Yamaha CEmarking RCX221 Manuals

Manuals and User Guides for Yamaha CEmarking RCX221. We have 2 Yamaha CEmarking RCX221 manuals available for free PDF download: User Manual, Supporting Supplement Manual

Yamaha CEmarking RCX221 User Manual (468 pages)

YAMAHA 2-AXIS ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 4.75 MB

Introduction
3
Before Using the Robot Controller (be Sure to Read the Following Notes)
4
Overview of the RCX Series
5
Table of Contents
7
Safety Information
17
Particularly Important Cautions
19
System Design Safety Points
19
Installation Safety Points
20
Wiring Safety Points
21
Start-Up and Maintenance Safety Points
22
Safety Precautions During Robot Operation
24
Precautions for Disposal
24
Safety Measures for Robots
25
Safety Measures for Single-Axis Robots, Cartesian Robots, and Pick & Place Robots
25
Motor Overload Precautions
25
Warning Labels and Marks
25
Warning Labels
25
Warning Marks
26
Industrial Robot Operating and Maintenance Personnel
26
Make Daily and Periodic Inspections
27
Warranty
27
Operating Environment
27
Main System Configuration
31
System Overview
31
RCX22 Series Axis Definition
32
Part Names and Functions
33
RCX221 (Maximum Number of Axes: 2)
33
RCX221HP (Maximum Number of Axes: 2)
33
Control System
34
Rcx221/Rcx221Hp
34
Optional Devices
35
RPB Programming Box
35
I/O Expansion
35
Regenerative Unit
35
Basic Sequence from Installation to Operation
36
Unpacking
39
Packing Box
39
Installing the Robot Controller
40
Installation Conditions
40
Installation Methods
42
Connector Names
44
Connecting to the Power
45
AC200 to 230V Single-Phase Specifications
45
AC Power Connector Wiring
46
Power Capacity
47
Installing an External Leakage Breaker
48
Installing a Circuit Protector
49
Installing a Surge Absorber
49
Installing a Current Control Switch
50
Connecting the Robot Cables
51
Connecting the RPB Programming Box
52
I/O Connections
53
Connecting a Host Computer
54
Connecting a Regenerative Unit
55
Precautions for Cable Routing and Installation
57
Wiring Methods
57
Precautions for Installation
59
Methods of Preventing Malfunctions
59
Checking the Robot Controller Operation
60
Cable Connection
60
Operation Check
61
Operation Overview
69
The RCX Robot Controller
70
Part Names
70
Main Functions
71
RPB Programming Box
71
Part Names
71
Connection to the Robot Controller
72
Changing the RPB Screen Settings
73
Turning Power on and off
74
Operation Keys
76
RPB Screen
76
Operation Key Layout
77
Basic Key Operation
78
Function Keys
79
Control Keys
81
Data Keys
83
Other Keys
83
Emergency Stop
84
Emergency Stop Reset
85
Mode Configuration
87
Basic Operation Modes
87
Other Operation Modes
88
Mode Hierarchy
89
SERVICE" Mode
94
Operation Device
94
Prohibition of "AUTO" Mode Operation
94
Hold-To-Run Function
94
Limitations on Robot Operating Speed
95
AUTO" Mode
96
Automatic Operation
99
Stopping the Program
100
Resetting the Program
101
Switching Task Display
103
Switching the Program
104
Changing the Automatic Movement Speed
105
Executing the Point Trace
106
PTP Motion Mode
108
ARCH Motion Mode
109
Linear Interpolation Motion Mode
111
Direct Command Execution
112
Break Point
113
Setting Break Points
114
Deleting Break Points
115
Executing a Step
116
Skipping a Step
116
Executing the Next Step
117
PROGRAM" Mode
118
Scrolling a Program Listing
119
Program Editing
120
Cursor Movement
122
Insert/Overwrite Mode Switching
123
Inserting a Line
124
Deleting a Character
124
Deleting a Line
124
User Function Key Display
125
Quitting Program Editing
126
Specifying the Copy/Cut Lines
126
Copying the Selected Lines
127
Cutting the Selected Lines
127
Pasting the Data
128
Backspace
128
Line Jump
129
Searching a Character String
130
Directory
131
Cursor Movement
133
Registering a New Program Name
133
Directory Information Display
134
Copying a Program
135
Erasing a Program
136
Renaming a Program
137
Changing the Program Attribute
138
Displaying Object Program Information
139
Creating a Sample Program Automatically
140
Compiling
142
Line Jump and Character String Search
143
Registering User Function Keys
143
Resetting an Error in the Selected Program
147
MANUAL" Mode
148
Manual Movement
150
Displaying and Editing Point Data
153
Point Data Input and Editing
155
Restoring Point Data
156
Point Data Input by Teaching
157
Point Data Input by Direct Teaching
159
Point Jump Display
160
Copying Point Data
161
Erasing Point Data
163
Point Data Trace
164
Point Comment Input and Editing
164
Point Data Input by Teaching
166
Jump to a Point Comment
167
Copying a Point Comment
167
Erasing Point Comments
169
Point Comment Search
170
Point Data Error Reset
171
Displaying, Editing and Setting Pallet Definitions
172
Editing Pallet Definitions
174
Point Setting in Pallet Definition
175
Editing the Point in Pallet Definition
176
Setting the Point in Pallet Definition by Teaching
176
Pallet Definition by Teaching
177
Copying a Pallet Definition
180
Deleting a Pallet Definition
181
Changing the Manual Movement Speed
182
Displaying, Editing and Setting Shift Coordinates
183
Editing Shift Coordinates
185
Restoring Shift Coordinates
186
Editing the Shift Coordinate Range
187
Restoring a Shift Coordinate Range
189
Shift Coordinate Setting Method 1
190
Shift Coordinate Setting Method
193
Displaying, Editing and Setting Hand Definitions
196
Editing Hand Definitions
199
Restoring Hand Definitions
200
Hand Definition Setting Method 1
201
Changing the Display Units
203
Return-To-Origin
204
Return-To-Origin Operation
204
Semi-Absolute
206
Checking the Return-To-Origin Status
208
Return-To-Origin on each Axis
209
Return-To-Origin on All Axes
211
Setting the Standard Coordinates
213
Executing the User Function Keys
214
SYSTEM" Mode
215
Parameters
217
Robot Parameters
219
Axis Parameters
223
Other Parameters
242
Parameters for Option Boards
255
Option DIO Setting
257
Serial IO Setting
259
Setting the Network Parameters
263
Communication Parameters
265
OPTION Parameters
274
Setting the Area Check Output
275
Setting the "SERVICE" Mode
284
Saving the "SERVICE" Mode Parameters
290
Help Display in "SERVICE" Mode
291
SIO Settings
292
Double-Carrier Setting
295
Before Using a Double-Carrier
295
Setting the Double-Carrier Parameters
296
Initialization
299
Initializing the Parameters
300
Initializing the Memory
301
Initializing the Communication Parameters
302
Clock Setting
303
System Generation
304
Self Diagnosis
305
Controller Check
306
Error History Display
307
Displaying the Total Operation Time
308
System Error Details Display
309
Backup Processes
310
SD Memory Card
311
Loading Files
313
Saving Files
315
Deleting Files
317
Previewing Files
318
Internal Flash ROM
319
Loading Files
320
Saving Files
322
Initializing the Files
323
MONITOR" Mode
324
UTILITY" Mode
327
Canceling Emergency Stop; Motor Power and Servo On/Off
329
Canceling Emergency Stop
329
Motor Power and Servo On/Off
330
Enabling/Disabling the Sequence Execution Flag
332
Resetting the Output Ports
333
Changing the Execution Level
334
Changing the Execution Level
335
Displaying the Help Message
336
Changing the Access Level (Operation Level)
337
Entering the Password
338
Changing the Access Level
339
Displaying the Help Message
340
Standard I/O Interface Overview
343
ID Setting
344
Connector I/O Signals
345
Connector Pin Numbers
348
Connecting the Power Supply
349
NPN/PNP Power Connector Wiring
350
Typical Input Signal Connection
351
Typical Output Signal Connection
352
Dedicated I/O Signals
353
Dedicated Input Signals
353
Dedicated Output Signals
355
General-Purpose I/O Signals
357
General-Purpose Output Reset
357
Dedicated I/O Signal Timing Charts
358
Turning the Power on
358
Emergency Stop and Servo on
360
Return-To-Origin
361
Mode Switching
362
Automatic Operation
363
Ratings
364
Precautions
365
SAFETY I/O Interface Overview
369
Power
369
Connector I/O Signals
370
Connector Terminal Numbers
371
Emergency Stop Input Signal Connections
372
Dedicated Input Signal Connections
378
Dedicated Output Signal Connections
379
Input Signal Description
381
Meaning of Output Signals
382
Communication Overview
385
Communication Function Overview
386
Communication Specifications
387
Connector
387
Transmission Mode and Communication Parameters
389
Communication Flow Control
390
Flow Control During Transmit
390
Flow Control During Receive
390
Other Caution Items
391
Character Code Table
393
Connecting to a PC
394
Controller Basic Specifications
397
Controller Basic Functions
399
Controller External View
400
RCX221 External View
400
RCX221HP External View
401
RPB Basic Specifications and External View
402
Error Messages
407
Robot Controller Error Messages
407
0] Warnings and Messages
409
1] Warnings (Error History Entry)
411
2] Robot Operating Area Errors
412
3] Program File Operating Errors
415
4] Data Entry and Edit Errors
418
5] Robot Language Syntax (Compiling) Errors
418
6] Robot Language Execution Errors
427
9] Memory Errors
432
System Setting or Hardware Errors
435
I/O and Option Board Errors
437
RPB Errors
441
RS-232C Communication Errors
442
Memory Card Errors
444
Motor Control Errors
446
Major Software Errors
453
Major Hardware Errors
454
Troubleshooting
461
When Trouble Occurs
461
Acquiring Error Information
462
Acquiring Information from the RPB
462
Acquiring Information from the RS-232C
462
Troubleshooting Checkpoints
463

Yamaha CEmarking RCX221 Supporting Supplement Manual (92 pages)

ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 2 MB

General Contents

5
- Table of Contents
  5
Chapter 1 Using the Robot Safely

9
Chapter 2 CE Marking

21
Chapter 3 System Overview

27
Chapter 4 Emc Countermeasure

43
- EMC Countermeasure Examples 4.1.1 RCX240
  45
  - EMC Countermeasure Examples
    45
  - Configuration
    46
  - Rcx240
    46
    
    Countermeasure Components
    47
  - Rcx221/Rcx222
    52
    
    Configuration
    52
    
    Countermeasure Components
    53
Chapter 5 External Safety Circuit Examples

57
- Performance Level
  59
- Circuit Examples for the RCX240
  60
  - Category
    62
  - Category
    64
  - Overview of Circuit Operation
    65
- Circuit Examples for the RCX221/RCX222
  66
  - Category
    68
  - Category
    69
  - Category
    70
  - Overview of Circuit Operation
    71
Chapter 6 Specifications

73
- Basic Specifications
  75
  - Rcx240
    75
  - Rcx221
    77
  - Rcx222
    79
- Controller
  75
- Basic Functions
  81
- External View
  82
  - Rcx240
    82
  - Rcx221
    85
  - Rcx221Hp
    86
  - Rcx222
    87
  - Rcx222Hp
    88
- Basic Specifications
  89
  - Rpb-E
    89
- Programming Box
  89
- External View
  90
  - Rpb-E
    90

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Yamaha CEmarking RCX221 Manuals

Yamaha CEmarking RCX221 User Manual (468 pages)

Table of Contents

Yamaha CEmarking RCX221 Supporting Supplement Manual (92 pages)

Table of Contents

General Contents

Chapter 1 Using the Robot Safely

Chapter 2 CE Marking

Chapter 3 System Overview

Chapter 4 Emc Countermeasure

Chapter 5 External Safety Circuit Examples

Chapter 6 Specifications

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