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I/O interf

ace

4-6

1.5 Connector pin assignment lists

1.5.1

Standard specification I/O connector

DI01

Servo ON

DI12

RUN

DI10

SEQ enable

DI13

(Spare)

DI03

(Spare)

DI14

ORIGIN

(for INC axis)

CHK1

Check input 1

DI15

RESET

DI05

(Spare)

DI16

ALMRST

DI06

STOP

DI17

ORIGIN

(for ABS axis)

DI07

(Spare)

DI30

General-

purpose input

DI20

General-

purpose input

DI31

General-

purpose input

DI21

General-

purpose input

DI32

General-

purpose input

DI22

General-

purpose input

DI33

General-

purpose input

DI23

General-

purpose input

DI34

General-

purpose input

DI24

General-

purpose input

DI35

General-

purpose input

DI25

General-

purpose input

DI36

General-

purpose input

DI26

General-

purpose input

DI37

General-

purpose input

DI27

General-

purpose input

CHK2

Check input 2

DO00

(Spare)

DO02

SERVO

DO01

CPUOK

DO03

ALARM

DO10

AUTO

DO20

General-

purpose output

DO11

ORGOK

DO21

General-

purpose output

DO12

SEQRUN

DO22

General-

purpose output

DO13

RUN

DO23

General-

purpose output

DO14

RESET

DO24

General-

purpose output

DO15

WARNING

DO25

General-

purpose output

DO16

(Spare)

DO26

General-

purpose output

DO17

(Spare)

DO27

General-

purpose output

1.5.2

Expanded specification I/O connector

The following shows the expanded specification I/O connector pin assignment list when the ID is "2".
For details about pin assignments other than those with the ID set at "2", refer to the I/O connector signal list.

−

Do not use.

DI42

General-

purpose input

DI40

General-

purpose input

DI43

General-

purpose input

−

Do not use.

DI44

General-

purpose input

DI41

General-

purpose input

DI45

General-

purpose input

−

Do not use.

DI46

General-

purpose input

−

Do not use.

DI47

General-

purpose input

−

Do not use.

DI60

General-

purpose input

DI50

General-

purpose input

DI61

General-

purpose input

DI51

General-

purpose input

DI62

General-

purpose input

DI52

General-

purpose input

DI63

General-

purpose input

DI53

General-

purpose input

DI64

General-

purpose input

DI54

General-

purpose input

DI65

General-

purpose input

DI55

General-

purpose input

DI66

General-

purpose input

DI56

General-

purpose input

DI67

General-

purpose input

DI57

General-

purpose input

−

Do not use.

−

Do not use.

−

Do not use.

−

Do not use.

−

Do not use.

DO30

General-

purpose output

DO40

General-

purpose output

DO31

General-

purpose output

DO41

General-

purpose output

DO32

General-

purpose output

DO42

General-

purpose output

DO33

General-

purpose output

DO43

General-

purpose output

DO34

General-

purpose output

DO44

General-

purpose output

DO35

General-

purpose output

DO45

General-

purpose output

DO36

General-

purpose output

DO46

General-

purpose output

DO37

General-

purpose output

DO47

General-

purpose output

Содержание R6YXC1000

Страница 1: ...7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 86 5 6 0 18 6 5 5RERWV 5 6HULHV...

Страница 2: ......

Страница 3: ...2 Precautions for robot controllers S 11 4 4 Safety measures S 13 4 4 1 Safety measures S 13 4 4 2 Installing a safety enclosure S 14 4 5 Operation S 15 4 5 1 Trial operation S 15 4 5 2 Automatic oper...

Страница 4: ...3 Power ON procedures 1 4 4 Usage environments 1 5 Chapter 2 System overview 1 I O interface overview 2 1 1 1 Main system configuration 2 1 1 2 Axis configuration for the YRCX 2 2 2 Name of each part...

Страница 5: ...ions 3 11 8 Connecting the regenerative shorting connector 3 11 9 Connecting the brake power supply 3 12 10 Precautions for cable routing and installation 3 12 10 1 Wiring methods 3 12 10 2 Methods of...

Страница 6: ...f 4 17 2 Ratings 4 18 2 1 Input 4 18 2 2 Output 4 18 3 Caution items 4 18 Chapter 5 SAFETY I O interface 1 SAFETY I O interface overview 5 1 1 1 Power 5 1 1 2 Connector I O signals 5 1 1 3 Connection...

Страница 7: ...ation mode and parameters 6 14 3 4 2 Initializing communication parameters 6 14 3 5 System setting on personal computer client 6 15 3 5 1 Setting the TCP IP protocol 6 15 3 6 Connection check using Pi...

Страница 8: ...he parameters 7 10 10 3 Parameter list 7 12 10 4 Controller parameters 7 15 10 5 Robot parameters 7 17 10 6 Axis parameters 7 20 10 7 I O parameters 7 27 10 8 Option board related parameters 7 29 Chap...

Страница 9: ...9 Alarm related to the memory A 33 10 Alarm related to the environment and general hardware A 36 12 Alarm related to the option board A 38 14 Alarm related to the communication A 46 17 Alarm related t...

Страница 10: ......

Страница 11: ...or robot controllers S 9 4 3 Moving and installation S 10 4 3 1 Precautions for robots S 10 4 3 2 Precautions for robot controllers S 11 4 4 Safety measures S 13 4 4 1 Safety measures S 13 4 4 2 Insta...

Страница 12: ...23 7 1 Movement range S 23 7 2 Robot protective functions S 24 7 3 Residual risk S 25 7 4 Special training for industrial robot operation S 25 7 5 KC mark S 26 7 5 1 EMC standards S 26 7 5 2 Examples...

Страница 13: ...ppropriate safety measures as required by the user s individual system To use OMRON robots and controllers safely and correctly always comply with the safety rules and instruc tions For specific safet...

Страница 14: ...symbol and signal word and then read this manual DANGER This indicates an immediately hazardous situation which if not avoided will result in death or serious injury WARNING This indicates a potentia...

Страница 15: ...g operation Press the emergency stop button 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...

Страница 16: ...rresponding procedures and Safety Instructions Never install adjust inspect or service the robot in any manner that does not comply with the instructions in this manual Potential hazard to human body...

Страница 17: ...hazard Wait at least 100 seconds after power off before opening the covers These are precautions for OMRON and distributors service personnel Customers must not attempt to open the covers 90K41 00139...

Страница 18: ...ning label is attached to the robot body Warning label comes supplied 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 su...

Страница 19: ...nits 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 af...

Страница 20: ...ral public In equipment intended to carry or transport people In environments which are subject to vibration such as onboard ships and vehicles 2 Qualification of operators workers Operators or person...

Страница 21: ...icity 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 t...

Страница 22: ...e movable 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 o...

Страница 23: ...e 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...

Страница 24: ...rrectly using the tool specified by the connector manufacturer CAUTION When disconnecting the cable from the robot controller detach by gripping the connector itself and not by tugging on the cable Lo...

Страница 25: ...wing 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...

Страница 26: ...rical shock equipment 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...

Страница 27: ...keep the operator or other personnel from entering within the movement range of the robot WARNING Use sturdy stable posts which will not fall over easily The rope or chain should be easily visible to...

Страница 28: ...s and procedure described in Adjusting the origin Standard coordinate setting SCARA robots Follow the precautions and procedure described in Setting the standard coordinates Soft limit settings SCARA...

Страница 29: ...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 5 3 Precautions during operation 1 When the...

Страница 30: ...p 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...

Страница 31: ...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...

Страница 32: ...Use the following caution items when disassembling or replacing the pneumatic equipment WARNING Air or parts may fly outward if pneumatic equipment is disassembled or parts replaced while air is stil...

Страница 33: ...th your local regulations or entrust disposal to a licensed industrial waste disposal company We do not collect and dispose of the used batteries 2 Disposal of packing boxes and materials When disposi...

Страница 34: ...Section 1 Emergency action when a person is caught by robot in Chapter 1 YRCX NOTE Make a printout of the relevant page in the manual and post it a conspicuous location near the controller 6 Cautions...

Страница 35: ...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...

Страница 36: ...installed at both ends of the maximum movement range Some robot models have a standard feature that allows changing the mechanical stopper positions On some other models the mechanical stopper positi...

Страница 37: ...eded to 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...

Страница 38: ...tes OMRON robot products into the customer s final system which will be shipped to or used in Korea should verify that the overall system conforms to the EMC standards KC mark The OMRON robots robots...

Страница 39: ...nd or related product not approved by OMRON or OMRON sales representative 4 Use of any other than genuine parts and specified grease and lubricant 5 Incorrect or inadequate maintenance and inspection...

Страница 40: ......

Страница 41: ...Important information before reading this manual Introduction i About this manual i Overview of the YRCX ii Before using the robot controller Be sure to read the following notes iii...

Страница 42: ......

Страница 43: ...e degree of freedom in movement To use OMRON robots and controllers safely and correctly be sure to comply with the safety instructions and precautions described in this manual Failure to take necessa...

Страница 44: ...high level robot language that conforms to the industrial robot programming language SLIM This robot language allows easy programming even of complex movements such as multi task operations Standard...

Страница 45: ...es to the robot controller Be sure to keep robot cables separate from the robot controller power connection lines and other equipment power lines Using in close contact with lines carrying power may c...

Страница 46: ......

Страница 47: ...ter 1 Using the robot safely 1 Emergency action when a person is caught by robot 1 1 2 Emergency stop 1 2 2 1 Emergency stop release and alarm reset 1 2 3 Power ON procedures 1 4 4 Usage environments...

Страница 48: ......

Страница 49: ...hands WARNING The vertical axis of the vertical use robot will slide down when the brake is released causing a hazardous situation Prop up the vertical axis with a support stand before releasing the...

Страница 50: ...wer to the robot CAUTION In addition to the emergency stop button on the programming box the SAFETY connector has terminals for external dedicated input emergency stop Refer to Chapter 5 SAFETY I O in...

Страница 51: ...reen Press on the programming box The QUICK MENU screen will appear Use the cursor keys to select Servo Operation and then press Step 3 QUICK MENU screen Step 4 Turn on the motor power and servo Use t...

Страница 52: ...I O settings Refer to 1 11 1 From the controller power on to servo on in Chapter 4 for details Step 1 Check the setup and connections Make sure that the necessary setup and connections are correctly c...

Страница 53: ...components Vibration and shock Do not apply strong shocks to the controller Do not install the controller in locations subject to large vibrations or shocks The controller may malfunction or break do...

Страница 54: ......

Страница 55: ...2 Axis configuration for the YRCX 2 2 2 Name of each part and control system 2 3 2 1 YRCX external view 2 3 2 2 Controller system 2 4 3 Optional devices 2 5 3 1 Programming box 2 5 3 2 Basic key oper...

Страница 56: ......

Страница 57: ...view 1 1 Main system configuration Configuration System for controlling one robot Example R6YXG500 All the axes on the robot controller are used as axes of the robot 1 OMRON robot YRCX Personal comput...

Страница 58: ...of axes making up one robot Up to four robots can be controlled Normal axes Indicate the axes composing the main robot These can be moved with the robot language MOVE command Auxiliary axes Indicate t...

Страница 59: ...8 OP 1 2 3 4 These are option ports Up to four option boards can be installed on them 9 BAT 1 2 3 4 These connectors are used for the absolute backup batteries 10 AC IN L N L1 N1 These I O connectors...

Страница 60: ...asic block diagram ROBO I O 1 2 ROBO I O 3 4 BAT1 BAT2 BAT3 BAT4 SAFETY PB BK24V COM USB EN DRIVER1 DRIVER2 AXIS2 DRIVER2 AXIS3 DRIVER2 AXIS4 DRIVER POWER CPU BOARD FAN REGISTOR OP 1 OP 2 OP 3 OP 4 L...

Страница 61: ...ries Alpha Num Sym Alpha Num Sym When pressing this key the character type to be input will change Additionally the LED indication showing the key status will also change LED indication when Alpha is...

Страница 62: ...roller 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 or...

Страница 63: ...ontactor 3 6 3 7 Installing a noise filter 3 7 3 8 Installing a surge absorber 3 7 4 Connecting the absolute battery 3 8 5 Robot connections 3 9 5 1 Connecting the robot cables 3 9 5 2 Noise counterme...

Страница 64: ......

Страница 65: ...ed above may be provided depending on the selected options 2 Installing the robot controller 2 1 Installation conditions Take note of the following points when installing the robot controller Installa...

Страница 66: ...ore A clearance of 100 mm or more is recommended CAUTION To prevent degradation or breakdowns never use the controller in other than the specified installation conditions For the bottom clearance take...

Страница 67: ...ymbol Name Remarks PE Ground Class D grounding Wiring material 2 0 sq or more Tightening torque 1 4 N m Ground resistance 100 ohms or less sq square is a unit used to indicate the cross sectional area...

Страница 68: ...re lead Use either of the methods shown below to insert the wire core into the opening in the power connector and then ensure that the wire does not come out Strip 8 to 9 mm of sheath 8 9 mm Connectio...

Страница 69: ...d to determine the control panel size controller installation method and cooling means Controller YRCX 1 When connected to SCARA robot Robot model Power capacity VA Generated heat amount W Standard ty...

Страница 70: ...uit protector Always equip the robot controller power connection with an earth leakage current breaker for safety An inrush current which might be from several to nearly 20 times higher than the rated...

Страница 71: ...52 1 115 0 5 10 1 43 0 5 13 1 13 1 127 1 35 1 6 M4 2 4 5 3 8 Installing a surge absorber It is recommended to install a surge absorber so as to increase the resistance against the surge noise generat...

Страница 72: ...1 3 3 Absolute battery CAUTION Do not process or extend the cable or abnormal operation or malfunction may occur NOTE If the absolute battery is disconnected from the BAT connector with the power tur...

Страница 73: ...when connecting the robot cables The M1 M2 M3 and M4 connectors and the ROB I O connector 1 2 3 4 have the same shape Be careful not to make incorrect connections Otherwise the robot may malfunction...

Страница 74: ...00 for M1 M3 Model KBG M6563 10 for M2 M4 Connected to the OMRON robot YRCX Noise filter 6 Connecting the programming box Connect the programming box to the PB connector on the front of the robot con...

Страница 75: ...sponding DI digital input is also used NPN specifications therefore make use of a sink output and a source input see the figure below Current Current DO output sink type DI input source type N COM NPN...

Страница 76: ...TION As a general guide keep the specified cables separated at least 100 mm from each other 1 Keep the external device cable robot cables power cable and other equipment power lines away from each oth...

Страница 77: ...Robot controller Primary wiring L1 N1 L N Ground wire Primary and secondary sides for the noise filter are bundled together Ground wire is bundled with primary wire Secondary wiring 2 Always attach a...

Страница 78: ...s to the controller as described below Power supply Do not supply power until you actually begin the operation check Robot cable Programming box Absolute battery absolute type only Regenerative unit i...

Страница 79: ...ntroller robot and supplied connector NOTE When the option boards are installed without wiring it goes in abnormal status such as error occurring and emergency stop To check the operation set the opti...

Страница 80: ......

Страница 81: ...ignal connection 4 7 1 8 Typical output signal connection 4 8 1 9 Dedicated input signal description 4 9 1 10 Dedicated output signal description 4 10 1 11 Dedicated I O signal timing chart 4 12 1 11...

Страница 82: ......

Страница 83: ...when the serial I O is selected dedicated inputs other than DI06 Stop of the parallel I O board become invalid For details about the definitions of the NPN and PNP specifications refer to 7 I O connec...

Страница 84: ...in number 4 and CHK2 pin number 40 of the I O NOTE Standard specifications expanded specifications are determined at shipment Only one standard specification board can be used When changing the ID it...

Страница 85: ...rt the electric wire all the way from the insertion port while pushing the operation lever 2 Release the operation lever To check the connection lightly pull the electric wire 3 When using a screwdriv...

Страница 86: ...mplete 20 DO 12 Dedicated output Sequence program in progress 21 DO 13 Dedicated output Robot program in progress 22 DO 14 Dedicated output Program reset status output 23 DO 15 Dedicated output Warnin...

Страница 87: ...output 17 37 57 77 26 DI 12 DI 42 DI 72 DI 122 General purpose input 12 42 72 122 27 DI 13 DI 43 DI 73 DI 123 General purpose input 13 43 73 123 28 DI 14 DI 44 DI 74 DI 124 General purpose input 14 4...

Страница 88: ...ation I O connector pin assignment list when the ID is 2 For details about pin assignments other than those with the ID set at 2 refer to the I O connector signal list 1 Do not use 26 DI42 General pur...

Страница 89: ...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 type number 10350 52A0 008 SUMITOMO 3M Connector plug type number 1015...

Страница 90: ...nal power supply DC24V DC24V GND DO DO DO Logic circuit Load Load Load CAUTION In connecting an inductive load solenoid relay etc connect a diode in parallel to the load as a surge killer For the NPN...

Страница 91: ...ce control DI10 is used to execute a sequence program When the DI10 contact is closed ON a sequence program is executed DO12 Sequence program in progress is output while a sequence program is executed...

Страница 92: ...whose return to origin method is set to MARK 2 When the DI17 Mode parameter is set to ABS ORG DI17 is used to perform return to origin commonly for the absolute type axis and incremental type axis 1 A...

Страница 93: ...nnot be reset unless the power supply is turned on again If the alarm remains on even after the power has been turned off and then turned back on the controller needs to be replaced In the case of 4 W...

Страница 94: ...will take about 3 seconds until the CPU_OK output status is confirmed after the power is turned on Initial servo on process after turning the power on a Control power turns on b MP RDY output turns o...

Страница 95: ...t turns on d Alarm reset input turns on e Alarm output turns off f Alarm reset input turns off after checking that the alarm output turns off g Servo ON input turns on h Servo ON output turns on i Ser...

Страница 96: ...vement stops i Stop input turns on When the return to origin complete output is on return to origin does not have to be performed Return to origin complete output keeps on until performing return to o...

Страница 97: ...turns on b Program reset status output turns on c Program reset input turns off after checking program reset status output turns on Program execution d Automatic operation start input turns on e Prog...

Страница 98: ...Automatic operation start input turns on h Robot program in progress output turns on i Automatic operation start input turns off after checking that the robot program in progress output turns on Switc...

Страница 99: ...7 and DO20 to DO27 These general purpose outputs can be used arbitrarily The output status of these can be changed in the robot program or sequence program All output signals are initialized and turne...

Страница 100: ...ms 1 or longer 1 When three or more optional I O interface boards are installed 3 Caution items 1 When using a dual lead proximity sensor as an input signal check that the electrical specifications of...

Страница 101: ...mple of controller with CE specifications and PBEX 5 2 1 4 Connections example of dedicated input signal 5 3 1 4 1 Emergency stop inputs E STOP RDY E STOP COM 5 3 1 4 2 AUTO mode inputs AUTO AUTO COM...

Страница 102: ......

Страница 103: ...nternal power for emergency stop B2 E STOP21 A2 E STOP11 Emergency stop contact output B3 E STOP22 A3 E STOP12 B4 E STOP RDY2 A4 E STOP RDY1 Emergency stop ready input 24 V 45 mA B5 E STOP COM2 A5 E S...

Страница 104: ...wer 24V Emergency stop status detection Internal power GND Manual lock switch status detection AUTO mode change detection Motor power ready output Emergency stop Enable Manual lock Operation descripti...

Страница 105: ...ower can be turned on When any emergency stop input contact is open OFF the servo power cannot be turned on To drive the internal power relay that is connected in parallel E STOP RDY E STOP COM needs...

Страница 106: ...o be closed The emergency stop switch contacts are connected to that of the programming box 1 5 2 Enable switch contact outputs ENABLE 1 ENABLE 2 PBEX Controller ENABLE11 ENABLE12 ENABLE21 ENABLE22 En...

Страница 107: ...ignal turns on this means that the servo on operation can be performed by supplying the main power and operating the servo on input signal If a serious alarm alarm classification number 900s that need...

Страница 108: ......

Страница 109: ...ectors and cables 6 9 3 2 Communication specifications 6 11 3 3 Connections 6 12 3 4 Parameter setting on controller server 6 13 3 4 1 Setting the communication mode and parameters 6 14 3 4 2 Initiali...

Страница 110: ......

Страница 111: ...through the RS 232C port SEND ETH TO ALL Receives the memory data of all systems through the Ethernet port The controller sends or receives the data corresponding to these commands When using the RS...

Страница 112: ...e YRCX programming manual termination code CRLF 0Dh 0Ah code Robot control commands start with the start code 40h and are executed by sending a statement that the termination code CRLF 0Dh 0Ah code is...

Страница 113: ...I Y i y A LF EOF J Z j z B K k C L l l l D CR M m E N n F O o Note 1 The above character codes are written in hexadecimal Note 2 SP indicates a blank space Note 3 Only capital letters can be used for...

Страница 114: ...rdware busy control 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 b Cable without using control wires NC RXD TXD NC GND NC RTS CTS NC 1 2...

Страница 115: ...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 code is selected 2 If the Display languag...

Страница 116: ...heck as much as possible 6 Flow 0 None 1 Xon Xoff 2 RTS CTS 1 Sets whether or not the data flow control using the XON XOFF code or RTS CTS signal is performed When the data flow control is not perform...

Страница 117: ...S is turned on 2 6 Other caution items 1 The controller allows receiving data as long as the receive buffer has capacity The receive buffer is cleared in the following cases When the power was turned...

Страница 118: ...an be connected to the same network and all of the information can be controlled from the specific personal computer Since the robot controller operates as a TELNET socket server you can easily access...

Страница 119: ...n the robot controller runs a specific series of actions according to instructions from the client NOTE During multitasking by the client one client can connect to multiple robot controllers at the sa...

Страница 120: ...white Not use Not use Brown 8 8 Brown Not use 100BASE TX does not use the wiring of 4 5 7 and 8 pins There is a straight cable with T 568B pin assignments wired Cross cable This cable is used to dire...

Страница 121: ...l Application layer TELNET Transport layer TCP Network layer IP ICMP ARP Data link layer CSMA CD Physical layer 100BASE TX Number of simultaneous log in cycles 1 IP address setting Setting is made fro...

Страница 122: ...e general consumer hubs at factory Such hubs may have low noise immunity Therefore note that OMRON does not warrant the operation of a hub other than that specified above Be sure to connect a hub with...

Страница 123: ...own Port 0 to 1023 CAUTION When connecting the robot controller to the existing network be sure to check with the network administrator regarding the settings such as IP address subnet mask and gatewa...

Страница 124: ...ited contents are canceled Pressing the F4 key INIT initializes the communication parameters Refer to 3 4 2 Initializing communication parameters in this Chapter Step 4 Press the ESC key to exit the d...

Страница 125: ...Center icon Step 2 Step 3 Click Change adapter settings in the Network and Sharing Center window Change adapter settings icon Step 3 Step 4 Right click the Local Area Connection icon to open the Loca...

Страница 126: ...Executing ping Step 2 Step 3 Check the ping results When communicated successfully the display becomes as follows Reply from xxx xxx xxx xxx bytes 32 time 1ms TTL 64 See the figure 1 If the communica...

Страница 127: ...key to return to Step 3 Step 6 To exit telnet input quit and then press the ENTER key Telnet window 4 Step 6 NOTE To control multiple robot controllers at the same time run multiple TELNET EXE 3 8 Ap...

Страница 128: ...tackable hubs In this case multiple hubs that are connected through the stack connection are recognized as a single large hub from the network Therefore unlike the cascade connection the number of con...

Страница 129: ...nal computer 133 215 0 3 255 255 255 0 133 215 0 1 Router at factory 1 133 215 1 1 255 255 255 0 Controller 1 133 215 1 2 255 255 255 0 133 215 1 1 Router at factory 2 133 215 2 1 255 255 255 0 Contro...

Страница 130: ...because of transmission standby time awaiting transmission and retransmissions IP address This IP address is a number unique to each device that is assigned to each device so that the numbers are not...

Страница 131: ...or example since the network length is 16 bits in class B one network address that can connect up to 65533 units is allocated However when using this network address as it is the efficiency of the man...

Страница 132: ...GEP parameter setting Press the F5 key GEP in the Ethernet screen and the GEP setting screen appears There are five communication parameters GEP set values Name Setting value Initial value Remarks 1...

Страница 133: ...display GEP edit screen Editing the GEP Step 2 Step 3 Set the parameters Press the F1 key CREATE to set a new GEP parameter and a pop up screen appears Input a TCP port number to set and press OK and...

Страница 134: ...GEP SETTING screen to display a pop up screen Step 2 Initialize the communication parameters Select OK with the cursor keys and press the ENTER key to initialize all the GEP communication parameters P...

Страница 135: ...ading the data 7 5 6 Execution level 7 6 6 1 Changing the access level 7 6 7 Safety setting 7 7 8 Initialize 7 8 8 1 Initializing the data 7 8 8 2 Setting the clock 7 9 9 Generation 7 10 10 Parameters...

Страница 136: ......

Страница 137: ...istory When selecting System History from the initial screen the HISTORY screen will appear The HISTORY screen displays five past alarm history records from the latest Up to 500 records are saved HIST...

Страница 138: ...System Property from the initial screen the property screen will appear The property screen displays the robot information option information clock and version 4 1 Robot information The robot names c...

Страница 139: ...plays that the option DIO with the PNP specifications is installed S Standard DIO 1 to 4 Expanded DIO2 D_Net DeviceNet unit ENet_IP EtherNet IP unit Profi_B PROFIBUS unit Profi_N PROFINET unit YCLnkE_...

Страница 140: ...aded to the controller Select System USB Memory from the initial screen to display the USB MEMORY screen USB MEMORY screen NOTE It is recommended to save the internal data when robot controller settin...

Страница 141: ...equired to the data to have been saved into the OMRON folder immediately beneath the USB memory Step 1 Select System USB Memory LOAD from the initial screen Use the cursor keys to select the type of t...

Страница 142: ...he initial screen and then press the ENTER key Next select Execution Level and then press the ENTER key The ACCESS LEVEL screen will appear Step 2 Input the access level to set Input the access level...

Страница 143: ...limited to its 3 3 Exclusive IO VALID INVALID Sets the dedicated input of the I O interface VALID or INVALID Even when set INVALID the general purpose inputs and outputs can be used 4 RS 232C VALID IN...

Страница 144: ...ame data SFT Deletes the shift coordinate data HND Deletes the hand definition data PRM Initializes the parameter data PLT Deletes the pallet definition data ION Deletes the I O name data LOG Deletes...

Страница 145: ...to execute the initialization process Select the CANCEL button and then press the ENTER key to cancel the initialization process 8 2 Setting the clock The controller is equipped with the clock functi...

Страница 146: ...obot in the factory shipment status is installed and operated The robot or axis movement range is changed The robot or axis transfer conditions are changed CAUTION The parameters are important data to...

Страница 147: ...Press the F1 key EDIT to select PARAMETER CONT screen PARAMETER ROBOT screen PARAMETER AXIS screen PARAMETER DRIVER screen PARAMETER IO screen PARAMETER OPTION screen The screen setting depends on th...

Страница 148: ...D 1 START 0 Break point stop mode BRKSTPMD 0 HOLD 1 HALDALL 1 Shift on area check out SFTONACO 0 INVALID 1 VALID 1 1 Contact your distributor for changing these parameters as editing them may influenc...

Страница 149: ...o 100 100 Tolerance TOLE 1 to value depending on the model 80 pulse OUT position OUTPOS 1 to 9999999 2000 pulse CONT pulse CONTPLS 0 to 9999999 0 pulse Arch pulse 1 ARCHP1 0 to 9999999 9999999 pulse A...

Страница 150: ...select port DI SI GRPORGIN 0 to 027 Octal 0 New setting values will be valid after turning off and on the power Option parameters For details about parameters refer to 10 8 Option board related param...

Страница 151: ...ition before executing again does not change When executing return to origin or absolute reset the target position after the relative motion stop is reset 1 RESET The relative motion is newly performe...

Страница 152: ...er performs program reset when it starts When this parameter is initialized 0 INVALID is set Setting Meaning 0 INVALID The program reset is not performed 1 VALID The program reset is performed Permiss...

Страница 153: ...is in stop status on the first line 1 START The started program is in executed status Break point stop mode BRKSTPMD This parameter sets whether the break point stops only the relevant program or all...

Страница 154: ...ed from the left end of the return to origin order setting in order 3 1 2 4 5 6 Axis 3 operation Axis 1 cancel Axis 2 cancel 4 operation Axis 5 cancel Axis 6 cancel 2 Return to origin operations of on...

Страница 155: ...onversion pulse coordinates Cartesian coordinates the hand system setting becomes important Setting Meaning 0 NONE Keeps the hand system that was set before performing program reset 1 RIGHT Sets the h...

Страница 156: ...a real number numeric value including a period the unit is automatically converted into the pulse value Acceleration coefficient ACCEL This parameter sets the acceleration deceleration during robot mo...

Страница 157: ...r is initialized the value unique to the model is set NOTE Input the OUT valid position with the 0 to 9 keys key and key When the value input with the keys is a real number numeric value including a p...

Страница 158: ...position so that the remaining distance becomes arch pulse 2 when the movement of other axes is completed 3 shown in the figure above 4 When all axes enter the OUT valid position range the command is...

Страница 159: ...ome long Take great care when using the robot with the acceleration coefficient decreased extremely NOTE When the tip swings during acceleration of the manual movement decrease this value to suppress...

Страница 160: ...collision Dual offset DOFSET The dual offset is the function that controls two motor axes of the same models with one motor axis and adjusts the origin position of the sub axis to the main one Refer t...

Страница 161: ...que to the model is set 0 CW The motor CW direction is the minus direction of the axis 1 CCW The motor CCW direction is the minus direction of the axis This parameter cannot be changed in the servo on...

Страница 162: ...ed by the plus X axis direction of the standard coordinates and the R axis tip tool Unit pulse When this parameter is initialized 0 is set Additionally this parameter is set automatically when setting...

Страница 163: ...ng 0 Outputs no error 1 to 0277 Octal Outputs an error from the port specified by DO or SO The general purpose output used in error output is OFF in any case of follows 1 Servo was turned on 2 Program...

Страница 164: ...e command cannot be used 1 VALID Remote command can be used DI17 mode DI17MD This parameter sets the operation of the dedicated input DI17 SI17 When this parameter is initialized 0 ABS is set Setting...

Страница 165: ...0 is set New setting value will be valid after turning off and on the power 10 8 Option board related parameters Option board enable OPTENBL This parameter sets the option DIO PNP specifications and...

Страница 166: ...n Executes the online command GORIGIN to perform return to origin of the gripper 1 YES The gripper is added to the axes to be performed return to origin Manual Holding of Gripper GMHLMD This parameter...

Страница 167: ...ated general purpose I O When this parameter is initialized 0 DEV_NORMAL is set Setting Meaning 0 DEV_NORMAL 1 DEV_COMPACT EtherNet IP IP address EIPADD This parameter sets the IP address When this pa...

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Страница 169: ...spection 1 Before carrying out work 8 1 2 Maintenance parts 8 1 3 Periodic inspections 8 1 3 1 Daily inspections 8 1 3 2 Three month inspections 8 2 4 Replacing the absolute battery 8 2 5 Replacing th...

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Страница 171: ...inal Verify that the terminal is not loose Tighten where necessary Power connector Check that the power connector is not loose Tighten and connect securely where necessary Power cable Check that the p...

Страница 172: ...total power off time after the battery has been connected to the controller reaches about 8 000 hours about one year WARNING To avoid danger never replace the absolute battery in servo on status Other...

Страница 173: ...e the bottom cover to which the memory battery is secured Step 1 2 1 2 Step 3 Disconnect the memory battery connector from the controller main body Step 4 Remove the memory battery from the bottom cov...

Страница 174: ...8 Periodic inspection 8 4...

Страница 175: ...Chapter 9 Specifications 1 Controller 9 1 1 1 Specifications 9 1 1 2 Basic functions 9 2 1 3 External view 9 3 2 Programming box 9 4 2 1 Basic specifications 9 4 2 2 External view 9 4...

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Страница 177: ...e Multitask 16 tasks maximum Sequence program 1 program Memory size 2 1 MB Total of program and point data Available size for program when the maximum of point is used 300 KB Program 100 programs maxi...

Страница 178: ...ram execution step execution etc MANUAL mode Major functions jog movement point data teaching parameter editing etc Commands Array declaration commands DIM statement Assignment commands Numeric assign...

Страница 179: ...3 1 3 External view YRCX external view YRCX AC IN L N L1 N1 BAT2 BAT3 BAT4 M1 M2 M3 M4 EN USB COM ROB I O 3 4 ROB I O 1 2 SAFETY 1 3 2 4 PB OPTION 1 2 3 4 PWR 130 PE M1 BAT1 3 5 5 355 10 5 213 225 19...

Страница 180: ...unction Enable switch 3 position type Manual lock selector switch 90 2 notch Power 12 VDC Operating environment Ambient temperature for use 0 to 40 C Ambient temperature for storage 10 to 60 C Humidit...

Страница 181: ...to the environment and general hardware A 36 12 Alarm related to the option board A 38 14 Alarm related to the communication A 46 17 Alarm related to the motor control A 49 19 Alarm related to the YC...

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Страница 183: ...ion number Classified by the axis operation or resetting procedure if an alarm occurs Error message display format 12 600 Emergency stop on Meaning Cause Action Shows the alarm meaning and the cause o...

Страница 184: ...oller Controller number C O Option board Controller number option slot number R R A Robot axis Robot number axis number M C M Physical motor Controller number motor number For example when 17 403 M1 i...

Страница 185: ...ax of the robot language compile 6 Alarm related to the robot language execution 7 Not used 8 Not used 9 Alarm related to the memory 10 Alarm related to the environment and general hardware 11 Not use...

Страница 186: ...power off 700 to 799 Internal error Operation stop Fan error 800 to 899 Servo brake Overload 900 to 999 Immediate servo off Restart system Over current Driver communication failure 1 1 3 Warning numbe...

Страница 187: ...ing Cause The command cannot be executed since the SAFETY setting is INVALID Action Set the target item in the SAFETY setting to VALID 0 23 No right of PRINT INPUT Code H0000 H0017 Meaning Cause The P...

Страница 188: ...canceled by pressing the RUN key and the program execution restarts from the next command 1 8 Stop executed Code H0001 H0008 Meaning Cause The program command execution was stopped by external stop c...

Страница 189: ...1 Coordinate cal failed Code H0002 H012D Meaning Cause a The standard coordinate setting is not correct b The operating position is out of the movement range Action a Set the standard coordinates corr...

Страница 190: ...de H0002 H0135 Meaning Cause Y axis exceeded the shift coordinate range Action Change the operation position to the inside of the shift coordinate range Change the shift coordinate range 2 310 Z excee...

Страница 191: ...tion speed exceeded the specified level Action Change the specified speed 2 327 Circular arc cal failed Code H0002 H0147 Meaning Cause The circular interpolation operation point is incorrect Action Se...

Страница 192: ...omes within 60 minutes 2 334 Over soft limit Code H0002 H014E Meaning Cause The value of the target position exceeded the soft limit specified in the parameter Action Change the operating position to...

Страница 193: ...fying either X or Y axis while selecting the shift coordinates for the R axis rotation Action Change the program so that the operation is executed with specifying both X and Y axis 2 342 Illegal hand...

Страница 194: ...gin of the tracking parameter Change the program so that the next command or CTSTOP command execute before moving out of the work area 2 349 Can t execute CTMOVE Code H0002 H015D Meaning Cause CTMOVE...

Страница 195: ...the program file operation 3 201 Too many programs Code H0003 H00C9 Meaning Cause A new program was created over 100 programs Action Create a new program after deleting an unnecessary program Make a...

Страница 196: ...meter 3 218 Duplicated Breakpoint Code H0003 H00DA Meaning Cause Break points were already set on the line Action 3 219 Illegal program no Code H0003 H00DB Meaning Cause A program number exceeding 1 t...

Страница 197: ...t used to input the data is incorrect Action Input the data in correct format 4 204 Undefined robot number Code H0004 H00CC Meaning Cause The specified robot number does not exist Action Input a corre...

Страница 198: ...004 H00D4 Meaning Cause The specified data does not exist Action Input a point name that can be used Create and save new data 4 213 Undefined controller number Code H0004 H00D5 Meaning Cause The speci...

Страница 199: ...f up to 3 decimal places 5 207 Illegal axis name Code H0005 H00CF Meaning Cause The input robot axis name is incorrect Action Input a correct axis name 5 208 Illegal order Code H0005 H00D0 Meaning Cau...

Страница 200: ...xecuted without executing FOR command Action a 1 Delete the NEXT statement a 2 Add FOR statement corresponding to the NEXT statement b Confirm execution of FOR command 5 219 FOR without NEXT Code H000...

Страница 201: ...lete the SUB statement Add END SUB statement corresponding to the SUB statement 5 226 Duplicated variable Code H0005 H00E2 Meaning Cause Two or more array variables were defined with the same name Act...

Страница 202: ...dimensions 5 235 Dimension mismatch Code H0005 H00EB Meaning Cause The array dimension number does not correspond to that declared Action Make the array dimension numbers correspond to each other 5 2...

Страница 203: ...0005 H00F4 Meaning Cause The command cannot use an external label Action Change to an internal label Change the execution command 5 245 Illegal program name Code H0005 H00F5 Meaning Cause a When trans...

Страница 204: ...the CASE statement 5 251 Illegal command line Code H0005 H00FB Meaning Cause The command cannot be executed since it is between SELECT and CASE statements Action Delete the command between SELECT and...

Страница 205: ...ng to the EXIT FOR statement 5 302 EXIT SUB without SUB Code H0005 H012E Meaning Cause There is no SUB statement corresponding to the EXIT SUB statement Action Delete the EXIT SUB statement Add a SUB...

Страница 206: ...array variable to within the defined range 6 207 RETURN without GOSUB Code H0006 H00CF Meaning Cause The RETURN command was executed without executing the GOSUB command Action Confirm the execution o...

Страница 207: ...ommand for task 1 c Delete the command for its own task 6 215 Task running Code H0006 H00D7 Meaning Cause The START command was executed for a task currently in operation Action Delete or correct the...

Страница 208: ...mmand 6 228 No PATH data Code H0006 H00E4 Meaning Cause a No path is set for PATH motion b The previously set path was lost for the following reasons When PATH SET command is executed When the program...

Страница 209: ...Meaning Cause Data is not defined in the specified pallet number Action Specify another pallet number Define the pallet 6 237 Specification mismatch Code H0006 H00ED Meaning Cause The command is non e...

Страница 210: ...he specified hand number is out of the range between 0 and 31 Action Specify a hand number between 0 and 31 6 256 Illegal pallet no Code H0006 H0100 Meaning Cause The specified pallet number is out of...

Страница 211: ...statement then register a task 6 264 Type mismatch Code H0006 H0108 Meaning Cause a Expression types are not equal on both sides b Prohibited type constant variable expression was used Action a Use t...

Страница 212: ...cuted during data editing Action After completing data editing execute the online command 6 281 Illegal command Running Code H0006 H0119 Meaning Cause The non executable online command was executed du...

Страница 213: ...gin complete status 6 309 INC motor disconnected Code H0006 H0135 Meaning Cause Return to origin command was executed without incremental type or absolute type axes Action Refer to DI14 Return to orig...

Страница 214: ...g return to origin mark method was attempted b Only one of Z or R axis is set to ZR stroke end method Action a Perform absolute reset for axes of Mark method using the programming box or support softw...

Страница 215: ...of the gripper 9 701 Program destroyed Code H0009 H02BD Meaning Cause a Part or all of the program data has been destroyed b This error message is sometimes issued due to a major error or the power b...

Страница 216: ...eaning Cause Part or all of the name of I O has been destroyed Action Initialize the name of I O 9 712 Area checkout data destroyed Code H0009 H02C8 Meaning Cause Part or all of the area check output...

Страница 217: ...e Ethernet has been destroyed Action Initialize the communication setting of general purpose Ethernet 9 723 Controller status data destroyed Code H0009 H02D3 Meaning Cause Part or all of the controlle...

Страница 218: ...eration destroyed Code H0009 H0384 Meaning Cause Part or all of the system generation data has been destroyed Action Back up the current data then send load the data that is proper for the target robo...

Страница 219: ...non corresponded parameter data was written because the controller data of different controller version was used Action a 1 Input the parameter name correctly a 2 Write the correct parameter data b S...

Страница 220: ...orrect Action Reset the safe mode 10 701 Real time clock data failed Code H000A H02BD Meaning Cause Gaining real time clock data failed Action Reset the real time clock 10 900 Turn on power again Code...

Страница 221: ...and set VALID b Check if the counter value can be read 12 202 Tracking vision not enabled Code H000C H00CA Meaning Cause Tasks or counters which did not execute the CTVISION command were specified whe...

Страница 222: ...Incorrect Indiv Origin setting Code H000C H012C Meaning Cause Multiple axes were specified for the Axes sel port DI SI parameter No axis was specified for the Axes sel port DI SI parameter Axis which...

Страница 223: ...A Meaning Cause a 24V power is not supplied to the PIO STD board b The power supply voltage supplying to the PIO STD board has dropped Action a Supply 24V power b Check if any device with over voltage...

Страница 224: ...curred by noise etc in the EtherNet IP system b The master module power is turned off or has stopped operating c The cable is broken or unconnected Action a Take the noise preventive actions for the c...

Страница 225: ...counter 1 is set to VALID Action Set the counter status to INVALID if the encoder is not connected to the counter 1 Check the encoder cable of the counter 1 Check if the encoder works normally 12 582...

Страница 226: ...b Option board enable parameter was changed c Parallel IO ID parameter was changed d PIO board is damaged Action a Check if the PIO board configuration is correct b Check if the option board configura...

Страница 227: ...ributor 12 763 EtherNet IP parameter mismatch Code H000C H02FB Meaning Cause Parameters set in the controller do not correspond to those set in the option board Action Initialize the EtherNet IP optio...

Страница 228: ...5 Option board overlapped Code H000C H0389 Meaning Cause The installed option board cannot be overlapped Action Remove the option board that cannot be overlapped 12 906 Undefined option board Code H00...

Страница 229: ...d of a single line Action a Limit the number of characters in 1 line to 255 b Add a C R code 0Dh at the end of a single line 14 222 No start code Code H000E H00DE Meaning Cause Starting code is not ad...

Страница 230: ...ng Cause Error occurred on the EtherNet IP option board Action Contact your distributor 14 500 Data send error Code H000E H0190 Meaning Cause Error occurred on the external communication by RS 232C du...

Страница 231: ...incorrect Action a Check the connection of the servo wire b Check the connection of the position sensor cable c Set the parameter setting correctly 17 402 ABS data error Code H0011 H0192 Meaning Caus...

Страница 232: ...ROB I O connector is removed Even after turning off the power the controller still memorizes the disconnection and this is displayed as an error when the controller is restarted Action Perform absolu...

Страница 233: ...t or disconnected on the vertical axes electromagnetic brake h The SAFETY connector is not used correctly Action a Perform robot service and maintenance b Decrease the load on motor c Lower the motor...

Страница 234: ...Replace the ROB I O cable b Replace the motor c Replace the controller 17 906 ABS mixing error 2 Code H0011 H038A Meaning Cause The position data count is not consistent while the controller power is...

Страница 235: ...ake wiring is broken Action a Check the drive sections for assembled condition and lubrication to ensure smooth movement b Check that the motor brake works properly 17 914 Overspeed Code H0011 H0392 M...

Страница 236: ...a The driver unit malfunctioned by external noise b The controller is defective Action a Turn the power off and then on again b Contact your distributor 17 923 Parameter data error Code H0011 H039B M...

Страница 237: ...997 Mode error 2 Code H0011 H03E5 Meaning Cause Error occurred in software for driver unit Action Contact your distributor 17 999 Undefined Code H0011 H03E7 Meaning Cause Undefined system error Action...

Страница 238: ...e The checksum error occurred in the data received by the YC Link E master Host check Action Check the cable connection Replace the cable Take noise preventive measures Replace the controller 19 802 Y...

Страница 239: ...of time Action Check the LAN cable for disconnection Take noise preventive measures Replace the master board 19 904 YC E master send data destroy Code H0013 H0388 Meaning Cause The return of the data...

Страница 240: ...Link E does not communicate Only the master might be turned off and then it might be turned on again Action Turn off all the controllers that are connected with the YC Link E and turn them on again 19...

Страница 241: ...drops during robot operation b 2 Lower the robot duty cycle c Replace the vertical axes electromagnetic brake d 1 Do not supply 24 V DC to the SAFETY connector from external source d 2 Do not use 24 V...

Страница 242: ...oling fan cable b Replace the ROB IO cable c Replace the controller d e Replace the controller cooling fan 22 516 Controller over heat Code H0016 H0204 Meaning Cause The environmental temperature insi...

Страница 243: ...e CPU unit did not recognize the driver 2 board Action Replace the controller 22 905 Abnormal over voltage Code H0016 H0389 Meaning Cause a Output voltage for motor power supply exceeded 420 V b The r...

Страница 244: ...e gripper control board Action Contact your distributor 26 332 Gripper soft limit over Code H001A H014C Meaning Cause The operating position exceeds the software limit value specified by the parameter...

Страница 245: ...r Action a Connect the gripper b Make gripper settings 26 398 Illegal gripper no Code H001A H018E Meaning Cause A gripper number outside the range from 1 to 4 was specified Action Specify a gripper nu...

Страница 246: ...Initialize the parameters c Check the power supply capacity and if it is insufficient adjust the power supply voltage to be within the rated range d Check the moving parts of the mechanism for heavy m...

Страница 247: ...tributor 26 810 Gripper feedback error 1 Code H001A H032A Meaning Cause a External force caused the finger to overrun the software limit b External noise caused the encoder to miscount Action a Turn o...

Страница 248: ...Time out occurred in the communication process between the CPU unit and driver unit Action Contact your distributor 28 904 RTOS fail Code H001C H0388 Meaning Cause Software error occurred Action Cont...

Страница 249: ...t moves unexpectedly Operate carefully when the robot moves as expected c50 Memory backup battery low Meaning Cause The memory battery voltage dropped Action Replace the memory battery c70 Motor overl...

Страница 250: ...occurred during data receiving Specified communication was not performed within the specified period of time Action Check the communication cable for abnormality Check that the connector is inserted c...

Страница 251: ...o particular location during program operation Current status is Programming box screen status example Nothing is displayed on screen Error message appears on screen Robot servo status example Servo w...

Страница 252: ...e set Step 2 Check the alarm status Send the command READ SCK from the personal computer The alarm code is received when an alarm occurs No alarm code is received when any alarm does not occur 2 2 2 C...

Страница 253: ...or is inserted Replace the programming box and check operation Plug in the PB connector correctly Replace the programming box Replace the controller 3 Although the controller turns on the alarm number...

Страница 254: ...ation in program language Set a correct tip weight parameter Set a correct acceleration parameter Make a correct setting in the program language A mechanical problem occurred Check for resonance in th...

Страница 255: ...y 24 V DC A problem in signal connection occurred Check the I O interface connector wiring Correct the I O interface connector wiring An alarm occurred Connect the programming box and check the alarm...

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Страница 257: ...ears as a suffix to the catalog number on the front cover manual Cat No I231E EN 01 Revision code The following table outlines the changes made to the manual during each revision Revision code Date De...

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Страница 260: ...DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH...

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