify the Z axis offset amount of hand n with a real number unit mm 4th parameter No setting for R n Hands attached to 2nd arm Cartesian type 1 Y X 100 00mm 100 00mm HAND 1 HAND 0 n Hands attached to 2nd arm Cartesian type 2 MANUAL HAND 50 MG S0H1X...

Page 231: ...0 H1 _ 0 00 100 00 0 00 R H2 90 00 100 00 100 00 R H3 8000 100 00 100 00 POS 600 00 0 00 0 00 0 00 UNDO 3 Use the cursor key to move the cursor to the position you want to edit 4 Use to and to enter the data n 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 or curs...

Page 232: ...e current hand definition Valid keys and submenu descriptions in MANUAL HAND EDIT mode are shown below Valid keys Menu Function F1 UNDO Reverses the last data input and restores the preceding data 11 6 1 1 Restoring hand definitions Procedure 1 During hand definition editing pressing UNDO reverses the last data input and restores the preceding data This function is enabled only on lines that are n...

Page 233: ...number 2 Press METHOD1 to enter MANUAL HAND METHOD1 mode n Hand setting 1 1 MANUAL HAND METHOD1 50 MG S0H0X 1 2 3 4 Move arm to P 1 and press ENTER key 1st P 2nd P POS 600 00 0 00 0 00 0 00 VEL VEL 3 Use the Jog keys to move the robot working point to point 1 Position it accurately wWARNING The robot starts to move when a Jog key is pressed To avoid danger do not enter the robot movement range 4 P...

Page 234: ...nd submenu descriptions in MANUAL HAND METHOD1 mode are shown below Valid keys Menu Function F4 VEL Increases manual movement speed in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed in steps 100 50 20 5 1 F8 UNITCHG Switches between the current display units mm or pulses F9 VEL Increases manual movement speed for the selected robot group in 1 increments F10 VEL Decreases manual movemen...

Page 235: ...right of the RPB screen are switched to X or J or T However T Tool coordinate mode can be selected only when hand data for the R axis is selected hand definition is made n 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 consisting...

Page 236: ...ated error occurred on the axis 17 73 D Resolver wire breakage 17 91 D Cannot perform ABS reset etc b Absolute battery wire breakage or voltage drop was detected by the controller c Cable connecting to the robot unit from the robot Controller was disconnected This is the status when shipped from the factory d Robot generation was changed e Parameters were initialized f Axis related parameters such...

Page 237: ... M6 no axis M3 M4 M1 M2 M3 M4 M5 OK no axis no axis Axis Absolute Reset Status Origin Detection Method Parameter Axis 1 Origin incomplete Sensor method Axis 2 Return to origin complete Stroke end method No other axis The above RPB screen shows the return to origin is incomplete on axis 1 and axis 2 but complete on axis 4 The robot controller is in origin incomplete status since not all axes perfor...

Page 238: ...hile in servo on or direct movement while in servo off to move to a position where absolute reset can be performed wWARNING The robot starts to move when a movement key is pressed To avoid danger do not enter the robot movement range Valid keys Menu Function F1 ADJ Moves the selected axis in the plus direction to the first position where absolute reset is possible F2 ADJ Moves the selected axis in...

Page 239: ... Machine reference Plus direction Range in which absolute reset can be made 44 to 56 0 25 50 3 1 2 75 0 25 50 75 0 Absolute reset position and 0 pulse position When absolute reset is performed at position A position B machine reference 38 is reset as the 0 pulse position This means that the robot will move to the 0 pulse position after performing absolute reset with the servo turned on wWARNING Th...

Page 240: ...ss M1 to M4 to enter MANUAL RST ABS mode on each axis The selected axis appears highlighted on the RPB screen n Absolute reset of each axis mark method 2 This screen shows the following information MANUAL RST ABS M1 50 MG SOHOJ Align axes with MARK Press ENTER M1 NG 6 M5 no axis M2 72 M6 no axis M3 M4 OK ADJ ADJ VEL VEL no axis no axis Axis Absolute Reset Status Machine Reference Setting Axis 1 Or...

Page 241: ...oller is in origin incomplete due to some kind of problem perform absolute reset on the axis which was unable to return to origin After absolute reset always check if the axis can move to the same position as before origin incomplete n Absolute reset of each axis mark method 3 MANUAL RST ABS M1 50 MG SOHOJ Align axes with MARK Press ENTER M1 NG 50 M5 no axis M2 M6 no axis no axis no axis M3 M4 OK ...

Page 242: ...50 M5 no axis M2 M6 no axis no axis no axis M3 M4 OK 72 Reset ABS OK YES NO 4 If the servo is on when performing absolute reset the robot will move to the 0 pulse position after reset wWARNING The robot starts to move slightly when absolute reset is performed while the servo is on To avoid danger do not enter the robot movement range 5 When all axes have returned to origin the dashed line on the m...

Page 243: ...ection to a position where absolute reset is performed after checking that absolute reset is possible When the Origin detection method parameter is set to the sensor method Each axis moves in the specified return to origin direction When the origin sensor detects the origin the axis moves at low speed to a position where absolute reset is performed after checking that absolute reset is possible Pr...

Page 244: ...OHOJ Machine reference M2 72 M1 M2 M3 M4 M5 RST ABS 3 When all axes have returned to origin the dashed line on the message line changes to a solid line and return to origin is now complete Then press an axis movement key and the RPB screen displays the current position of each axis 4 To cancel the return to origin operation press In this case the message Origin Incomplete then appears on the messa...

Page 245: ...ssible F4 VEL Increases manual movement speed for the selected robot group in steps 1 5 20 50 100 F5 VEL Decreases manual movement speed for the selected robot group in steps 100 50 20 5 1 F9 VEL Increases manual movement speed for the selected robot group in 1 increments F10 VEL Decreases manual movement speed for the selected robot group in 1 decrements Key operations to move to a position where...

Page 246: ...the servo turned on wWARNING The robot starts to move when absolute reset is performed To avoid danger do not enter the robot movement range n Absolute reset position and 0 pulse position Minus direction Machine reference Plus direction Range in which absolute reset can be made 44 to 56 0 25 50 75 0 B A Procedure n Absolute reset of all axes mark method 1 MANUAL RST ABS 50 MG SOHOJ Press F key to ...

Page 247: ...omplete 6 Axis 2 Return to origin complete 72 No other axis 2 The axis using the mark method appears highlighted on the LCD screen Use the cursor keys to select the axis Use the Jog keys or ADJ and ADJ to move the selected axis to a position for performing absolute reset Set at this time so that the machine reference is between 44 to 56 wWARNING The robot starts to move when a Jog key or movement ...

Page 248: ...n error message 17 91 D Cannot perform ABS reset appears if the machine reference is not within a range of 44 to 56 Absolute reset operation then terminates as an error If the robot controller is in origin incomplete due to some kind of problems perform absolute reset on the axis which was unable to return to origin After absolute reset always check if the axis can move to the same position as bef...

Page 249: ...eset of all axes mark method 5 Reset ABS OK MANUAL RST ABS ALL 50 MG SOHOJ Starting origin search YES NO 6 After return to origin is complete the machine reference for axes using the stroke end or sensor method is displayed cCAUTION If the robot controller is in origin incomplete due to some kind of problems perform absolute reset on the axis which was unable to return to origin After absolute res...

Page 250: ...splay the current position of each axis cCAUTION If absolute reset does not end correctly after performing absolute reset on all axes check the return to origin status on each axis Then try absolute reset on all axes once again or try absolute reset on each individual axis until you can successfully set the return to origin 8 To cancel return to origin operation press In this case the message Orig...

Page 251: ...unctions are enabled on SCARA robots by setting the standard coordinates n NOTE On Cartesian type robots there is no need to set the standard coordinates Moving robot arm tip at right angles Using pallet definition SHIFT coordinates and HAND definition Using commands requiring coordinate conversion such as linear circular interpolation and pallet movement commands Special parameter setting is requ...

Page 252: ...stering user function keys earlier in this chapter Procedure 1 Press in MANUAL mode and the menus character strings shown highlighted from to or to appear when assigned in advance Each character string is displayed in up to 7 characters from the beginning 2 Press the desired function key and the preassigned task will be executed just as if using online commands wWARNING The robot starts to move wh...

Page 253: ...on When not highlighted it means the servomotor power is off w Version display Shows the version number of software currently installed in the robot controller e Message line If an error occurs the error message appears here r Online command execution mark When an online command is being executed a mark appears in the second column on the second line This mark changes to a dot when the online comm...

Page 254: ...talled The number in parentheses indicates a station number n cCAUTION See 7 I O connections in Chapter 3 for a definition of NPN and PNP specifications For detailed information about serial I O units such as CC Link units Ethernet and YC Link refer to descriptions in their user s manual When set to SAFE mode the following display appears Display Meaning safemode Operation mode is set to SAFE mode...

Page 255: ...de 2 Press ROBOT AXIS OTHERS or OP BRD to select the parameter type Items for the selected parameter type are displayed n SYSTEM PARAM mode SYSTEM PARAM V9 00 Robot TXYx A M1 aTx T6 12 M5 no axis M2 aTy T6 12 M6 no axis M3 M4 ROBOT AXIS OTHERS OP BRD no axis no axis a means absolute specifications 3 Select a parameter item with the cursor keys Or press JUMP and enter a parameter number to jump to ...

Page 256: ...r lower limit value Also refer to 12 1 1 Robot parameters 12 1 2 Axis parameters 12 1 3 Other parameters and 12 1 4 Parameters for option boards 6 Press to quit the parameter editing Valid keys and submenu descriptions in SYSTEM PARAM mode are shown below Valid keys Menu Function F1 ROBOT Sets robot parameters for robot operation F2 AXIS Sets axis parameters for robot operation F3 OTHERS Sets othe...

Page 257: ...ion OUT position pulse OUTPOS 1 to 6144000 Robot type pulse 7 Arch position Arch position pulse ARCH 1 to 6144000 Robot type pulse 8 Return to origin speed Origin speed pulse ms ORGSPD 1 or more robot type 20 pulse ms 9 Acceleration during manual mode Manual accel MANACC 1 to 100 100 10 Origin position shift Origin shift pulse SHIFT 6144000 to 6144000 0 pulse 11 Arm length Arm length mm ARMLEN 0 t...

Page 258: ... language JPN ENG DSPLNG JAPANESE ENGLISH ENGLISH 2 Data display length Data display length DATLEN 6 char 8 char 6 char 3 Parameter display unit Parameter display unit PDUNIT PULSE MM DEG PULSE 4 DO output at emergency stop DO cond on EMG EMGCDO RESET HOLD HOLD 5 Incremental mode control Incremental Mode control INCMOD VALID INVALID INVALID 6 DI noise canceling DI noise filter SCANMD VALID INVALID...

Page 259: ...lease consult with us beforehand if these parameter No 4 onward must be changed n NOTE As with the RCX14 series the RCX22 series allows defining the main sub groups and main sub robots However the RCX22 series basically does not require axis definition since it is a two axis controller n Robot parameter setting SYSTEM PARAM ROBOT V9 00 1 Tip weight kg MR 5 0 200 Enter 5 _ Valid keys and submenu de...

Page 260: ...uxiliary axis tip weight use the axis tip weight settings of axis parameters cCAUTION Factors such as optimal speed are set automatically according to this parameter value Setting to a weight lower than the actual axis tip weight might adversely affect the robot body so be sure to enter a suitable value Procedure 1 Select 1 Tip weight kg in SYSTEM PARAM ROBOT mode 2 Press EDIT 3 Select the paramet...

Page 261: ... sequence from axis 1 to axis 6 If an axis number is not set then return to origin for that axis number is performed last in the return to origin sequence n NOTE Perform origin return first for those axes that might interfere with surrounding equipment n NOTE Origin sequence includes both the robot axes and auxiliary axes Procedure 1 Select 2 Origin sequence in SYSTEM PARAM ROBOT mode 2 Press EDIT...

Page 262: ...R direction orientation is automatically set when the parameters are initialized If the R axis direction has been set held and the arm tip is moved in the X or Y directions the R axis automatically rotates to maintain its direction This is effective only on SCARA robots n NOTE This parameter is valid only on SCARA robots n NOTE This function is invalid if there is no R axis or the R axis is an aux...

Page 263: ... consult with us beforehand if these parameter No 18 onward must be changed n NOTE As with the RCX14 series the RCX22 series allows defining the main sub groups and main sub robots However the RCX22 series basically does not require axis definition since it is a two axis controller n Axis parameter setting SYSTEM PARAM AXIS V9 00 1 Accel coefficient M1 100 M2 100 1 100 Enter _ 100 Valid keys and s...

Page 264: ...he robot arm tip shakes or sways during acceleration lower this value to suppress the shaking cCAUTION Lowering the acceleration coefficient lengthens the time needed to stop when was pressed or an interlock was triggered Do not use a drastically lowered acceleration coefficient Procedure 1 Select 1 Accel coefficient in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the cursor keys n S...

Page 265: ... the robot arm tip shakes or sways when the robot stops lower this value to suppress the shaking cCAUTION Lowering the deceleration rate lengthens the time needed to stop when was pressed or an interlock was triggered Do not use a drastically lowered deceleration rate Procedure 1 Select 2 Decel rate in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the cursor keys n Setting the Decel r...

Page 266: ... installed in the robot or available as options cCAUTION This is a critical parameter for establishing the robot operating range so set it to a correct value On SCARA robots make sure that the total movement range of the and software limits for X axis and Y axis does not exceed 360 degrees If the setting exceeds 360 degrees then errors might occur in the coordinate conversion results Software limi...

Page 267: ... be shortened The tolerance range set for the selected axis is displayed in converted units on the 3rd line of the RPB screen cCAUTION This is a critical parameter for determining the robot movement near the target position so set it to a correct value If the tolerance range was reduced to a drastically small value then the time needed for robot positioning might vary The maximum tolerance value i...

Page 268: ...ter the value with to and and then press If the value you input was a real number number containing a decimal point then the tolerance range is converted into pulse units 5 Repeat the above steps 3 and 4 if necessary 6 Press to quit the edit mode ...

Page 269: ...ift to the next command line can be shortened The robot is verified to have entered the tolerance range before executing the movement command so the previous positioning operation will end even when executing consecutive PTP operations The value set for the selected axis is displayed in converted units on the 3rd line of the RPB screen cCAUTION When the tolerance range is larger than the Out posit...

Page 270: ...mode 4 Enter the value with to and and then press If the value you input was a real number number containing a decimal point then it is converted into pulse units 5 Repeat the above steps 3 and 4 if necessary 6 Press to quit the edit mode ...

Page 271: ...be shortened by making this value larger since there is a greater overlap for axis operation The value set for the selected axis is displayed in converted units on the 3rd line of the RPB screen cCAUTION The arch specified axis may sometimes reach the target position faster than the other axes if the arch position is large So set an accurate value for the arch position Movement may be along differ...

Page 272: ...PARAM AXIS V9 00 7 Arch position pulse 0 56mm M1 2000 M2 2000 1 6144000 Enter _ 2000 4 Enter the value with to and and then press If the value you input was a real number number containing a decimal point then it is converted into pulse units 5 Repeat the above steps 3 and 4 if necessary 6 Press to quit the edit mode ...

Page 273: ...d cCAUTION The maximum return to origin speed is determined by the motor Procedure 1 Select 8 Origin speed pulse ms in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the cursor keys n Setting the Origin speed pulse ms SYSTEM PARAM AXIS V9 00 8 Origin speed pulse ms M1 20 M2 20 1 Enter _ 20 4 Enter the value with to and then press 5 Repeat the above steps 3 and 4 if necessary 6 Press to...

Page 274: ...OTE If the robot arm tip shakes or sways during manual movement acceleration lower this value to suppress the shaking cCAUTION Lowering the acceleration coefficient lengthens the time needed to stop when was pressed or an interlock was triggered Do not use a drastically lowered acceleration coefficient Procedure 1 Select 9 Manual accel in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with ...

Page 275: ...sition error and the A pulses are the origin position before position error then enter a value of A B cCAUTION Origin shift is a critical parameter for determining the robot position so set it to a correct value Change this parameter only when necessary Origin return will be incomplete if this parameter is changed This parameter is enabled after absolute reset Procedure 1 Select 10 Origin shift pu...

Page 276: ... On XY robots and MULTI type robots setting the axis length also automatically determines the weight of each axis This is set to 0 when initialized Procedure 1 Select 11 Arm length mm in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the cursor keys n Setting the Arm length mm SYSTEM PARAM AXIS V9 00 11 Arm length mm M1 200 00 M2 200 00 0 10000 Enter _ 200 00 4 Enter the value with to ...

Page 277: ...set pulses Angle formed by R axis origin and X axis on standard coordinates unit pulses The offset is determined automatically when the standard coordinates are set cCAUTION When some value including 0 has been entered for this parameter it means the settings are in standard coordinates Procedure 1 Select 12 Offset pulse in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the cursor keys...

Page 278: ... type robots set the robot arm tip weight cCAUTION Optimal acceleration and other items are automatically set according to this parameter value The robot body may therefore be adversely affected if set to a lower value than the actual axis tip weight so be sure to enter a correct value Procedure 1 Select 13 Axis tip weight kg in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the cursor...

Page 279: ...uch as with mating marks Axis specified as the mark does not perform return to origin cCAUTION YAMAHA can accept no liability from problems arising due to changing the return to origin method without consulting YAMAHA beforehand Return to origin will be incomplete if this parameter is changed Procedure 1 Select 14 Origin method in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the curs...

Page 280: ... plus direction cCAUTION YAMAHA can accept no liability from problems arising due to changing the return to origin direction without consulting YAMAHA beforehand Return to origin will be incomplete if this parameter is changed Procedure 1 Select 15 Origin direction in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the parameter with the cursor keys n Setting the Origin direction SYSTEM PARAM AXIS V9...

Page 281: ...eter make sure the servo is off n NOTE This parameter cannot be changed while servo is on cCAUTION YAMAHA can accept no liability from problems arising due to changing the axis polarity without consulting YAMAHA beforehand Return to origin will be incomplete if this parameter is changed Procedure 1 Select 16 Motor direction in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the axis with the cursor k...

Page 282: ...parameter it is necessary to put the servo in the OFF status For details about the limitless motion refer to the programming manual Procedure 1 Select 17 Limitless motion in SYSTEM PARAM AXIS mode 2 Press EDIT 3 Select the parameter with the cursor keys n Setting the Limitless motion SYSTEM PARAM AXIS V9 39 17 Limitless motion M1 VALID M4 INVALID M2 INVALID M3 INVALID INVALID VALID 4 Press INVALID...

Page 283: ...y language JPN ENG ENGLISH 2 Data display length 6char 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID EDIT JUMP Valid keys and submenu descriptions for editing other parameters are shown below Valid keys Menu Function Cursor key Moves the cursor up and down Page key Switches to other screens F1 EDIT Edits the parameter F2 JUMP Moves the cursor to the designated par...

Page 284: ...Procedure 1 Select 1 Display language JPN ENG in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes n Setting the display language SYSTEM PARAM OTHERS V9 08 1 Display language JPN ENG ENGLISH 2 Data display length 6char 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID JAPANES ENGLISH 3 Press JAPANESE or ENGLISH to set the language to display 4 Press ...

Page 285: ...ameters are initialized Procedure 1 Select 2 Data display length in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes n Setting the Data display length SYSTEM PARAM OTHERS V9 08 1 Display language JPN ENG ENGLISH 2 Data display length 6char 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID 6char 8char 3 Press 6char or 8char 4 Press to quit the edit m...

Page 286: ...ialized Procedure 1 Select 3 Parameter display units in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes n Setting the parameter display units SYSTEM PARAM OTHERS V9 08 1 Display language JPN ENG ENGLISH 2 Data display length 6char 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID PULSE MM DEG 3 Press PULSE or MM DEG 4 Press to quit the edit mode ...

Page 287: ...ers are initialized cCAUTION This parameter is invalid if the sequence program starts up Procedure 1 Select 4 DO cond on EMG in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes n Setting DO cond on EMG SYSTEM PARAM OTHERS V9 08 1 Display language JPN ENG ENGLISH 2 Data display length 6char 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID RESET HOLD...

Page 288: ...erefore always be performed Enable this parameter if the controller does not have an absolute battery installed cCAUTION This parameter must be disabled invalid if the robot has an axis using the mark method for origin detection Procedure 1 Select 5 Incremental Mode in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes n Setting Incremental Mode SYSTEM PARAM OTHERS V9 08 INVALID V...

Page 289: ...be longer than 25msec since the controller does not respond to any signal input shorter than 25msec This prevents the controller from responding to noise inputs Procedure 1 Select 6 DI noise filter in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes n Setting DI noise filter SYSTEM PARAM OTHERS V9 08 INVALID VALID 2 Data display length 6char 3 Parameter display unit PULSE 4 DO c...

Page 290: ...ode 2 Press EDIT The function key menu changes Setting TRUE condition SYSTEM PARAM OTHERS V9 08 1 not 0 3 Parameter display unit PULSE 4 DO cond on EMG HOLD 5 Incremental Mode INVALID 6 DI noise filter VALID 7 TRUE condition 1 3 Press 1 or not 0 to change the setting Setting Meaning 1 default setting When conditional expression is a numeric expression the result is TRUE if the expression value is ...

Page 291: ...d the hand installed on the R axis is specified by hand data If the robot does not have an R axis or the hand installed on the R axis is not specified by hand data the unit system will be automatically changed to X mm after start up even if T mm is selected by parameter Procedure 1 Select 8 Unit select in SYSTEM PARAM OTHERS mode 2 Press EDIT The function key menu changes Setting Unit select SYSTE...

Page 292: ...AM OTHERS V9 08 OFF 20 21 22 23 5 Incremental Mode INVALID 6 DI noise filter VALID 7 TRUE condition 1 8 Unit select Normal 9 Error output DO SO Off 3 To change the setting select the desired setting with OFF to 27 Ports 24 to 27 are assigned to to Setting Meaning OFF default setting Does not output errors 20 to 27 Outputs errors from the specified port DO and SO 4 Press to quit the edit mode Error...

Page 293: ...n interruption This parameter s factory setting when shipped is Keep Procedure 1 Select 10 MOVEI DRIVEI start position in SYSTEM PARAM OTHERS mode 2 Press EDIT Setting MOVEI DRIVEI start position ＳＹＳＴＥＭＰＡＲＡＭＯＴＨＥＲＳＶ９１３９ＥｒｒｏｒｏｕｔｐｕｔＤＯＳＯＯｆｆ８ＵｎｉｔｓｅｌｅｃｔＮｏｒｍａｌ７ＴＲＵＥｃｏｎｄｉｔｉｏｎ１６ＤＩｎｏｉｓｅｆｉｌｔｅｒＶＡＬＩＤＫｅｅｐＲｅｓｅｔ１０ＭＯＶＥＩＤＲＩＶＥＩｓｔａｒｔｐｏｓＫｅｅｐ 3 Press Keep or Reset Setting Meaning Keep defa...

Page 294: ... the RCX141 142 controllers NO The controller always starts with servo off when the power is turned on Compatibility mode for the RCX143 144 controllers Procedure 1 Select 11 Servo on when power on in SYSTEM PARAM OTHERS mode 2 Press EDIT Setting Servo on when power on ＳＹＳＴＥＭＰＡＲＡＭＯＴＨＥＲＳＶ９ 2 ３９ＥｒｒｏｒｏｕｔｐｕｔＤＯＳＯＯｆｆ１０ＭＯＶＥＩＤＲＩＶＥＩｓｔａｒｔｐｏｓＫｅｅｐ１１ＳｅｒｖｏｏｎｗｈｅｎｐｏｗｅｒｏｎＹＥＳ８ＵｎｉｔｓｅｌｅｃｔＮｏｒ...

Page 295: ...eld down for a certain time approx 0 2 sec after inching movement is complete JOG online command Jog movement command remote command Switches to continuous movement when a certain time approx 0 2 sec has elapsed after inching movement is complete MODE1 Continuous movement begins immediately after inching movement is complete Manual movement Switches to continuous movement immediately after inching...

Page 296: ... in the sequence execution flag setting The outputs are reset When compile ended successfully in PROGRAM mode When a program was compiled in AUTO mode and the compile ended successfully When RESET was executed in AUTO mode In AUTO mode when the dedicated input signal DI15 or SI15 Program reset input was turned on while the program was stopped See 1 7 Dedicated I O signals in Chapter 5 When either ...

Page 297: ...input signals in Chapter 5 When either of the following was initialized in SYSTEM INIT mode 1 Program memory SYSTEM INIT MEMORY PROGRAM 2 All memories SYSTEM INIT MEMORY ALL When the SWI command was executed by DIRECT in AUTO mode When an online command RESET INIT PGM INIT MEM INIT ALL or SWI was executed When the HALT or SWI statement was executed in the program Procedure 1 Select 13 DO cond on P...

Page 298: ...s always set to INVALID each time the power to the controller is turned on cCAUTION If this parameter is set to VALID then misspellings in the parameter file cannot be detected Do not use this function except for cases in which you must load the parameters of a new version into a controller of an earlier version Procedure 1 Select 15 Skip undefined parameters in SYSTEM PARAM OTHERS mode 2 Press ED...

Page 299: ...a network board Ethernet there are 4 parameters including the parameter to enable or disable the board n NOTE For detailed information on serial I O units such as CC Link Ethernet and YC Link refer to their respective manuals On controllers with a DeviceNet board installed and from Ver 9 08 onwards there are 4 parameters to be set Earlier version controllers require 3 parameters to be set No param...

Page 300: ...ndicate a station number n and a communication speed m D_Net n m A DeviceNet unit is installed Letters in parentheses indicate a MAC ID number n and communication speed m Profi n m A PROFIBUS unit is installed Letters in parentheses indicate a station address n and communication speed m Network E_Net An Ethernet unit is installed YC Link YCLnk Mn A YC Link is installed The number in parentheses in...

Page 301: ... power supply is connected to the DIO board This parameter automatically changes to VALID when the 24V power supply is connected 2 IO cmd DI05 when ID 1 Sets whether to use the dedicated input DI05 IO command run function This is available only for the DIO board with ID 1 Procedure 1 In SYSTEM PARAM OP BRD mode select DIO_N n or DIO_P n and press SELECT 2 Press EDIT n Option DIO setting SYSTEM PAR...

Page 302: ...th parameter 3 When parameter 4 is set to Small the remote command cannot be used although this parameter can be set to VALID The I O commands can be used but use of them is limited partly 3 Output MSG to SOW 1 Sets whether to output an error number to word information SOW 1 When set to VALID the error number will be output to SOW 1 if an error occurs This parameter cannot be set to VALID simultan...

Page 303: ... board and press SELECT 2 Select the 1 Serial IO parameter with the cursor keys 3 Press EDIT n Serial IO setting SYSTEM PARAM OP BRD V9 08 1 Serial IO VALID 2 Remote cmd IO cmd SI05 INVALID 3 Output MSG to SOW 1 INVALID 4 IO size Large INVALID VALID 4 Press INVALID or VALID to change the setting 5 Press to end the setting ...

Page 304: ...and press SELECT 2 Select the 2 Remote cmd IO cmd SI05 parameter with the cursor keys 3 Press EDIT n Remote cmd IO cmd SI05 setting SYSTEM PARAM OP BRD V9 08 1 Serial IO VALID 2 Remote cmd IO cmd SI05 INVALID 3 Output MSG to SOW 1 INVALID 4 IO size Large INVALID VALID 4 Press INVALID or VALID to change the setting 5 Press to end the setting ...

Page 305: ...d and press SELECT 2 Select the 3 Output MSG to SOW 1 parameter with the cursor keys 3 Press EDIT n Output MSG to SOW 1 setting SYSTEM PARAM OP BRD V9 08 1 Serial IO VALID 2 Remote cmd IO cmd SI05 INVALID 3 Output MSG to SOW 1 INVALID 4 IO size Large INVALID VALID 4 Press INVALID or VALID to change the setting 5 Press to end the setting ...

Page 306: ...nels is the same as the Large IO size setting Procedure 1 In SYSTEM PARAM OP BRD mode select the serial I O option board and press SELECT 2 Select the 4 IO size parameter with the cursor keys 3 Press EDIT n IO size setting SYSTEM PARAM OP BRD V9 08 1 Serial IO VALID 2 Remote cmd IO cmd SI05 INVALID 3 Output MSG to SOW 1 INVALID 4 IO size Large Large Small 4 Press Large to use 24CH each of input ou...

Page 307: ...D the Ethernet can be used When set to INVALID Ethernet cannot be used 2 IP address Sets the IP address 3 Subnet mask Sets the subnet mask 4 Gateway Sets the gateway 5 Communication mode Sets the communication mode online offline Online commands can be run only in the online mode n NOTE The communication mode parameter is applicable to a controller of Ver 9 27 onwards The communication mode parame...

Page 308: ...lt with the network administrator for the IP address subnet mask and gateway settings n Network setting 3 SYSTEM PARAM OP BRD SELECT V9 00 1 board condition VALID 2 IP address 3 Subnet mask 4 gateway 5 port No 192 168 0 2 255 255 255 0 192 168 0 1 23 EDIT JUMP 3 The currently set parameters are displayed When changing the Board condition parameter press INVALID to disable the Ethernet unit or pres...

Page 309: ...efer to Chapter 7 RS 232C interface Procedure 1 Press CMU in SYSTEM mode The communication parameter screen appears n Communication parameter screen SYSTEM CMU V9 00 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 JUMP and enter a parameter number to jump to that parameter item Page keys can be also used 3 Pr...

Page 310: ... the guideline 5 Press to quit the setting To continue selecting other items use the cursor keys Valid keys and submenu descriptions in SYSTEM CMU mode are shown below Valid keys Menu Function Cursor key Moves the cursor up and down Page key Switches to other screens F1 EDIT Edits the parameter F2 JUMP Moves the cursor to the designated parameter ...

Page 311: ...nged with either ONLINE or OFFLINE statements in robot language Procedure 1 Select 1 CMU mode in SYSTEM CMU mode 2 Press EDIT The function key menu changes n Setting the CMU mode SYSTEM CMU V9 00 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 OFFLINE or ONLINE 4 Press to quit the setting To continue selecting other ite...

Page 312: ... bit length was set to 7 bits Procedure 1 Select 2 Data bits in SYSTEM CMU mode 2 Press EDIT The function key menu changes n Setting the Data bits SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 7 8 3 Select the data bits with 7 or 8 4 Press to quit the setting To continue selecting other items use the cursor keys ...

Page 313: ...ently occur set a lower communication speed Procedure 1 Select 3 Baud rate in SYSTEM CMU mode 2 Press EDIT The function key menu changes n Setting the Baud rate SYSTEM CMU V9 00 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 4800 through 57600 4 Press to quit the setting To continue selecting other items use the cu...

Page 314: ...ntly occur Procedure 1 Select 4 Stop bit in SYSTEM CMU mode 2 Press EDIT The function key menu changes n Setting the Stop bit SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 1 2 3 Select the stop bit length with 1 or 2 4 Press to quit the setting To continue selecting other items use the cursor keys ...

Page 315: ...cedure 1 Select 5 Parity in SYSTEM CMU mode 2 Press EDIT The function key menu changes n Setting the Parity SYSTEM CMU V9 00 1 CMU mode ONLINE 2 Data bits 8 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD NON ODD EVEN 3 Select the parity check with NON ODD or EVEN 4 Press to quit the setting To continue selecting other items use the cursor keys ...

Page 316: ... code in SYSTEM CMU mode 2 Press EDIT The function key menu changes n Setting the Termination code SYSTEM CMU V9 00 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 6 Termination code CR 7 Flow control Xon Xoff CR CRLF 3 Select the line feed with CR or CRLF 4 Press to quit the setting To continue selecting other items use the cursor keys ...

Page 317: ...a omissions may occur if flow control is set to NO Procedure 1 Select 7 Flow control in SYSTEM CMU mode 2 Press EDIT n Flow control setting SYSTEM CMU V9 00 3 Baud rate 9600 4 Stop bit 1 5 Parity ODD 6 Termination code CR 7 Flow control XonXoff XonXoff RTS CTS NO 3 Set flow control with XonXoff to NO 4 Press to end the setting ...

Page 318: ...nd parameters relating to double carrier type robots Procedure 1 In SYSTEM mode press OPTION to enter SYSTEM OPTION mode 2 In SYSTEM OPTION mode press a key from POS OUT to W CARRY to show the parameter items n OPTION parameter setting SYSTEM OPTION V9 00 POS OUT SERVICE SIO W CARRY Parameters can be edited by entering data with the number keys or by selecting the function keys Refer to each param...

Page 319: ...22 DO SO Port No DO 20 to 27 SO 20 to 27 Controllers of Ver 9 22 onwards DO SO Port No DO 20 to 27 30 to 37 40 to 47 50 to 57 60 to 67 70 to 77 100 to 107 110 to 117 120 to 127 130 to 137 140 to 147 150 to 157 SO 20 to 27 30 to 37 40 to 47 50 to 57 60 to 67 70 to 77 100 to 107 110 to 117 120 to 127 130 to 137 140 to 147 150 to 157 DO110 to DO157 do not exist as hardware so these are not output to ...

Page 320: ...ror occurred then turns off Automatic operation cannot be performed until the error is cleared On earlier version controllers no error will occur even if comparison points do not exist or the units of comparison points are not the same Note however that the area check output does not function correctly in this case Area check output will not function if return to origin is incomplete The area chec...

Page 321: ...ION mode to enter the area check output mode n Selecting the area check output number controllers prior to Ver 9 22 SYSTEM OPTION POS OUT V9 08 1 Output of area1 NO 2 Output of area2 NO 3 Output of area3 NO 4 Output of area4 NO SELECT n Selecting the area check output number controllers of Ver 9 22 onwards ＳＹＳＴＥＭＯＰＴＩＯＮＰＯＳＯＵＴＶ９２２１Ｏｕｔｐｕｔｏｆａｒｅａ１ＮＯ２Ｏｕｔｐｕｔｏｆａｒｅａ２ＮＯ３Ｏｕｔｐｕｔｏｆａｒｅａ３ＮＯ４...

Page 322: ...ter F1 EDIT Edits the area check output parameter F2 JUMP Moves to the specified area check output parameter 1 Area check output on off This parameter sets whether or not to use the area check output function n NOTE Select the robot for the area check SUB cannot be selected if there is no sub robot Procedure 1 Select 1 Output of area n in SYSTEM OPTION POS OUT SELECT mode 2 Press EDIT The function...

Page 323: ... 40 to 47 50 to 57 60 to 67 70 to 77 100 to 107 110 to 117 120 to 127 130 to 137 140 to 147 150 to 157 SO 20 to 27 30 to 37 40 to 47 50 to 57 60 to 67 70 to 77 100 to 107 110 to 117 120 to 127 130 to 137 140 to 147 150 to 157 DO110 to DO157 do not exist as hardware so these are not output to external devices but can be used as internal outputs n NOTE If the port used for area check output is the s...

Page 324: ... To continue selecting other items use the cursor keys Controllers of Ver 9 22 onwards 1 Select 2 Port number of output n in SYSTEM OPTION POS OUT SELECT mode 2 Press EDIT The function key menu changes n Selecting the area check output port controllers of Ver 9 22 onwards ＳＹＳＴＥＭＯＰＴＩＯＮＰＯＳＯＵＴＳＥＬＥＣＴＶ９２２１Ｏｕｔｐｕｔｏｆａｒｅａ１ＭＡＩＮ２Ｏｕｔｐｕｔｐｏｒ１ＤＯＳＯ２０３ＣｏｍｐａｒｅＰｏｉｎｔｎｕｍｂｅｒ１１Ｐ０４ＣｏｍｐａｒｅＰｏｉｎｔｎｕ...

Page 325: ...e Note however that the area check output does not function correctly in this case The area check is carried out on all set axes Take care when setting the R axis point if using the system with four axes Always provide a margin when setting the comparison point data When loading ALL files that are read out by the controller of Ver 9 39 onwards into the controller prior to Ver 9 39 carefully check ...

Page 326: ...ween the marks the output is off at and the output is on at when 5 Condition is set to IN n NOTE On controllers from Ver 9 08 onwards by changing the 5 Condition setting it is possible to select whether the robot position should be within a specified area or outside it in order to turn on the output status On earlier version controllers the area check output turns on when the robot is within a spe...

Page 327: ...TO mode or a memory error then the area check output will turn off regardless of the criterion setting If the specified port is the same as the port used by the program then the area check output has priority The default setting is IN output is on within specified area Procedure 1 Select 5 Condition in SYSTEM OPTION POS OUT SELECT mode 2 Press EDIT Criterion selection for area check output SYSTEM ...

Page 328: ...HA prior to shipping wWARNING Although the SERVICE mode default settings can be changed such changes should be made only in cases where the user has determined that doing so will pose no hazard with adequate care taken to ensure safety cCAUTION The dedicated input is SI when the serial board is connected There are three parameters for SERVICE mode 1 SERVICE mode level Select the mode level by refe...

Page 329: ...peed is not a safety related function To reduce the risk of collision between the robot and workers the user must take the necessary protective measures such as enable devices according to risk assessment by the user 3 Operating device during SERVICE mode Specify the operating device to use Description RPB Only RPB operation is allowed RPB DI Allows RPB and dedicated input RPB COM Allows RPB and o...

Page 330: ...password is entered n SERVICE mode initial screen SYSTEM OPTION SERVICE V9 00 1 Service level 2 Movement Vel 3 3 Operating device RPB EDIT JUMP SAVE HELP LEVEL 3 Valid keys and submenu descriptions in this mode are shown below Valid keys Menu Function Cursor key Selects the SERVICE mode parameters F1 EDIT Edits the SERVICE mode parameters F2 JUMP Moves to the designated SERVICE mode parameter F4 S...

Page 331: ... hazard adequate care should be taken to ensure safety Description Hold to Run function AUTO mode operation Level 0 Disabled Allowed Level 1 Enabled Allowed Level 2 Disabled Prohibited Level 3 Enabled Prohibited Procedure 1 Select 1 Service level in SYSTEM OPTION SERVICE mode 2 Press EDIT n Editing the SERVICE mode level SYSTEM OPTION SERVICE V9 00 1 Service level 2 Movement Vel 3 3 Operating devi...

Page 332: ... such as enable devices according to risk assessment by the user Although setting changes are possible if the user determines that such a change presents no hazard adequate care should be taken to ensure safety Description 3 Sets robot operation within 3 of maximum operating speed 100 Sets no limit on robot operating speed Procedure 1 Select 2 Movement Vel in SYSTEM OPTION SERVICE mode 2 Press EDI...

Page 333: ...no hazard adequate care should be taken to ensure safety Description RPB Only RPB operation is allowed RPB DI Allows RPB and dedicated input RPB COM Allows RPB and online commands ALL Allows operation by all devices Procedure 1 Select 3 Operating device in SYSTEM OPTION SERVICE mode 2 Press EDIT n Editing the SERVICE mode devices SYSTEM OPTION SERVICE V9 00 1 Service level 2 Movement Vel 3 Operati...

Page 334: ...ged such changes should be made only in cases where the user has determined that doing so will pose no hazard with adequate care taken to ensure safety Procedure 1 Press SAVE in SYSTEM OPTION SERVICE mode When you have made changes to the parameters a message appears on the guideline asking if you want to save the setting n Saving the SERVICE mode parameters SYSTEM OPTION SERVICE V9 00 1 Service l...

Page 335: ...1 Press HELP in SYSTEM OPTION SERVICE mode n Help display in SERVICE mode SYSTEM OPTION SERVICE HELP V9 00 Security level of serv mode LEVEL0 No limit LEVEL1 Hold to Run LEVEL2 Prohibit operation in AUTO LEVEL3 LEVEL2 Hold to Run NEXT P PREV P 2 Press NEXT P to display the next message page Press PREV P to display the previous message page 3 Press to quit this mode ...

Page 336: ...se settings are only valid when the serial I O unit is connected n SIO overview Master station PLC CC Link Remote device station robot controller I O device sensors relays etc Parallel I O connection The relation between parallel and serial ports that can be set are shown below Input devices such as sensors Output devices such as valves DI port SO port DO port SI port DI2 SO2 DO2 SI2 DI3 SO3 DO3 S...

Page 337: ...ial ports that can be set is as follows n NOTE Output results might be incorrect if the SIO specified port is the same as the port used by the program Output devices such as valves DO port SI port DO2 SI2 DO3 SI3 DO4 SI4 DO5 SI5 Procedure 1 Select from 1 to 4 in SYSTEM OPTION SIO mode 2 Press EDIT n Editing the SIO settings 1 SYSTEM OPTION SIO V9 00 1 Direct SI2 DO2 NO 2 Direct SI3 DO3 NO 3 Direct...

Page 338: ...he same as the port used by the program Input devices such as sensors DI port SO port DI2 SO2 DI3 SO3 DI4 SO4 DI5 SO5 Procedure 1 Select from 5 to 8 in SYSTEM OPTION SIO mode 2 Press EDIT n Editing the SIO settings 2 SYSTEM OPTION SIO V9 00 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 SET to set the direct connection or press NO...

Page 339: ...rt of the other carrier During automatic operation The target position of one carrier and the other carrier condition are first checked If there is a possibility that a collision may occur then one carrier waits until the other carrier has moved to a position 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 carrie...

Page 340: ...nction F1 EDIT Edits the parameter being selected with the cursor F2 JUMP Jumps to the specified point number Cursor key Moves the cursor up and down 1 Stroke setting n NOTE The stroke corresponds to the current position of one carrier that was moved from its origin position to a point closest to the other carrier remaining at its origin position after return to origin Procedure 1 Select 1 Stroke ...

Page 341: ...re one carrier is closest to the other Stroke 2 Carrier 1 setting 3 Carrier 2 setting n NOTE Each function key display differs depending on how the axis is set Procedure 1 Select 2 Carrier 1 or 3 Carrier 2 and press EDIT n Double carrier parameter setting 3 SYSTEM OPTION W CARRIER EDIT V9 00 1 Stroke mm 650 00 2 Carrier1 M1 3 Carrier2 M2 4 Control mode OFF M1 M2 M3 M4 M5 2 Select the double carrie...

Page 342: ... operation If the target position of one carrier will interfere with the other carrier during auto operation the carrier stands by until interference free motion is possible The manual movement and auto operation conditions indicated in the above table are defined as shown below During Manual movement Manual movement at RPB Jog and inching movement by I O commands Jog and inching movement by onlin...

Page 343: ...n screen SYSTEM INIT V9 00 PARAM MEMORY CMU CLOCK 2 Select the item to initialize with PARAM to CLOCK Valid keys and submenu descriptions in SYSTEM INT mode are shown below Valid keys Menu Function F1 PARAM Initializes the parameter settings F2 MEMORY Deletes the user memory F3 CMU Sets the communication parameters to the initial values F4 CLOCK Sets the clock F6 GENERAT Sets the robot model Norma...

Page 344: ...l be incomplete if this parameter is changed Procedure 1 Press PARAM in SYSTEM INIT mode A message Enter password appears on the guideline Enter INI and press n Initializing the parameters 1 SYSTEM INIT V9 00 Enter password _ 2 When the correct password was entered a confirmation message appears on the guideline n Initializing the parameter 2 SYSTEM INIT PARAM V9 00 ROBOT YK400X D1 M1 aYK400X D5 M...

Page 345: ...RY in SYSTEM INIT mode n Initializing the memory SYSTEM INIT MEMORY V9 00 Source use sum 1316 364580 bytes Object use sum 528 98304 bytes Sequence use sum 0 4096 bytes Number of program 5 Number of points 124 PROGRAM POINT SHIFT HAND ALL 2 Select the item to initialize with PROGRAM to COMMENT A confirmation message appears on the guideline n Initializing the memory program SYSTEM INIT MEMORY PROGR...

Page 346: ...definition data F7 COMMENT Deletes the point comment data 12 4 3 Initializing the communication parameters To initialize the communication parameters proceed as follows Procedure 1 Press CMU in SYSTEM INIT mode A confirmation message appears on the guideline n Initializing the communication parameters SYSTEM INIT CMU V9 00 MODE DATA RATE STOP PARI TERM XON RTS ONLINE 8 9600 1 ODD CRLF YES NO Initi...

Page 347: ... time Procedure 1 Press CLOCK in SYSTEM INIT mode The present date and time are displayed n Initializing the clock SYSTEM INIT CLOCK V9 00 DATE TIME 06 06 01 10 13 35 DATE TIME 2 Select the item with DATE or TIME A confirmation message appears on the guideline 3 Enter the date or time in the specified format and then press Enter this data using to and Valid keys Menu Function F1 DATE Sets the year...

Page 348: ...orrect 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 cCAUTION If you change the system generation by mistake this may adversely affect robot operation or c...

Page 349: ... n Self diagnosis SYSTEM DIAGNOS V9 00 CHECK HISTRY BATTERY TOTAL Valid keys and submenu descriptions in SYSTEM DIAGNOS mode are shown below Valid keys Menu Function F1 CHECK Checks the controller F2 HISTORY Displays the past error history F3 BATTERY Checks to see if the battery voltage is low F5 TOTAL Allows checking the controller operation time F15 SYS CHK Displays details of major software err...

Page 350: ...if DC 24V is not supplied to the option DIO Procedure 1 Press CHECK to enter SYSTEM DIAGNOS CHECK mode n System check SYSTEM DIAGNOS CHECK V9 00 System check OK NEXT P PREV P An error message appears if an error is detected 2 Check the error message if displayed Pressing the cursor keys changes the display one line at a time Pressing NEXT P or PREV P changes the display one screen at a time 3 Pres...

Page 351: ...y SYSTEM DIAGNOS HISTRY V9 00 1 06 06 01 10 15 00 12 1 Emg stop on 2 06 06 01 10 14 54 22 1 AC power low 3 06 06 01 09 59 34 17 4 D1 Over load 4 06 06 28 14 00 02 12 1 Emg stop on 5 06 06 30 08 40 10 22 1 AC power low NEXT P PREV P CLEAR One screen displays 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 ...

Page 352: ...isplaying the absolute battery condition SYSTEM DIAGNOS BATTERY V9 00 Absolute battery condition M1 OK M5 no axis M2 NG M6 no axis not ABS no axis M3 M4 The display shows OK when the absolute battery voltage is higher than a preset value The display shows NG no good when the voltage is lower than a preset value The message not ABS appears for a non absolute specification axes 2 Press to return to ...

Page 353: ... YEAR DAY HOUR MIN CLEAR Power on time 0 14 10 34 Run time 0 2 8 45 The 3rd line shows the date and time that the total operation time was reset The Power on time is the total time that the controller power has been on The Run time is the total time that the controller has performed automatic operation Pressing CLEAR resets the total operation time The display shows the new total operation time st...

Page 354: ...ed n NOTE All error information will be initialized when the error history is initialized Procedure 1 Press SYS CHK n Error details SYSTEM DIAGNOS SYS CHK V9 00 Exception error Information Type 16 06 06 01 13 42 38 ErCode 000000E0 Inf1 841081E6 Inf2 40000030 No system error code will appear if no error has occurred 2 Press to return to the SYSTEM DIAGNOS mode ...

Page 355: ...e internal flash ROM or the SD memory card Procedure 1 Press BACKUP in the SYSTEM mode n Backup SYSTEM BACKUP V9 00 SD CARD FROM Valid keys and submenu descriptions in SYSTEM BACKUP mode are shown below Valid keys Menu Function F4 SD CARD Saves or restores data using an SD memory F5 FROM Saves or restores data using the internal flash ROM ...

Page 356: ...wer than this level is not allowed n NOTE This controller supports only FAT12 and FAT16 file systems If the files were created on a PC then the file names might differ from those displayed on the PC Inserting the SD memory card Insert an SD memory card into the SD memory card slot on the front of the controller until you hear a click while making sure the card is facing correctly see below n Inser...

Page 357: ...VE INIT 2 The path to the currently displayed directory is shown in the 3rd line 3 Files or subdirectory in the directory are shown in the 4th to 7th lines 4 Move the cursor with the cursor up down keys Valid keys and submenu descriptions in SYSTEM BACKUP SD CARD mode are shown below Valid keys Menu Function F1 LOAD Loads the file selected by the cursor or moves to a subdirectory when it is select...

Page 358: ...OAD will move to that subdirectory Procedure 1 In the SYSTEM BACKUP SD CARD mode select the file to be loaded using the cursor up down keys 2 Press LOAD 3 A confirmation message appears Press YES to load the file Press NO to cancel n Loading a file SD FILE1 ALL 102520 06 04 07 13 30 FILE2 PGM 8528 06 04 12 17 07 SUBDIR DIR 06 03 27 15 21 FILE3 PNT 1741 06 04 21 10 45 SYSTEM BACKUP SDCARD V9 00 Loa...

Page 359: ...ormats can be loaded If an attempt was made to load a file with another format then a 15 5 Illegal file type error occurs File name File type ALL ALL file PGM Program file PNT Point data file SFT Shift data file HND Hand data file PRM Parameter file PLT Pallet data file PCM Point comment file ...

Page 360: ...is being saved on it Procedure 1 Press SAVE in SYSTEM BACKUP SD CARD mode 2 Select the file type to be saved n Saving a file 1 SD FILE1 ALL 102520 06 04 07 13 30 FILE2 PGM 8528 06 04 12 17 07 SUBDIR DIR 06 03 27 15 21 FILE3 PNT 1741 06 04 21 10 45 SYSTEM BACKUP SDCARD SAVE V9 00 ALL PGM PNT SFT HND Valid keys Menu File type F1 ALL ALL files F2 PGM Program file F3 PNT Point data file F4 SFT Shift d...

Page 361: ...6 04 12 17 07 SUBDIR DIR 06 03 27 15 21 FILE3 PNT 1741 06 04 21 10 45 Enter file name ABC SYSTEM BACKUP SDCARD SAVE V9 00 ALL 4 Press A confirmation message appears n Saving a file 3 ABC ALL SYSTEM BACKUP SDCARD SAVE V9 00 Save on SDCARD OK YES NO 5 Press YES to save the file The message 0 5 Accessing will appear during file saving ...

Page 362: ...ve the SD memory card while a file is being deleted from it Procedure 1 In SYSTEM BACKUP SD CARD mode select the file to be deleted using the cursor up down keys 2 Press DEL 3 A confirmation message appears n Deleting a file FILE1 ALL 102520 06 04 07 13 30 SYSTEM BACKUP SDCARD V9 00 Erase file OK YES NO 4 Press YES to delete the file The message 0 5 Accessing will appear during deletion ...

Page 363: ... file Procedure 1 In SYSTEM BACKUP SD CARD mode select the file to be previewed using the cursor up down keys 2 Press PREVIEW 3 The file content is displayed from the beginning n Previewing a file SD FILE3 PNT 1741 06 04 21 10 45 P1 0 0 0 0 P2 50 00 200 00 55 00 0 00 P142 780 45 158 17 102 82 15 23 P150 215078 4025158 81025 52422 SYSTEM BACKUP SDCARD PREVIEW V9 00 Use the cursor keys to scroll the...

Page 364: ...if any hardware trouble occurs Always save the data onto an external PC storage device If an abnormal process occurs such as if the power is turned OFF while saving data the data cannot be guaranteed Procedure 1 Press FROM in the SYSTEM mode n Backing up FROM No File Ext Size Data Time 1 FROM ALL 311800 06 06 01 17 32 SYSTEM BACKUP FROM V9 00 LOAD SAVE INIT Valid keys and submenu descriptions in S...

Page 365: ...les or as parameter files the servo must be off After the files are read in the return to origin incomplete state will be set Data saved in the internal flash ROM cannot be loaded back if any hardware trouble occurs Always save the data onto an external PC storage device If an abnormal process occurs such as if the power is turned OFF while saving data the data cannot be guaranteed Procedure 1 Pre...

Page 366: ...les are loaded F5 HND Only hand files are loaded F6 PRM Only parameter files are loaded F8 PLT Only pallet files are loaded F9 PCM Only point comment files are loaded 3 A confirmation message appears on the guidelines Press YES to load the data Press NO to cancel the procedure n Check of FROM loading No File Ext Size Data Time 1 FROM ALL 311800 06 06 01 17 32 SYSTEM BACKUP FROM LOAD PGM V9 00 Load...

Page 367: ...nd saved If data has already been written in initialize the memory and then save the new data The data saved on the internal flash ROM cannot be restored if any hardware trouble occurs Always save the 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 cannot be guaranteed The Skip undefined parameters setting amon...

Page 368: ...on process The data saved on the internal flash ROM cannot be restored if any hardware trouble occurs Always save the data onto an external PC storage device If an abnormal process occurs such as if the power is turned OFF while initializing the data then the data cannot be guaranteed Procedure 1 Press INIT in the SYSTEM BACKUP FROM mode 2 A confirmation message appears on the guidelines Press YES...

Page 369: ...OINT 50 MG S0H0J DI monitor DI0 B00000101 DI4 B00000000 DI1 B00000010 DI5 B00000000 DI2 B00000000 DI6 B00000000 DI3 B00000000 DI7 B00000000 EDIT TEACH JUMP VEL VEL _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _ _ _ _ _ _ _ _ z _ _ _ _ _ _ _ _ _ r _ _ _ Display format Port No B bit 7 bit 6 to bit 0 2 Press again Input status is displayed in the data area 3rd to 7th lines as shown below n Inp...

Page 370: ...mation display MANUAL POINT 50 MG S0H0J DI monitor DI0 B00000101 DI1 B00000001 DI2 B00000000 DI3 B00000000 DI4 B00000000 DI5 B00000000 DI6 B00000000 DI7 B00000000 EDIT TEACH JUMP VEL VEL _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _ _ _ _ _ _ _ _ z _ _ _ _ _ _ _ _ _ r _ _ _ The information is displayed with the following format Port No B 7th bit 6th bit to 0th bit n Example of word informa...

Page 371: ...layed with the following format Task No Execution line Execution state Task priority Execution state RUN execute SUS forced standby STP stop n Current command monitor display MANUAL POINT 50 MG S0H0J Current monitor 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 ...

Page 372: ...s displayed on the right end of the 3rd line Procedure 1 Press The UTILITY mode screen is displayed n UTILITY mode UTILITY Date Time 06 06 01 18 59 37 36 C motor power On Sequence DISABLE Armtype RIGHTY MOTOR SEQUENC ARMTYPE RST DO 2 Press again The following screen appears n UTILITY mode UTILITY Date Time 06 06 01 18 59 40 36 C Execut level LEVEL0 Access level LEVEL0 EXECUTE ACCESS RST DO ...

Page 373: ... F1 MOTOR Turns the motor power and servo on and off F2 SEQUENC Prohibits or permits executing the sequence program F3 ARMTYPE Sets the arm hand type Valid only on SCARA robots F5 RST DO Clears the output port Valid keys Menu Function F1 EXECUTE Sets the execution level F2 ACCESS Sets the access level F5 RST DO Clears the output port ...

Page 374: ...g the emergency stop input contact Procedure 1 Press to enter UTILITY mode You can switch to UTILITY mode from any other mode The UTILITY mode screen appears with a confirmation message shown on the guideline n Canceling emergency stop UTILITY Date Time 06 06 01 18 59 37 36 C motor power Off Sequence DISABLE Armtype RIGHTY Cancel emergency flag YES NO 2 Press YES to cancel the internal emergency s...

Page 375: ...e in controller versions prior to Ver 9 13 Use particular care with regard to heavy up down vertical axes as they may drop when the brake is released Procedure 1 Press MOTOR in UTILITY mode 2 Press On to turn on the motor power supply and servo Press Off to turn off the motor power supply and servo Press Power to turn on the motor power supply only n Servo on off UTILITY MOTOR motor power Off D1 M...

Page 376: ...o power for the axis must be turned on beforehand by the operation in step 2 n Setting the servo of each axis ＵＴＩＬＩＴＹＭＯＴＯＲＤ３Ｍ３ｎｏａｘｉｓＤ２Ｍ２ＳｅｒｖｏＤ６Ｍ６ｎｏａｘｉｓＤ１Ｍ１ＦｒｅｅＤ５Ｍ５ｎｏａｘｉｓｍｏｔｏｒｐｏｗｅｒＯｎＳｅｒｖｏＢｒａｋｅＤ４Ｍ４ｎｏａｘｉｓ 5 Set the servo status with Servo Brake or Free n NOTE In controller versions prior to Ver 9 13 Free is used to free an axis release brake ...

Page 377: ... Time 06 06 01 18 59 37 36 C motor power Off Sequence DISABLE Armtype RIGHTY Cancel overload error YES NO 2 To reset the overload error press YES The overload error status is then reset Continue then with the 14 1 2 Motor power and servo on off procedure If the overload error is not to be reset press NO n NOTE The overload error reset function is available in software Ver 9 36 onwards In Ver 9 35 ...

Page 378: ...for sequence execution 2 Sequence execution must be enabled 3 DI10 Sequence permit contact point must be closed 4 Operation must be in AUTO mode or MANUAL mode Procedure 1 Press SEQUENC in UTILITY mode 2 To enable execution of sequence programs press ENABLE To disable execution of sequence programs press DISABLE To enable DO reset during sequence program execution press RST DO n Enabling disabling...

Page 379: ...7 MO2 to MO27 LO0 TO0 SO2 to SO27 SOW 2 to SOW 15 Procedure 1 Press RST DO in UTILITY mode A confirmation message appears on the guideline n Resetting the output ports UTILITY RST DO Date Time 06 06 01 18 59 37 36 C Reset OUTPUT port OK YES NO Execut level LEVEL0 Access level LEVEL0 2 Press YES to reset Press NO if not resetting ...

Page 380: ...amaged Level Description Program execution at origin incomplete When power is turned on Program reset at program start Return to origin signal in AUTO mode Mode Program reset LEVEL0 Disabled MANUAL mode NO NO Invalid LEVEL1 Enabled MANUAL mode NO NO Invalid LEVEL2 Enabled MANUAL mode YES NO Invalid LEVEL3 Enabled AUTO mode NO NO Invalid LEVEL4 Enabled AUTO mode YES NO Invalid LEVEL5 Enabled MANUAL...

Page 381: ...nter UTILITY mode then press EXECUTE n Changing the execution level 1 UTILITY Date Time 06 06 01 12 36 37 36 C Execut level LEVEL7 Access level LEVEL0 EXECUTE ACCESS RST DO 2 Select the execution level with LEVEL0 to LEVEL8 n Changing the execution level 2 UTILITY EXECUTE Execut level LEVEL7 LEVEL0 LEVEL1 LEVEL2 LEVEL3 LEVEL4 3 Press to exit UTILITY mode ...

Page 382: ...r cursor key to refer to the previous page n Displaying the Help message 1 UTILITY EXECUTE HELP LEVEL0 Program cannot execute if arm has not returned to ORIGIN PowerOn mode is MANUAL PowerOn without program reset NEXT P PREV P n Displaying the Help message 2 UTILITY EXECUTE HELP LEVEL1 Program can execute if arm has not returned to ORIGIN PowerOn mode is MANUAL PowerOn without program reset NEXT P...

Page 383: ...was displayed 3 When a program was destroyed when 9 1 Program destroyed message was displayed 4 When point data was destroyed when 9 2 Point data destroyed message was displayed 5 When shift data was destroyed when 9 6 Shift data destroyed message was displayed 6 When hand data was destroyed when 9 7 Hand data destroyed message was displayed 7 When a parameter was destroyed when 9 4 Parameter dest...

Page 384: ...de A message Enter password appears on the guideline Enter with LVL here and press n Setting the access level 1 UTILITY Date Time 06 06 01 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 n Setting the access level 2 UTILITY ACCESS Access level LEVELO LEVEL0 LEVEL1 LEVEL2 LEVEL3 HELP ...

Page 385: ...UTILITY mode 14 6 2 Changing the access level Change the access level as needed Procedure 1 Set the access level with LEVEL0 to LEVEL3 n Setting the access level 3 UTILITY ACCESS Access level LEVEL2 LEVEL0 LEVEL1 LEVEL2 LEVEL3 HELP ...

Page 386: ...ey to refer to the next page or press PREV P or cursor key to refer to the previous page n Access level Help screen first page UTILITY ACCESS HELP LEVEL0 All data access available LEVEL1 Data change invalid NEXT P PREV P n Access level Help screen second page UTILITY ACCESS HELP LEVEL2 LEVEL1 SYSTEM PROGRAM mode change invalid LEVEL3 LEVEL2 Program list display speed change invalid NEXT P PREV P ...

Page 387: ...ection 5 9 1 6 Typical output signal connection 5 10 1 7 Dedicated I O signals 5 11 1 7 1 Dedicated input signals 5 11 1 7 2 Dedicated output signals 5 13 1 8 General purpose I O signals 5 15 1 8 1 General purpose output reset 5 15 1 9 Dedicated I O signal timing charts 5 16 1 9 1 Turning the power on 5 16 1 9 2 Emergency stop and servo ON 5 18 1 9 3 ABS absolute reset 5 19 1 9 4 Mode switching 5 ...

Page 388: ......

Page 389: ...There are two types of DIO option boards NPN and PNP specifications Inputs to the controller are referred to as DI Digital Inputs and outputs from the controller as DO Digital Outputs n NOTE See 7 I O connections in Chapter 3 for a definition of NPN and PNP specifications n DIO option board 1 2 3 1 Power connector Connector for DC 24V power supply 2 IO connector Connector for I O signals 3 DIP swi...

Page 390: ...Ds so that they do not overlap n DIP switch n DIP switch setting and ID Switch 1 Switch 2 ID General purpose input output Dedicated input output ON ON 1 DI20 DI37 DO20 DO27 Available 1 OFF ON 2 DI40 DI67 DO30 DO47 None ON OFF 3 DI70 DI117 DO50 DO67 None OFF OFF 4 DI120 DI147 DO70 DO107 None 1 To enable the dedicated inputs CHK1 pin No 4 and CHK2 pin No 40 of the I O connector must be shorted For d...

Page 391: ...edicated input 28 DI14 Return to origin Dedicated input 29 DI15 Program reset input Dedicated input 30 DI16 MANUAL mode Dedicated input 31 DI17 ABS absolute reset Dedicated input 32 DI30 General purpose input 30 33 DI31 General purpose input 31 34 DI32 General purpose input 32 35 DI33 General purpose input 33 36 DI34 General purpose input 34 37 DI35 General purpose input 35 38 DI36 General purpose...

Page 392: ... DI123 General purpose input 28 DI44 DI74 DI124 General purpose input 29 DI45 DI75 DI125 General purpose input 30 DI46 DI76 DI126 General purpose input 31 DI47 DI77 DI127 General purpose input 32 DI60 DI110 DI140 General purpose input 33 DI61 DI111 DI141 General purpose input 34 DI62 DI112 DI142 General purpose input 35 DI63 DI113 DI143 General purpose input 36 DI64 DI114 DI144 General purpose inp...

Page 393: ...OP DIO 1 Do not use 26 DI42 General purpose input 2 DI40 General purpose input 27 DI43 General purpose input 3 Do not use 28 DI44 General purpose input 4 DI41 General purpose input 29 DI45 General purpose input 5 Do not use 30 DI46 General purpose input 6 Do not use 31 DI47 General purpose input 7 Do not use 32 DI60 General purpose input 8 DI50 General purpose input 33 DI61 General purpose input 9...

Page 394: ... 29 31 33 35 37 39 41 43 45 47 49 24 22 20 18 16 14 10 8 6 4 2 1 3 5 7 9 11 12 13 15 17 19 21 23 25 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Connector shell No 10350 52A0 008 Sumitomo 3M Connector plug No 10150 3000PE Sumitomo 3M 1 Standard I O interface overview ...

Page 395: ...le insertion side 2 1 Connector type No 734 102 WAGO Terminal Input Wire size 1 DC24V AWG22 to 18 2 GND AWG22 to 18 cCAUTION Do not keep supplying the external 24V DC power to the I O power connector while controller power is off The controller might malfunction if the external 24V is continuously supplied n NOTE A message 12 31 DI DC24V disconnected appears if no 24V power supply is connected to ...

Page 396: ...y into the opening round hole while still holding the lever down 3 Release the lever to make the wiring connec tion Pull gently on the wire to make sure it is securely attached Do not pull strongly on the wire n When using a screwdriver front entry to make the connection 1 Insert the screwdriver into the slot square hole The screwdriver will stay held in place if it was inserted correctly 2 Insert...

Page 397: ...5 9 Chapter 5 PARALLEL I O INTERFACE 1 5 Typical input signal connection n NPN specifications DC24V DI DI GND n PNP specifications DC24V DI DI GND 1 Standard I O interface overview ...

Page 398: ... is used always connect a diode in parallel as a surge killer In the case of NPN specifications do not short DO output to DC 24V since this will damage the internal circuitry n PNP specifications DC24V DO GND cCAUTION In the case of PNP specifications do not short DO output to GND since this will damage the internal circuitry 1 Standard I O interface overview ...

Page 399: ...have been input and DI00 Emergency stop ready signal must be on DI03 Step run Executes a step of the program in AUTO mode At the rising edge of this signal one line of the program is executed DO13 Auto operation in progress output turns on during operation Step operation cannot be performed during emergency stop or when DI11 Interlock input is off n NOTE The DI00 Emergency stop ready signal and DI...

Page 400: ...nector See Chapter 6 for detailed information DI13 AUTO mode switching Switches to AUTO mode At the rising edge of this signal the controller switches to AUTO mode and DO10 AUTO mode output turns on DI14 Return to origin Performs return to origin on incremental mode axes and semi absolute mode axes When return to origin is performed incremental mode axes return to their origins On semi absolute mo...

Page 401: ...mally This signal turns off when either of the following conditions occurs and the controller stops When a serious error has occurred When the control power supply voltage has dropped below the specified value When this signal turns off the controller power must be turned off and then back on in order to restore the normal state DO02 Servo on state This signal is on while the controller main power...

Page 402: ...e a sequence program is being executed DO13 Auto operation in progress This signal is on while a program is being executed in AUTO mode DO14 Program reset output This signal turns on when the program has been reset correctly and turns off when automatic operation or step operation starts DO15 Battery alarm This signal turns on when the system backup battery or absolute battery voltage is low DO16 ...

Page 403: ...ollowing cases 1 When RST DO is selected in UTILITY mode 2 When all of the following conditions a to c are met a DO cond on PGM reset RESCDO in Other parameters is set to RESET For details see 12 1 4 Other parameters in Chapter 4 b No sequence program is being executed or the DO reset is enabled in the sequence execution flag setting even if a sequence program is being executed For details see 14 ...

Page 404: ...rgency stop input is on Approx 3 sec Control power DI00 in SAFETY connector Emergency stop ready signal DO00 Emergency stop contact monitor MPRDY in SAFETY connector Main power ON ready Main power DO01 CPU OK DO02 Servo on state DO03 Alarm MPRDY Main power ON ready turns on after the control power supply turns on Then turn on the main power to the external device After DO01 CPU OK turns on the rob...

Page 405: ...act monitor Main power ON ready Main power CPU OK Servo on state Alarm DO00 Emergency stop contact monitor and DO03 Alarm turn on after the control power supply turns on MPRDY Main power ON ready output remains off The robot starts with the servo turned off n NOTE It takes about 3 seconds until CPU OK is output after turning on the control power supply The main power supply can be left on during o...

Page 406: ...n power ON ready Main power DO02 Servo on state DO03 Alarm DI01 Servo ON MIN 100msec To turn on the servo DI00 Emergency stop ready signal in the SAFETY connector must be on and the main power supply must be input Wait at least 100msec after the main power is input before turning on DI01 Servo ON input Turn off DI01 Servo ON input after making sure that DO02 Servo on state output is on 1 Standard ...

Page 407: ...iod of DI17 ABS reset input pulse must be longer than 10msec 100ms or more recommended DO11 Return to origin complete output turns off return to origin incomplete state when the robot starts absolute reset operation After that if the absolute reset operation is interrupted before it is complete due to interlock or emergency stop then the robot status comes to return to origin incomplete If DI11 In...

Page 408: ...tching to AUTO mode make sure that DO10 AUTO mode output is on and then turn off DI13 AUTO mode switching No dedicated output is available that indicates the operation has switched to MANUAL mode The on period of DI16 MANUAL mode switching input pulse must be longer than 10msec n NOTE The DI00 Emergency stop ready signal and DI11 Interlock input input terminals are located in the SAFETY connector ...

Page 409: ...rm automatic operation DI00 Emergency stop ready signal and DI11 Interlock input must be on and DO03 Alarm output must be off Turn off DI12 Auto operation start input after making sure that DO13 Auto operation in progress output is on DI15 Program reset input is invalid during automatic operation Turn off DI15 Program reset input after making sure that DO14 Program reset output is on n NOTE The DI...

Page 410: ...ulation method Input power DC 24V 10 7mA point Load ON voltage 19 5V min 5 0mA OFF voltage 6 5V max 2 0mA Response time 20ms Min during on off 2 Output n NPN specifications Method NPN open collector negative common type Photocoupler insulation method Load DC 24V 10 100mA point resistance load 1 Residual voltage 2 0V or less Response time 10ms Max n PNP specifications Method NPN open emitter positi...

Page 411: ...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 In some cases heat generated inside might damage the internal circuits so always draw current only within the rated load 4 As a noise prevention kee...

Page 412: ...5 24 MEMO ...

Page 413: ... Power 6 1 1 2 Connector I O signals 6 2 1 3 Connector terminal numbers 6 3 1 4 Emergency stop input signal connections 6 4 1 5 Dedicated input signal connections 6 10 1 6 Dedicated output signal connections 6 11 1 7 Input signal description 6 13 1 8 Meaning of output signals 6 14 ...

Page 414: ......

Page 415: ...t signal as DO Specifications SAFETY Connector type No KAS M5370 001 Sumitomo 3M Connector shell 10320 52A0 008 Connector plug 10120 3000PE Wire material 0 2 sq 1 1 Power The emergency stop ready signal utilizes internal power for input signal Dedicated I O requires an external 24V DC power supply Connect the 24V DC power supply to DI COM and DO COM cCAUTION Do not keep supplying the external 24V ...

Page 416: ...00 Emergency stop ready signal 13 E STOPIN1 Emergency stop input 1 14 E STOPIN2 Emergency stop input 2 15 E STOPIN3 Emergency stop input 3 16 E STOPIN4 Emergency stop input 4 17 LCKIN1 Enable switch input 1 18 LCKIN2 Enable switch input 2 19 LCKIN3 Enable switch input 3 20 LCKIN4 Enable switch input 4 cCAUTION On the SAFETY connector that comes with the controller pin 1 is shorted to pin 10 pins 2...

Page 417: ...6 SAFETY I O INTERFACE 1 3 Connector terminal numbers n Connector exploded view 20 18 16 14 10 8 6 4 2 1 3 5 7 9 11 12 13 15 17 19 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 1 SAFETY I O interface overview ...

Page 418: ...m including the robot controller will always operate safely n Emergency stop input signal connection 1 Connection when using the standard RPB with an external emergency stop circuit RPB connector SAFETY connector DC24V Internal control circuit Motor drive circuit Main power supply control circuit Control signal detection circuit 13 E STOP1 14 E STOP2 13 E STOPIN1 14 E STOPIN2 12 E STOPRDY 11 E STO...

Page 419: ... 14 RPB connector SAFETY connector 13 E STOPIN1 11 E STOP24V 12 E STOPRDY RPB E External emergency stop circuit DC24V GND24V Main power supply control circuit Control signal detection circuit L N Motor drive circuit Internal control circuit 15 16 17 18 19 20 21 22 14 E STOPIN2 10 1 DI COM 3 SERVICE External service mode stop circuit Enable switch 8 KEY1 9 KEY2 1 SAFETY I O interface overview ...

Page 420: ... connector SAFETY connector 13 E STOPIN1 11 E STOP24V 12 E STOPRDY RPB External emergency stop circuit DC24V Main power supply control circuit Control signal detection circuit L N Motor drive circuit Internal control circuit 15 16 17 18 19 20 14 E STOPIN2 1 DI COM 3 SERVICE External service mode stop circuit External 24V power supply 1 SAFETY I O interface overview ...

Page 421: ...ply turns off Emergency stop is triggered if the RPB and SAFETY connector are removed Pins 13 and 14 pins 15 and 16 pins 17 and 18 pins 19 and 20 and pins 21 and 22 on the RPB connector are shorted in the RPB terminator that comes with the robot controller Pin 1 is shorted to pin 10 pins 2 3 11 and 14 are shorted together and pin 12 is shorted to pin 13 in the SAFETY connector that comes with the ...

Page 422: ... the RPB E provided with an enable switch with an external emergency stop circuit PNP specifications GND GND 24V RPB connector 20 19 18 17 16 15 14 13 1 SERVICE E STOPRDY LCKIN4 E STOP24V LCKIN3 LCKIN2 LCKIN1 E STOPIN4 E STOPIN3 E STOPIN2 E STOPIN1 3 12 10 11 20 19 18 17 16 15 14 13 SAFETY connector RPB E AC 200V External emergency stop circuit Emergency stop switch Service key switch Emergency st...

Page 423: ...s open The enable switch is operable at this point a In normal operation E STOP24V is connected to E STOPRDY via the RPB E emergency stop switch enable switch and SAFETY connector and the controller internal motor power relay turns on b When emergency stop is triggered power to E STOPRDY of the SAFETY connector is cut off and the motor power supply turns off Emergency stop is triggered if the RPB ...

Page 424: ...ons n NPN specifications 1 DI COM 3 SERVICE 2 INTERLOCK Photocoupler External 24V power supply n PNP specifications 1 DI COM 3 SERVICE 2 INTERLOCK Photocoupler External 24V power supply n NOTE The NPN or PNP specifications can be selected by connecting DI COM to the positive or negative terminal of the external DC 24V power supply 1 SAFETY I O interface overview ...

Page 425: ... O INTERFACE 1 6 Dedicated output signal connections n NPN specifications 4 DO COM 5 MPRDY 6 SERVO OUT Main power supply on off circuit L N Mechanical relay Photorelay External 24V power supply 1 SAFETY I O interface overview ...

Page 426: ...2 Chapter 6 SAFETY I O INTERFACE n PNP specifications 4 DO COM 5 MPRDY 6 SERVO OUT Mechanical relay Photorelay Main power supply on off circuit L N External 24V power supply 1 SAFETY I O interface overview ...

Page 427: ...N If a serial I O option board is installed SERVICE mode is entered when either one of the SI02 or DI02 contact is open OFF Normal mode is entered only when both SI02 and DI02 contacts are closed ON If the service mode input is changed the program being executed will pause or ongoing robot jog movement will pause 2 DI11 Interlock input INTERLOCK DI11 Interlock input is used to temporarily stop rob...

Page 428: ...g the robot controller will operate safely Refer to the connection examples in this chapter when making actual connections Enable switch inputs are valid only when an RPB E RPB compatible with an enable switch is used 5 KEY switch inputs 1 2 KEY1 2 RPB E selector switch statuses can be indicated at an external device Use these inputs as needed according to your specifications and application 1 8 M...

Page 429: ... 3 Communication specifications 7 3 3 1 Connector 7 3 3 2 Transmission mode and communication parameters 7 5 3 3 Communication flow control 7 6 3 3 1 Flow control during transmit 7 6 3 3 2 Flow control during receive 7 6 3 4 Other caution items 7 7 3 5 Character code table 7 9 3 6 Connecting to a PC 7 10 ...

Page 430: ......

Page 431: ...LL All system memories are received The robot controller communicates in compliance with these commands 2 Various commands are transmitted directly through a communication port from the external 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...

Page 432: ... ONLINE mode a variety of commands can be sent directly from the external unit to the robot Commands sent directly from the external unit are called online commands The SEND command in a program is 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 ...

Page 433: ...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 Pin No Name Description Input output 1 NC Not used 2 RXD Receive data Input 3 TXD Send data Output 4 NC Not use...

Page 434: ... 3 4 5 6 7 8 9 Controller DCD RXD TXD DTR GND DSR RTS CTS External device b Cable not using control wire NC RXD TXD NC GND NC RTS CTS NC 1 2 3 4 5 6 7 8 9 Controller DCD RXD TXD DTR GND DSR RTS CTS External device For signal wire layout on the external device refer to the instruction manual for that device 3 Communication specifications ...

Page 435: ...TE 1 Termination code Robot transmit When CRLF carriage return line feed is selected Transmits data with a CR code 0DH and LF code 0AH added at the end of a line When CR carriage return is selected Transmits data with a CR code 0DH added at the end of a line Robot receive Receives data by treating entries made up to the CR code as 1 line and ignoring the LF code regardless of which termination cod...

Page 436: ...busy status Communication parameter Operation during transmit XON XOFF Stops transmission when XOFF 13H is received Resumes transmission when XON 11H is received RTS CTS Stops transmission while CTS is off None Does not perform flow control during transmit 3 3 2 Flow control during receive This notifies the other party s device that the controller is in receive busy status Communication parameter ...

Page 437: ...he 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 noise or other factors In t...

Page 438: ...otential 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 3 Communication specifications ...

Page 439: ...Y i y ｩｹﾉﾙ A LF EOF J Z j z ｪｺﾊﾚ B K k ｫｻﾋﾛ C L l l l ﾔｼﾌﾜ D CR M m ﾕｽﾍﾝ E N n ﾖｾﾎ F O o ﾂｿﾏ 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 etc However these cannot be entered on the RPB Note 4 BS deletes the preceding character in...

Page 440: ...ns 9 pins 3 5m KR7 M538F 100 5m KR7 M538F 300 w 9 pins 9 pins 3 5m KAS M538F 000 5m KAS M538F 100 cCAUTION There is no problem with reversing the communication cable connections by attaching the straight serial conversion adapter to the PC 2 Using the PC s USB port n USB port PC RCX222 USB serial conversion adapter CONTEC COM 1 USB H ARVEL SRC06 USM 25 pins 25 pins or 9 pins 9 pins 9 pins 9 pins U...

Page 441: ...ONS Contents 1 Controller basic specifications 8 1 2 Controller basic functions 8 3 3 Controller external view 8 4 3 1 RCX222 external view 8 4 3 2 RCX222HP external view 8 5 4 RPB basic specifications and external view 8 6 ...

Page 442: ......

Page 443: ...00 1 increments setting can be changed by program Acceleration deceleration setting Automatic acceleration setting by robot model and tip weight parameter Setting by accel coefficient and decel rate parameters 1 steps Can be changed by programming Programming Program language YAMAHA BASIC conforming to JIS B8439 SLIM language Multitask 8 tasks maximum Sequence program 1 program Memory capacity 364...

Page 444: ...IO Dedicated input 10 points dedicated output 12 points General purpose input 16 points general purpose output 8 points compatible with NPN PNP specifications OP DIO General purpose input 24 points board output 16 points board 2 boards maximum including STD DIO compatible with NPN PNP specifications CC Link board Dedicated input 16 points dedicated output 16 points General purpose input 96 points ...

Page 445: ...TART SUSPEND CUT statements etc etc Functions Arithmetic functions SIN COS TAN functions etc Character string functions STR LEFT MID RIGHT functions etc Point functions WHERE JTOXY XYTOJ functions etc Parameter functions ACCEL OUTPOS TOLE statements etc etc Variables Simple variables integer variables real variables character variables Array variables integer variables real variables character var...

Page 446: ...AT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 130 100 250 210 225 22 158 210 6 M3 5 5 14 unit mm n RCX222 with RG2 option installed Bottom view RG2 TEMP RGEN XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 126 130 100 250 210 225 22 158 210 210 30 16 6 M3 RG2 14 5 5 5 unit mm 3 Controller external view...

Page 447: ...XT E STOP OP 1 OP 2 16 16 50 50 126 210 158 22 130 158 100 250 210 28 225 6 M3 5 5 14 HP unit mm n RCX222HP with RG2 option installed Bottom view RG2 TEMP RGEN XM YM MOTOR RGEN TEMP ACIN N L L1 N1 SAFETY SRV ERR RPB ROB I O SD COM RDY E STOP B A BAT RCX222 PIN11 12 EXT E STOP OP 1 OP 2 16 16 50 50 126 210 158 22 130 158 100 250 210 28 30 210 16 225 6 M3 RG2 5 5 5 14 HP unit mm 3 Controller externa...

Page 448: ... button Normally closed contract with lock function Enable switch Not provided 3 position type Power DC 12V Operating environment Ambient temperature 0 to 40 C Storage temperature 10 to 65 C Humidity 35 to 80 no condensation Dimensions mm W180 H250 D50 excluding projecting parts Cable length 5m Weight 600g excluding cable 630g excluding cable n RPB external view 136 180 250 50 2 140 unit mm 4 RPB ...

Page 449: ...8 7 Chapter 8 SPECIFICATIONS n RPB E external view 136 180 250 50 2 140 Selector switch Enable switch unit mm 4 RPB basic specifications and external view ...

Page 450: ...8 8 MEMO ...

Page 451: ...Memory errors 9 26 10 System setting or hardware errors 9 29 12 I O and option board errors 9 31 13 RPB errors 9 35 14 RS 232C communication errors 9 36 15 Memory card errors 9 38 17 Motor control errors 9 40 19 YC Link SR1 related error 9 48 21 Major software errors 9 54 22 Major hardware errors 9 56 1 2 RPB Error Messages 9 62 2 Troubleshooting 9 64 2 1 When trouble occurs 9 64 2 2 Acquiring err...

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Page 453: ...r group are shown below Group No Contents 0 Warnings and messages 1 Warnings error history entry 2 Robot operating area errors 3 Program file operating errors 4 Data entry and edit errors 5 Robot language syntax compiling errors 6 Robot language execution errors 7 Not used 8 Not used 9 Memory errors 10 System setting or hardware errors 11 Not used 12 I O and option board errors 13 RPB errors 14 RS...

Page 454: ...it over indicates that the preset soft limit values have been exceeded on axis 1 of the main group robot Likewise the message 17 4 D2 Overload indicates that an overload has occurred in axis 2 of the 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 ...

Page 455: ...er or robot position data becomes undefined due to battery voltage drop c ROB I O cable was removed or disconnected d Absolute reset was interrupted e 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 abso...

Page 456: ...ccurred when servo was turned ON Action Turn the controller on again 0 8 Try again Code H0008 Meaning Cause Operation failed Action Try again 0 9 Arrived at breakpoint Code H0009 Meaning Cause Break 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...

Page 457: ...4V is ON Code H0011 Meaning Cause Setting to disable the DC 24V monitor parameter was attempted even though DC 24V was being supplied to a DIO option board Monitor function cannot be disabled while DC 24V is being supplied to a DIO option board Action To disable the monitor function change the parameter after first stopping the DC 24V supply 1 Warnings error history entry 1 31 CPU Reset start Code...

Page 458: ...meter arm length and offset pulse 2 3 Coordinate cal failed Code H0203 Meaning Cause a Preset calculation for setting standard coordinates is not functioning b Operating position exceeded the operating area range Action 1 Set the standard coordinates correctly 2 Change operating position to within operating area 2 5 Shift cal failed Code H0205 Meaning Cause Calculating for setting shift coordinate...

Page 459: ...aning Cause Area is outside the movable range of movement path Action 1 Set movement points correctly 2 Specify movement path to be within the movable range 2 11 exceeded shift coord range Code H020B Meaning Cause Shift coordinate range value was exceeded Action 1 Change the operating position of value to within the shift coordinates range 2 Change shift coordinates range value 2 17 Arch condition...

Page 460: ...to LEFTY Code H0217 Meaning Cause a Interpolation movement shifting from the right handed system to the left handed system was executed with a SCARA robot Action 1 Check the current hand system and point data hand system flag 2 24 Cannot move LEFTY to RIGHTY Code H0218 Meaning Cause a Interpolation movement shifting from the left handed system to the right handed system was executed with a SCARA r...

Page 461: ...ram 2 29 Cannot move without the limit Code H021D Meaning Cause 1 The DRIVE statement used a movement direction option for an axis where the limitless motion parameter is set to INVALID 2 DRIVE statement movement was attempted with a limitless motion VALID setting for the SCARA robot s X or Y axis 3 DRIVE statement movement was attempted with a limitless motion VALID setting for a non rotary type ...

Page 462: ...on 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 exceeding 4 points was...

Page 463: ...am name 3 13 Changing data prohibited Code H030D Meaning Cause Data 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 passw...

Page 464: ... number error Code H0401 Meaning Cause A point number was entered exceeding P9999 Action Input a correct point number 4 2 Input format error Code H0402 Meaning Cause Wrong format was used to enter the data Action Use the correct data format 4 3 Undefined pallet Code H0403 Meaning Cause Specified pallet is undefined Action 1 Change the specified pallet 2 Define the pallet 4 4 Undefined robot number...

Page 465: ... Code H0505 Meaning Cause a Port number specified for DO DI MO SI SO ports is outside the range 0 to 7 10 to 17 or 20 to 27 b Specified port number for LO TO is not 0 c An output to port 0 or port 1 was set for ports DO MO SO Action 1 Change to the correct port number 2 Change output for ports DO MO SO to a port other than port 0 or port 1 5 6 Digit number error Code H0506 Meaning Cause a Binary n...

Page 466: ...a for compiling execution Action 1 Reduce parentheses in the expression to 5 times or less 2 Reduce program size 3 Reduce nesting of GOSUB statement CALL statement and FOR to NEXT statement 4 Reduce argument of CALL statement especially character variables 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 ...

Page 467: ...ut executing FOR command Action 1 Delete the NEXT statement 2 Add a FOR statement corresponding to the NEXT statement 3 Confirm execution of FOR command 5 19 FOR without NEXT Code H0513 Meaning Cause There is no NEXT statement corresponding to FOR statement Action 1 Delete the FOR statement 2 Add a NEXT statement corresponding to the FOR statement 5 20 ENDIF without IF Code H0514 Meaning Cause The...

Page 468: ... the END SUB statement 2 Add a SUB statement corresponding to the END SUB statement 3 Confirm execution of SUB command 5 25 SUB without END SUB Code H0519 Meaning Cause There is no END SUB statement corresponding to SUB statement Action 1 Delete the SUB statement 2 Add an END SUB statement corresponding to the SUB statement 5 26 Duplicated variable Code H051A Meaning Cause Two or more array variab...

Page 469: ...ed Action Set definition for undefined function 5 34 Too many dimensions Code H0522 Meaning Cause An array exceeding 3 dimensions was defined Action Change array to within 3 dimensions 5 35 Dimension mismatch Code H0523 Meaning Cause The number of array dimensions does not match that defined by the DIM statement Action 1 Make the number of array dimensions match that defined by the DIM statement 2...

Page 470: ...m SUB to END SUB statements Action Delete command that cannot be executed within procedure 5 41 Illegal command outside proce Code H0529 Meaning Cause Command cannot be executed outside of procedure between SUB to END SUB statements Action Delete command that cannot be executed outside of procedure 5 42 Illegal command inside IF Code H052A Meaning Cause Cannot execute command between IF to ENDIF s...

Page 471: ... data 2 Use only alphanumeric and underscore _ characters in the program name 3 Use 8 characters or less in the program name 5 46 Too many identifiers Code H052E Meaning Cause Number of identifiers exceeded 500 Action Ensure the number of identifiers is within 500 items 5 47 CASE without SELECT Code H052F Meaning Cause There is no SELECT statement corresponding to CASE statement Action 1 Delete th...

Page 472: ...ode H0533 Meaning Cause Cannot execute command statement between SELECT and CASE statements Action Delete the command statement between SELECT and CASE statements 5 52 Command doesn t exist Code H0534 Meaning Cause Line does not have a command statement Action 1 Add a command statement 2 Delete the line that does not have a command statement 5 53 Compile failure Code H0535 Meaning Cause Error occu...

Page 473: ...e Action Change expression to a positive value 6 3 Division by 0 Code H0603 Meaning 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 attempted Action Define the point 6 5 Coordinate type error Code H0605 Meaning Cause a Arithmetic operations of joint coo...

Page 474: ...tion Confirm execution of SUB command 6 9 EXIT SUB without CALL Code H0609 Meaning Cause EXIT SUB command was executed without executing CALL command Action Confirm execution 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 Caus...

Page 475: ...Delete command for its own task 6 15 Task running Code H060F Meaning Cause START command was executed for a task currently in operation Action Delete START command 6 16 Task suspending Code H0610 Meaning Cause START or SUSPEND command was executed for a task in pause suspend condition Action Delete START or SUSPEND command 6 17 Illegal command in error routine Code H0611 Meaning Cause Command whic...

Page 476: ...PATH motion 6 22 3 points on line Code H0616 Meaning Cause Three points of an MOVE C command were placed on a straight line Action Change the 3 different points of the MOVE C command so they are not on the same straight line 6 23 Circular arc radius too small Code H0617 Meaning Cause MOVE C command radius is less than 1mm Action Change MOVE C command to 1mm or more for circular arc radius 6 24 Cir...

Page 477: ...e PATH END to end the path setting and then execute PATH START 6 29 No PATH data Code H061D Meaning Cause No path is set for PATH motion Action Set a path with PATH L and PATH C The previously set path will be lost in the following cases When PATH SET is executed When program is changed When program is reset When controller power is turned off 6 30 Too many PATH data Code H061E Meaning Cause The n...

Page 478: ...set on the axes whose return to origin method is set to Mark 6 35 Expression value error Code H0623 Meaning Cause The expression value is other than 1 and 0 even though conditional expression is a numeric expression Action 1 Set the expression value correctly 2 Change the TRUE condition parameter setting 9 Memory errors 9 1 Program destroyed Code H0901 Meaning Cause a Part or all of the program da...

Page 479: ...ta 9 7 Hand data destroyed Code H0907 Meaning Cause Part or all of the hand data has been destroyed Action Initialize the hand data 9 8 POS OUT data destroyed Code H0908 Meaning Cause Part or all of the POS OUT data was destroyed Action Initialize the POS OUT data 9 9 Pallet data destroyed Code H0909 Meaning Cause Part or all of the pallet definition data was destroyed Action Initialize the pallet...

Page 480: ...eaning Cause Part or all of the data used in a task has been destroyed Action Reset the program 9 37 Object program destroyed Code H0925 Meaning Cause Part or all of an object program has been destroyed Action Make the object program again 9 38 Sequence object memory full Code H0926 Meaning Cause Sequence object program exceeded its memory capacity Action Compress the source size of sequence progr...

Page 481: ... that is not specified Action Do not perform any axis related operation 10 6 DRIVER unit version mismatch Code H0A06 Meaning Cause Driver unit version does not match the CPU unit Action Make sure the CPU unit and driver unit versions match each other 10 7 CPU unit version mismatch Code H0A07 Meaning Cause CPU unit version does not match the CPU Action Make sure the CPU unit and driver unit version...

Page 482: ...was attempted on an axis that cannot be set to dual drive Action 1 Do not set to dual drive 2 Change the axis setting 10 14 Undefined parameter found Code H0A0E Meaning Cause a Undefined wrong parameter data was written because controller data from different controller version was used b Parameter name is wrong Action 1 Write the correct parameter data 2 Enter the parameter name correctly 3 Set th...

Page 483: ...tor 4 Attach the SAFETY connector Dedicated output 3 12 2 Interlock on Code H0C02 Meaning Cause a Program was executed or moving of axis attempted while interlock signal was still input b Interlock signal turned ON during execution of program or axis movement c DC 24V not supplied to SAFETY connector d SAFETY connector is not connected Action 1 Cancel the interlock signal and execute program or mo...

Page 484: ...res 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 DeviceNet system s MacID or communication speed setting is incorrect c No power supplied for communication d The master PLC s power is turned off has stopped operating is ...

Page 485: ...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 compatible unit 12 22 PROFIBUS hardware error Code H0C16 Meaning Cause a ...

Page 486: ...able or connector securely 2 Communicate with a client at least once within the time specified by the 7 timeout min parameter or set the parameter to 0 to disable the timeout function 3 Set the 11 logout parameter to CONT to avoid errors during logout 4 Check whether the client is responding to the keep alive packet or set the 12 keep alive sec parameter to 0 to stop the keep alive packet from bei...

Page 487: ...the controller 13 2 RPB parity error Code H0D02 Meaning Cause Abnormal data was entered in communication with RPB Action 1 Install the RPB correctly 2 Install the RPB in a good operating environment Do not install near sources of noise 13 11 RPB version mismatch Code H0D0B Meaning Cause RPB version does not match the controller and connection refused Action Use an RPB version that matches the cont...

Page 488: ...s 14 11 Receive buffer overflow Code H0E0B Meaning Cause Communication receive buffer exceeded permissible capacity Action 1 Delay the communication parameter speed baud rate 2 Change communication 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 se...

Page 489: ...te an on line command 14 24 Illegal command Running Code H0E18 Meaning Cause During program run a non executable on line command was attempted Action After stopping the program execute the on line system command which 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 ...

Page 490: ...5 4 File doesn t exist Code H0F04 Meaning Cause Loading of file was attempted but file name does not exist Action Change to a file name that currently exists 15 5 Illegal file type Code H0F05 Meaning Cause Extension of the specified file is not supported Action Specify the correct extension for file types that can be saved and loaded 15 6 Illegal file name Code H0F06 Meaning Cause Name or extensio...

Page 491: ...orrectly 2 Replace memory card backup battery 15 14 Media protected Code H0F0E Meaning Cause Cannot write Memory card has been set to write protect Action 1 Change to allow writing 2 Use another memory card 15 15 Media type mismatch Code H0F0F Meaning Cause Memory card is unusable Action Replace the memory card 15 16 Media data destroyed Code H0F10 Meaning Cause All or part of data stored on memor...

Page 492: ...tion 1 Try to reload the file 2 Replace the memory card 3 Replace the controller 15 28 Data write error Code H0F1C Meaning Cause Failed to write file Action 1 Try rewriting the file 2 Replace the memory card 3 Replace the controller 15 29 Timeout error Code H0F1D Meaning Cause Failed to load write file Action 1 Try to reload rewrite the file 2 Replace the memory card 3 Replace the controller 17 Mo...

Page 493: ...ue to a motor overload c Motor acceleration is excessive d System generation setting is wrong e Motor cable wiring is broken or wiring is incorrect f Electromagnetic brake for holding vertical axis is defective g Wiring is incorrect or disconnected on electromagnetic brake for holding the vertical axis h SAFETY connector is not used correctly Action 1 Perform robot service and maintenance 2 Decrea...

Page 494: ...electromagnetic brake for holding the vertical axis g SAFETY connector is not used correctly Action 1 Perform robot service and maintenance 2 Lower the motor acceleration 3 Redo the system generation 4 Wire the motor cable correctly 5 Replace the motor cable 6 Replace the magnetic brake for holding the vertical axis 7 Replace the ROB I O cable 8 Do not use DC 24V from SAFETY connector as power sou...

Page 495: ...mal control mode status Action Contact our company with details on the problem Dedicated output 2 17 18 DPRAM data error Code H1112 Meaning Cause Two tries at loading the dual port RAM failed Action Contact our company with details on the problem Dedicated output 2 17 19 Coord value error Code H1113 Meaning Cause Error occurred during linear interpolation circular interpolation or manual orthogona...

Page 496: ...se Data for driver unit from the CPU unit was not received by driver unit Action 1 Turn the power off and then on again 2 Replace the controller 17 28 Dual P E counter overflow Code H111C Meaning Cause On a dual axis drive the position differential between the main axis and sub axis is too large a Friction in the robot drive section is too large b Motor brake wiring is broken Action 1 Check the dr...

Page 497: ...as off b Servo ON processing failed because the drive unit had been stopped Action 1 First turn on the motor power if servo ON for each axis was attempted 2 Turn the power off and then on again 17 35 Axis weight over Code H1123 Meaning Cause The weight sum of work weight axis weight on a particular robot axis exceeded the maximum payload of that axis Action 1 Redo the system generation 2 Select th...

Page 498: ...tor drew excessive current Action Lighten the load on the robot 17 81 ABS battery wire breakage Code H1151 Meaning Cause a Absolute battery cable is broken b Absolute battery cable is not connected c Drop in absolute battery voltage Action 1 Replace the absolute battery 2 Connect the absolute battery 3 Enable the Incremental mode control parameter for use in incremental mode 17 82 CS read error Co...

Page 499: ...r disconnected during power off Code H115C Meaning Cause a Resolver signal line was disconnected or broken while power to the controller was cut off Same as when robot I O connector is removed b The controller was restarted after resolver signal line was disconnected while the power was on Same as when robot I O connector is removed Even after turning off the power the controller still knows that ...

Page 500: ...ervice and maintenance 2 Redo the system generation 3 Wire the motor cable correctly 4 Replace the motor cable 5 Replace the magnetic brake for holding the vertical axis 6 Replace the ROB I O cable 7 Do not use 24V DC from SAFETY connector as power source for external loads 19 YC Link SR1 related error 19 1 OVER LOAD Code H1301 Meaning Cause a Motor current higher than rated current has flown due ...

Page 501: ...king d Thermal sensor failed Action 1 Correct the ambient conditions so that temperature is below 40 C 2 Lower the load on the motor 3 Replace the controller 4 Replace the controller 19 4 POWER DOWN Code H1304 Meaning Cause a AC power line voltage is less than 80V b Momentary power outage occurred Action 1 Use the correct AC line voltage 2 Reset the alarm to resume operation 19 5 BATT LOW VOLTAGE ...

Page 502: ... c Origin sensor dog target is not properly adjusted Action 1 Connect the origin sensor correctly 2 Replace the origin sensor 3 Adjust the origin sensor dog correctly 19 13 BAD PZ Code H130D Meaning Cause a Position detector failure b Phase Z detection error Action 1 Replace the motor or robot 2 Connect the ROB I O cable correctly Replace the ROB I O cable 19 14 FEEDBACK ERROR 1 Code H130E Meaning...

Page 503: ...g on the input voltage select terminals 19 17 SYSTEM FAULT 2 Code H1311 Meaning Cause Controller board failed Action Replace the controller 19 18 FEEDBACK ERROR 3 Code H1312 Meaning Cause Motor drive parts are mechanically locked Action Check the conditions of the movable parts Perform maintenance on the robot Correctly adjust the Mechanical locking detect level PRM142 19 19 SYSTEM FAULT 3 Code H1...

Page 504: ... Controller board failed Action 1 Connect the motor cable correctly 2 Replace the motor cable 3 Replace the motor 4 Replace the controller 19 27 POLE SEARCH ERROR Code H131B Meaning Cause a Motor cable connection is incorrect b Motor cable broke or failed c ROB I O cable connection is incorrect d ROB I O cable broke e Motor failed f Controller board failed g Robot number setting is incorrect Actio...

Page 505: ...ler 19 33 MAIN POWER OFF Code H1321 Meaning Cause a AC power line voltage is less than 100V when 200V is selected b AC power line voltage is less than 40V when 100V is selected c Power supply voltage setting 200V 100V is incorrect d Controller failed Action 1 Use the correct AC line voltage 2 Use the correct AC line voltage 3 Check the wiring on the input voltage select terminals 4 Replace the con...

Page 506: ... Cause Action 19 44 ABS ME ERROR Code H132C Meaning Cause Action 19 45 ABS BAT ERROR Code H132D Meaning Cause Absolute battery voltage is less than 2 5V Action Replace the absolute battery 21 Major software errors 21 1 System error JOG Code H1501 Meaning Cause Software error occurred Action Contact our company with details of this problem 21 2 System error srvmod Code H1502 Meaning Cause Software ...

Page 507: ...ct our company with details of this problem 21 10 Watchdog error CPU Code H150A Meaning Cause a CPU malfunctioned due to external noise b Controller is defective Action 1 Turn the power off and then on again 2 Replace the controller Dedicated output 1 21 11 System error EmgHalt Code H150B Meaning Cause Software error occurred Action Contact our company with details of this problem 21 12 System err...

Page 508: ...ing robot operation 3 Lower the robot duty cycle Dedicated output 1 Caution This error always occurs when the power is cut off 22 3 DC24V power low Code H1603 Meaning Cause a DC 24V power supply malfunctioned and the voltage dropped b Electromagnetic brake for vertical axis is defective c Wiring for electromagnetic brake of vertical axis is wrong d Short in DC 24V for safety connector Action 1 Rep...

Page 509: ... external source 22 10 Abnormal drop in voltage Code H160A Meaning Cause a Output voltage for motor power supply dropped below 140V b Power supply has insufficient capacity c Vertical axis electromagnetic brake is defective d SAFETY connector is used incorrectly Action 1 Check the power supply voltage 2 Check if supply voltage drops during robot operation 3 Lower the robot duty cycle 4 Replace the...

Page 510: ...rect review the robot operating conditions etc 2 When no regenerative unit is used plug the shorting connector into the connector for the thermal sensor cable 22 20 DRIVER unit disconnected 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 D...

Page 511: ...utput 1 22 43 OPT 3 interface overtime Code H162B Meaning Cause 1 Failed to acquire access privilege for interface 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 ...

Page 512: ...ication failure Action Verify that the YC link cable and the terminal resistor are connected 22 52 YC Link type error Code H1634 Meaning Cause Mismatch between the secondary station specifications and the setting a The secondary station controller SR1 specifications SR1 X SR1 P or the current sensor specifications have been changed controller was replaced Action 1 Check the connected SR1 type and ...

Page 513: ...2 55 YC Link network error Code H1637 Meaning Cause The secondary station failed to reply a The communication cable is disconnected b The communication is malfunctioning due to noise c A serious failure has occurred at the secondary station controller Action 1 Verify that the communication cable is connected 2 Implement noise countermeasures 3 Check the secondary station controller s condition 22 ...

Page 514: ...he connector is not making contact Action 1 Separate equipment away from noise source 2 Replace the RPB cable 3 Replace the RPB RPB Receive Error Parity Error Contents Parity error occurred during 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 source 2 Replace the RPB ca...

Page 515: ...he controller Cause a The cable is broken or disconnected b Controller operation is abnormal c The connector is not making contact Action 1 Replace the RPB cable 2 Replace the controller RPB RS 422 Error DATA LINE Error Contents Data communication with controllers is defective Cause a The cable is broken or disconnected b The connector is not making contact Action 1 Replace the RPB cable 2 Replace...

Page 516: ... manual movement when robot is moved to particular location during program operation Current status is Status on RPB screen example Nothing is displayed on screen Error message appears on screen Robot servo status example Servo won t turn on Abnormal sound when robot is moved Sets to origin incomplete RPB operating status example Keys won t function Response after pressing key is slow Only the eme...

Page 517: ...k controller error status press DIAGNOS A maximum of 5 error histories are displayed 3 To check a particular error history press HISTORY A maximum of 500 error histories can be checked 2 2 2 Acquiring 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 receive the internal error his...

Page 518: ...upply Check RPB connector Check how RPB connector is inserted Replace RPB and check operation Plug in RPB connector correctly Replace the RPB Replace the controller 3 Controller turns on but ERR LED on front panel lights up Now in emergency stop Connect the RPB and check the error history Check DI00 Emergency stop ready signal on RPB screen Release RPB emergency stop switch Insert RPB connector Co...

Page 519: ...iminate the cause of the error 2 Abnormal sound or vibration Wrong robot or axis type setting Connect RPB and check robot settings in SYSTEM mode Check if robot and controller are compatible Change to correct robot or axis type setting Make sure robot and controller are compatible Tip weight acceleration settings are incorrect Check tip weight parameter setting in SYSTEM mode Check Accel Coefficie...

Page 520: ...s incorrect Replace cable if found to be defective Position detection error due to noise Check grounding of robot and controller Check robot periphery for noise Check for noise sources around robot I O cable Ground the robot and controller Isolate from noise sources around robot Isolate from noise sources around robot I O cable Mechanical error occurred Check the belt tension Check for warping or ...

Page 521: ...on I O interface connector STD DIO Error has occurred Connect the RPB and check robot settings in SYSTEM mode Check if ERR LED is lit on front of controller Check the cause from the error information Eliminate the cause of the error 3 No output of general purpose I O signal No DC24V supply Check that DC 24V is supplied from I O interface connector STD DIO Check that DC 24V is supplied for I O inte...

Page 522: ...f Chapter 3 were added or corrected A parameter manual movement mode was added to Other parameters and so forth Ver 1 19 Jul 2012 A parameter DO cond on PGM reset RESCDO was added to Other parameters The description regarding Warranty was changed Clerical error corrections etc Ver 1 20 Dec 2012 Content regarding the restriction function was changed and Chapter 3 5 2 Noise countermeasures was added...

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Page 524: ...robot Robot manuals can be downloaded from our company website Please use the following for more detailed information YAMAHA MOTOR CO LTD IM Operations 882 Soude Nakaku Hamamatsu Shizuoka 435 0054 Japan Tel 81 53 460 6103 Fax 81 53 460 6811 ...

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