Omron R6YXC1000, Руководство пользователя, Страница: 62 / 260

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System o
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4. Basic sequence from installation to operation
Installation, connection and wiring
Power ON
Initial setting
Data setting
Trial operation
Operation
OP
OP
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Install the controller.
• Ground the controller.
• Make cable and connector connections.
• Configure an emergency stop circuit.
Start operation.
Make a trial run using step operation and make adjustment as needed.
Check that the wiring and supply voltage are correct and then turn power on.
Check that no alarm is issued after turning power on.
Robot type check
Return-to-origin
Perform return-to-origin to teach the origin position to
the controller.
Parameter setting Set parameters according to the operation conditions.
Programming
Create programs according to the robot operation.
Point data editing Create or edit point data according to the robot operation.
Parameter initial
setting
Set the following parameters to optimize the robot operation.
• Tip weight (workpiece tool weight)
Set the "Axis tip weight" parameter if the robot is set to
"MULTI" or has an auxiliary axis.
Before determining soft limit positions by jog movement,
return-to-origin must first be complete.
* Programming is not necessary when the program such as
operation with the online commands is not used.
Basic procedure Refer to:
3. Power-ON procedures
11. Checking the robot
controller operation
Controller system settings
Controller system settings
4. Automatic operation
2. Program editing
Refer to the YRCX
programming manual
for information about
programming language.
1. Point editing
5. Return-to-origin
4. Automatic operation
Installation, connection and wiring
Power ON
Initial setting
Data setting
Trial operation
Operation
Refer to serial I/O user's
manuals for details.
1. Transport, unpacking
10. Precautions for cable
routing and installation
I/O interface
SAFETY I/O interface
Chapter 3
Chapter 4
Chapter 5
Chapter 1
Chapter 3
Chapter 7
Chapter 3
Chapter 7
Chapter 4
Chapter 4
Chapter 3
Chapter 3
~
• Soft limits (movement range)
When a serial I/O board is installed:
Set the station number, communication speed, etc.
(Setup depends on the serial I/O type.)
Check that the robot type setting in the controller matches
the robot that is actually connected.
… Operator’s manual
OP
10.5 Robot parameters
•Tip weight
‹
WEIGHT
›
10.6 Axis parameters
•Plus (+) soft limit
‹
PLMT+
›
•Minus (-) soft limit
‹
PLMT-
›
* Always set these parameters when using the robot for the
first time. After that, change them as needed.
* When using the robot for the first time, be sure to perform
the return-to-origin.
After that, perform return-to-origin in the following cases.
• Incremental axis:
Before starting the robot operation and after turning on the
power or when the origin position is infinite (return-to-origin
incomplete status).
• Absolute axis:
When the origin position is infinite (return-to-origin incomplete
status).
Check that the safety devices such as an emergency stop circuit function correctly.