Power-On Procedures - Omron YRC User Manual

3.
1
This section describes the procedures from turning on the controller power to performing return-to-origin of
the robot.
CAUTION
To connect the programming box to the controller, always use the dedicated cable and connector that come
supplied with the programming box. Do not modify the cable and do not connect a relay to the cable.
NOTE
• After turning off the robot controller, wait at least 5 seconds until turning the power back on again. If power is
turned on again too quickly after the power was turned off, the controller might not start up correctly.
• Do not turn off the robot controller during program execution. Doing so may cause errors in the internal system
data and the program may not restart correctly when the power is again turned on. Always quit or stop the
program before turning off the robot controller.
• When the "Servo on when power on" parameter is set to "INVALID", the controller always starts with the robot
servo turned off when power is turned on, regardless of serial 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 completed according to the
instructions in the user's manual.
Step 2
Activate emergency stop.
Press the emergency stop button on the programming box to activate emergency stop.
Step 3
Turn on the power.
The power is supplied to the power terminal on the front panel of the controller. The "PWR" LED and
7-segment LED are lit and the initial screen appears on the programming box. (It takes maximum 7
seconds to start the controller correctly after the "PWR" LED has been lit.)
Step 4
Release emergency stop status.
Turn the emergency stop button on the programming box clockwise to release emergency stop status.
Step 5
Turn on the servo.
Refer to the YRCX operator's manual for details about servo on operation.
Step 6
Perform return-to-origin.
Refer to the YRCX operator's manual for details on return-to-origin.
NOTE
If the warning message "c50: Memory backup battery low" appears when turning on the power, replace the
lithium battery (service life is about 4 years) inside the controller. Refer to "5. Replacing the memory battery" in
Chapter 8 for details.
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Power-ON procedures