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Yamaha RCX40 User Manual

4-axis robot controller
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YAMAHA 4-AXIS ROBOT CONTROLLER
RCX40
E
User's Manual
ENGLISH
E75-Ver. 12.00

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  Summary of Contents for Yamaha RCX40

  • Page 1 YAMAHA 4-AXIS ROBOT CONTROLLER RCX40 User’s Manual ENGLISH E75-Ver. 12.00...
  • Page 3 Introduction Our sincere thanks for your purchase of this YAMAHA robot controller. This manual explains how to install and operate the robot controller. Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA robot controllers safely and correctly.
  • Page 4 Safety precautions (Be sure to read before using) Before using the YAMAHA robot controller, be sure to read this manual and related manu- als, and follow their instructions to use the robot controller safely and correctly. Warning and caution items listed in this manual relate to YAMAHA robot controllers.
  • Page 5 [System design safety points] WARNING • Refer to this manual for details on the operating status of the robot controller and related instruction manuals. Design and configure the system including the robot controller so that it will always work safely. •...
  • Page 6 • When performing maintenance of the robot controller under instructions from YAMAHA or YAMAHA sales dealer, turn off the robot controller and wait for at least 30 minutes. Some parts in the robot controller may be hot or applied at a high voltage shortly after operation, so burns or electrical shocks may occur if those parts are touched.
  • Page 7 Before using the robot controller (Be sure to read the following notes.) Please be sure to perform the following tasks before using the robot controller. Failing to perform these tasks will require absolute reset for origin position setting each time the power is turned on or may cause abnormal operation (vibration, noise). [1] When connecting the power supply to the robot controller Reference Always make a secure connection to the ground terminal on the robot controller to...
  • Page 8 YAMAHA robot models, thus simplifying maintenance and adjustment. 5. CE marking* As a product of YAMAHA robot series, the RCX series robot controller is designed to conform to machinery directives, low-voltage directives and EMC (Electromagnetic compatibility) directives. In this case, the robot controller is set to operate under SAFE mode.
  • Page 9: Table Of Contents

    1. System overview ................2-1 Main system configuration ..............2-1 Axis definition for the RCX40 .............. 2-3 2. Part names and functions............2-4 RCX40 (Maximum number of axes: 4 axes) ......... 2-4 3. Controller system ..............2-5 Basic configuration ................2-5 4. Optional devices ................2-6 MPB programming device ..............
  • Page 10 9. Connecting the absolute battery ..........3-13 10. Replacing the absolute battery ..........3-15 11. Connecting a regenerative unit ..........3-18 12. Precautions for cable routing and installation ......3-19 12.1 Wiring methods ................3-19 12.2 Precautions for installation ..............3-19 12.3 Methods of preventing malfunctions ..........3-19 13.
  • Page 11 Resetting the program ............... 4-30 Switching task display ............... 4-32 Switching the program ..............4-33 Changing the automatic movement speed ......... 4-34 Executing the point trace ..............4-34 9.7.1 PTP motion mode ................... 4-36 9.7.2 ARCH motion mode ..................4-38 9.7.3 Linear interpolation motion mode ..............
  • Page 12 11.2.5 Copying point data ..................4-83 11.2.6 Erasing point data ................... 4-84 11.2.7 Point data trace ....................4-85 11.2.8 Point comment input and editing ..............4-86 11.2.8.1 Point comment input and editing ..............4-87 11.2.8.2 Point data input by teaching ................4-87 11.2.8.3 Jump to a point comment ................
  • Page 13 12.4.2 Initializing the memory ................. 4-200 12.4.3 Initializing the communication parameters ........... 4-201 12.4.4 Clock setting ....................4-202 12.4.5 System generation ..................4-203 12.5 Self diagnosis .................. 4-204 12.5.1 Controller check ................... 4-204 12.5.2 Error history display ..................4-205 12.5.3 Absolute battery voltage display ..............
  • Page 14 Connector I/O signals ............... 5-18 Connector pin numbers ..............5-19 Typical input signal connection ............5-20 Typical output signal connection ............5-20 General-purpose I/O signals .............. 5-20 2.7.1 General-purpose input signals ................ 5-20 2.7.2 General-purpose output signals ..............5-20 2.7.3 General-purpose output signal reset (off) ............
  • Page 15 [ 4] Data entry and edit errors ..................9-10 [ 5] Robot language syntax (compiling) errors ............... 9-11 [ 6] Robot programming execution errors ..............9-18 [ 9] Memory errors ......................9-22 [10] System setting or hardware errors................9-24 [12] I/O and option board errors ..................
  • Page 16 MEMO viii...
  • Page 17: Chapter 1 Safety

    Chapter 1 Safety Contents 1. Safety ....................1-1 1.1 Safety precautions during robot operation ..........1-2 1.2 Safety precautions during maintenance ........... 1-2 1.3 Precautions for motor overload ............... 1-2 1.4 Warning labels ..................1-3 1.5 Warning marks ..................1-3 2.
  • Page 18 MEMO...
  • Page 19: Safety

    1. Safety Please observe all safety rules and cautions to use the YAMAHA robot safely and correctly. Also, please bear in mind that not all safety items can be listed in detail, so that an accurate judgment by the operator or service personnel is essential to operate the robot and controller safely.
  • Page 20: Safety Precautions During Robot Operation

    The robot must be operated by a person who has received the proper training on safety and operation from YAMAHA or an authorized YAMAHA sales dealer. b. During operation of the robot, be sure to stay out of the working area of the robot manipulator.
  • Page 21: Warning Labels

    1. Safety Warning labels The warning labels shown below are affixed to the controller. To use the YAMAHA robot and controller safely and correctly, be sure to observe the instructions and caution on the labels. a. “Electric Hazard” label C A U T I O N ELECTRIC HAZARD I This label warns you of possible electrical shock.
  • Page 22: Warranty

    2. Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description: If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty...
  • Page 23: Operating Environment

    3. Operating environment Operating temperature The ambient temperature should be maintained within a range of 0 to 40°C during operation. This is the range in which continuous operation of the robot controller is guaranteed according to the initial specifications. If the robot controller is installed in a narrow space, heat generated from the controller itself and from peripheral equipment may drive the temperature above the allowable operating temperature range.
  • Page 24 MEMO...
  • Page 25: Chapter 2 System Overview

    1.1 Main system configuration ..............2-1 1.2 Axis definition for the RCX40 ..............2-3 2. Part names and functions ..............2-4 2.1 RCX40 (Maximum number of axes: 4 axes) ..........2-4 3. Controller system ................2-5 3.1 Basic configuration .................. 2-5 4.
  • Page 26 MEMO...
  • Page 27: System Overview

    Main system configuration Configuration 1: System for controlling one robot Example : YK400X All the axes on the robot controller are used as the main robot axes. Fig. 2-1-1 System for controlling one robot YAMAHA robot...
  • Page 28 Example: SXYx+T9+T9 Axes 1 and 2 on the robot controller are used as the main robot axes and axes 3 and 4 are used as the main auxiliary axes. Fig. 2-1-2 System for controlling one robot and auxiliary axes YAMAHA robot...
  • Page 29: Axis Definition For The Rcx40

    1. System overview Axis definition for the RCX40 Axis definitions for the YAMAHA RCX40 robot controller are shown below. Robot Main group (MG) Main robot (MR) Main robot axis (M?) controller (RC) Main robot auxiliary axis (m?) Subgroup (SG) Sub robot (SR)
  • Page 30: Part Names And Functions

    2. Part names and functions RCX40 (Maximum number of axes: 4 axes) Fig. 2-2-1 RCX40 MOTOR OP.1 OP.3 BATT OP.2 OP.4 RGEN STD.DIO SAFETY ACIN...
  • Page 31: Controller System

    3. Controller system Basic configuration The basic block diagram of the RCX robot controller system is shown below. Fig. 2-3-1 D POWER BOARD ASSY CN10 HEATSINK MOTOR DRIVER2 BOARD ASSY ROB I/O XY DRIVER1 BOARD ASSY ROB I/O ZR SAFETY CPU BOARD ASSY STD.DIO OP.BOARD...
  • Page 32: Optional Devices

    4. Optional devices MPB programming device The MPB is a hand-held device used to perform all robot operations, including manual operations, program input and editing, teaching and parameter settings. Fig. 2-4-1 Emergency stop button Expansion I/O board A standard I/O board used in the robot controller has 24 general-purpose input points and 16 general-purpose output points.
  • Page 33: Chapter 3 Installation

    Chapter 3 Installation Contents 1. Unpacking ..................3-1 Packing box ..................3-1 Unpacking .................... 3-1 2. Installing the robot controller ............3-2 Installation .................... 3-2 Installation methods ................3-3 3. Connectors ..................3-5 4. Power connections ................3-6 AC200 to 230V single-phase specifications ........... 3-6 Power capacity ..................
  • Page 34 MEMO...
  • Page 35: Unpacking

    The robot controller is high precision equipment and is carefully packed in a cardboard box to avoid shocks and vibrations. If there is any serious damage or dent to the packing box, please notify your YAMAHA sales dealer without unpacking. Unpacking The robot controller is packed with accessories as shown below, according to the order specifications.
  • Page 36: Installing The Robot Controller

    Fig. 3-2-1 CAUTION 50mm or more 1. When carrying the robot controller, use a dolly or similar hand truck and move it carefully RCX40 MOTOR OP.1 OP.3 to avoid dropping and resultant damage. 2. Take care not to allow the...
  • Page 37: Installation Methods

    2. Installing the robot controller Installation methods There are 4 methods for installing the robot controller as explained below. 1) Using the rubber feet (attached as standard parts) Fig. 3-2-2-1 2) Attaching the L-type brackets (supplied as standard accessories) to the front CAUTION Fig.
  • Page 38 2. Installing the robot controller 3) Attaching the L-type brackets (supplied as standard accessories) to the rear CAUTION • When attaching the L-type brackets to the rear of the Fig. 3-2-2-3 controller, provide a clearance of at least 30mm between the rear panel and wall or other objects.
  • Page 39: Connectors

    3. Connectors The connector names, locations and functions are shown below. Fig. 3-3-1 RCX connectors O P . 3 O P . 1 RCX40 MOTOR OP.1 OP.3 M P B R O B I / O X Y BATT BATT...
  • Page 40: Power Connections

    4. Power connections Connect round crimp terminals to the power cable and screw them to the terminal block on the front panel of the controller as shown below. AC200 to 230V single-phase specifications CAUTION Before connecting the power cable, be sure to check that the power supply Remarks Symbol...
  • Page 41 4. Power connections (3) When connected to 3 axes (Cartesian robot and/or multi-axis robot) Axis current sensor value Power capacity (VA) X-axis Y-axis Z-axis 1200 1000 1300 1600 1200 1500 1800 2000 (4) When connected to 4 axes (Cartesian robot and/or multi-axis robot) Axis current sensor value Power capacity (VA) X-axis...
  • Page 42: External Leakage Breaker Installation

    Leakage current 3. Make sure that the controller is securely grounded. RCX40 4mA(MAX) 4. Stray capacitance between the cable and FG may vary depending on the cable installation condition, causing Circuit protector installation the leakage current to fluctuate.
  • Page 43: Robot Cable Connections

    ROB I/O XY and ROB I/O ZR) have an identical shape. Do not confuse these cable connectors when making connections. Misconnection Connected to YAMAHA robot will cause the robot to malfunction. • Keep robot cables separate from the robot controller power connection lines and other equipment power lines.
  • Page 44: Connecting The Mpb Programming Unit

    6. Connecting the MPB programming unit As shown in the figure below, the MPB should be connected to the MPB connector on the front panel of the robot controller. If not connecting the MPB, plug the MPB terminator (supplied as an accessory) into the MPB connector.
  • Page 45: I/O Connections

    7. I/O connections The various input/output (I/O) signals from peripheral equipment can be connected to the robot controller. Each I/O is set with a number, and the I/O connector to be used depends on that number. For more detailed information on inputs and outputs, see Chapter 5, “I/O interface", or Chapter 6, “SAFETY interface".
  • Page 46: Connecting A Host Computer

    COM connector on the front of the robot controller and the RS- 232C port of the computer. For more detailed information on the RS-232C interface, see “RS-232C Interface” in Chapter 7. Fig. 3-8-1 Host computer connection RCX40 MOTOR OP.1 OP.3...
  • Page 47: Connecting The Absolute Battery

    9. Connecting the absolute battery The absolute batteries are fully charged at factory prior to shipping. However, the battery connectors are left disconnected to prevent discharge. After installing the controller, always be sure to connect the absolute battery as shown in this manual, before connecting the robot cable.
  • Page 48: Connecting The Absolute Battery

    (KS4-M53G0-100) approximately one and a half 3.6V / 4000mAh years. 680h • Contact YAMAHA when the (KS4-M53G0-200) battery specifications differ. *1) YAMAHA exclusive battery name. *2) Time at ambient temperature of 20°C. *3) Time after power is off with the absolute battery fully charged.
  • Page 49: Replacing The Absolute Battery

    3.6V / 4000mAh years. 680h (KS4-M53G0-200) • Contact YAMAHA when the battery specifications differ. *1) YAMAHA exclusive battery name. • When disposing of used absolute batteries, refer to the instructions *2) Time at ambient temperature of 20°C.
  • Page 50: Replacing The Absolute Battery

    10. Replacing the absolute battery b) For B4 battery 1) Using a Phillips screwdriver, remove the four screws on the upper and lower stays coupling the two battery holders. The battery holder is not coupled if the RGU-2 is not mounted. Fig.
  • Page 51 10. Replacing the absolute battery 2) Unfasten the tie strap at the center of the battery holder. 3) Unplug the connector for the absolute battery to be replaced, and then remove the absolute battery by pulling it toward you. Fig. 3-10-5 4) Insert the new absolute battery slowly into the battery holder.
  • Page 52: Connecting A Regenerative Unit

    11. Connecting a regenerative unit When a regenerative unit (RGU-2) is required, connect between the RGEN connector on the front panel of the controller and the RGEN connector on the RGU-2 regenerative unit, by using the cable that comes with the regenerative unit. Fig.
  • Page 53: Precautions For Cable Routing And Installation

    12.Precautions for cable routing and installation 12.1 Wiring methods Various cables are used to connect the robot controller to peripheral devices. Follow the precautions below when making cable routing and connections to avoid malfunctions due to noise. CAUTION 1) Keep the I/O cables, robot cables and power cable separate from each other. Never As a guide, keep the specified cables separate at least 100mm from each bundle them together.
  • Page 54 12. Precautions for cable routing and installation 2) Always attach a surge absorber to the coil of inductive loads (inductive motor, sole- noid valve, brake solenoid and relay) located near the robot controller. Example of surge absorber For inductive motor 3-phase Single-phase motor...
  • Page 55: Checking The Robot Controller Operation

    • Regenerative unit (if needed) • SAFETY connector (supplied) (Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector.) 13.1 Cable connection Fig. 3-13-1 Neutral Power cable Earth SAFETY connector (supplied) YAMAHA robot...
  • Page 56: Emergency Stop Input Signal Connection

    13. Checking the robot controller operation 13.2 Emergency stop input signal connection Fig. 3-13-2 CAUTION External emergency stop and the RCX40 MPB emergency stop button are Emergency stop button disabled when pin 13 and pin 14 are MPB connector directly shorted to each other on the SAFETY connector.
  • Page 57: Chapter 4 Operation

    Chapter 4 Operation Contents 1. Operation overview ................. 4-1 2. The RCX robot controller ..............4-2 Part names .................... 4-2 Main functions ..................4-2 3. MPB programming unit ..............4-3 Part names .................... 4-3 Main functions ..................4-4 Connection to the robot controller ............4-5 4.
  • Page 58 9. “AUTO” mode ................4-25 Automatic operation ................4-28 Stopping the program ................4-29 Resetting the program ................. 4-30 Switching task display ................. 4-32 Switching the program ................ 4-33 Changing the automatic movement speed ........... 4-34 Executing the point trace ..............4-34 9.7.1 PTP motion mode ................
  • Page 59 11.“MANUAL” mode ................4-71 11.1 Manual movement ................4-73 11.2 Displaying and editing point data ............4-75 11.2.1 Point data input and editing ..............4-76 11.2.1.1 Restoring point data ................4-77 11.2.2 Point data input by teaching ..............4-78 11.2.3 Point data input by direct teaching ............4-82 11.2.4 Point jump display ................
  • Page 60 12.2 Communication parameters .............. 4-178 12.3 OPTION parameters ................. 4-184 12.3.1 Setting the area check output ............. 4-185 12.3.2 Setting the “SERVICE” mode .............. 4-189 12.3.2.1 Saving the “SERVICE” mode parameters ..........4-194 12.3.2.2 Help display in “SERVICE” mode ............4-194 12.3.3 SIO settings ..................
  • Page 61: Operation Overview

    1. Operation overview The controller configuration and main functions are shown below. Set up the equipment as needed according to the operation to be performed. Fig. 4-1-1 Operation overview MPB is used for Programming unit MPB • robot operation • programming •...
  • Page 62: The Rcx Robot Controller

    2. The RCX robot controller Part names Controller front panel Fig. 4-2-1 Part names and layout 2 “POWER” LED 3 “SERVO” LED 4 “ERROR” LED RCX40 MOTOR OP.1 OP.3 MPB connector BATT COM connector OP.2 OP.4 RGEN STD.DIO SAFETY ACIN...
  • Page 63: Mpb Programming Unit

    3. MPB programming unit The MPB is connected to the robot controller and allows you to edit or execute robot programs. Part names Fig. 4-3-1 MPB programming unit q Display (liquid crystal screen) t UPPER button y LOWER button e Emergency stop button u Display contrast adjustment trimmer (side of MPB) w Sheet key...
  • Page 64: Main Functions

    3. MPB programming unit Main functions q Display (liquid 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 3 main types: function keys, control keys and data keys.
  • Page 65: Connection To The Robot Controller

    Connect the MPB programming unit to the MPB connector on the front panel of the robot controller. Connect the cable securely since poor connection can cause malfunctions or breakdowns. Fig. 4-3-2 Robot controller connection MPB programming unit RCX40 MOTOR OP.1 OP.3 MPB connector BATT OP.2...
  • Page 66: Turning Power On And Off

    4. Turning power on and off This section explains how to turn power on and off, assuming that the external emergency stop circuit and other necessary units are connected according to the instructions in Chapter 3, "Installation", and also that the robot controller operates correctly. 1) Connect the MPB to the MPB connector on the front panel of the robot controller.
  • Page 67: Operation Keys

    5. Operation keys MPB screen The MPB screen display is composed of 4 areas as shown below. 1) System line (1st line) The current mode and its hierarchy are displayed on the 1st line at the top left of the screen.
  • Page 68: Operation Key Layout

    5. Operation keys Operation 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 Fig. 4-5-2 Sheet key layout Functin key Control key Data key...
  • Page 69: Basic Key Operation

    5. Operation keys Basic key operation 1) Each operation key has 3 different functions as shown below. Use the key as needed to enable various functions. UPPER LOWER Fig. 4-5-3 Key configuration Shift 1 Shift 3 Shift 2 2) There are 3 ways (shift 1 to shift 3) to use each operation key. Shift Example of key input Input data...
  • Page 70: Function Keys

    5. Operation keys Function keys To operate the MPB, select the menus by pressing the function keys. The relation between the function keys and their menus in “MANUAL” mode is shown below. Function key Selected menu (F 1) POINT F 11 (F 2) PALLET F 12...
  • Page 71 5. Operation keys Relation between function keys and menus Fig. 4-5-4 Function keys and menus MANUAL 50%[MG][S0H0J] Current position *M2= 0 *M3= *M4= POINT PALLET VEL+ VEL- ↓ ↓ ↓ ↓ ↓ [F1] [F2] [F3] [F4] [F5] ∧ SHIFT HAND UNITCHG VEL++ VEL—...
  • Page 72: Control Keys

    5. Operation keys Control keys There are 6 kinds of control keys: (1) Mode selection keys, (2) Extended function keys, (3) Cursor keys, (4) Page keys, (5) Edit keys, (6) Jog keys. The functions of each key are explained below. (1) Mode selection keys : Displays the mode menu (highest hierarchy).
  • Page 73 5. Operation keys (5) Edit keys These keys are enabled when the editing cursor is displayed. : Toggles between Insert and Overwrite modes. The cursor “_” appears in Overwrite mode and “ ” appears in Insert mode. : Deletes one character at the cursor position. : Inserts one line at the cursor position.
  • Page 74: Data Keys

    5. Operation keys : Moves axis 6 in the + direction. : Moves axis 6 in the - direction. Data keys The data keys are used for the data input, programming and data editing. There are 2 kinds of data keys. (1) Alphanumeric keys : Enters numbers.
  • Page 75: Emergency Stop

    6. Emergency stop If for some reason you want to stop the robot immediately during operation, press the emergency stop button on the MPB. Upon pressing the emergency stop button, the power to the robot is cut off to stop operation.
  • Page 76: Emergency Stop Reset

    6. Emergency stop Emergency stop reset To return to normal operation after emergency stop, emergency stop must be reset. NOTE • Emergency stop can also be triggered by an emergency stop 1) Cancel the emergency stop button on the MPB. input from the SAFETY I/O Emergency stop is released by turning the emergency stop button clockwise.
  • Page 77 6. Emergency stop 5) Press the (ON) key to turn on the motor power. At the same time, the servomotor sets to HOLD status. The mode name “UTILITY” on the system line (1st line) is highlighted. NOTE If the motor power is turned off due to Fig.
  • Page 78: Mode Configuration

    7. Mode configuration The robot operation mode consists of the following modes. Basic operation modes “SERVICE” mode “DI/DO “AUTO” “MANUAL” “PROGRAM” “SYSTEM” “UTILITY” monitor” mode mode mode mode mode mode “SERVICE” mode can be used only when “SAFE” mode is enabled. Basic operation modes Robot operation is classified into 5 basic modes as follows.
  • Page 79: Other Operation Modes

    Use the key to select this mode. DISPLAY (2) "UTILITY" mode Use this mode to perform maintenance of the YAMAHA robots such as recovery from emergency stop and motor servo on/off switching. Use the key to select this UTILITY...
  • Page 80: Mode Hierarchy

    7. Mode configuration Mode hierarchy Robot operation is mainly performed by pressing the function keys to select the desired mode from the menu. (Refer to the “Mode hierarchy diagram” described later.) When the controller is turned on, the “MANUAL” mode menu first appears on the screen. Pressing the key displays the 4 basic modes on the guideline (bottom line) of the MODE...
  • Page 81 7. Mode configuration Functions are switched with the shift keys. The menu display changes UPPER LOWER while this shift key is pressed. Fig. 4-7-3 Shift keys UPPER LOWER Fig. 4-7-4 Function switching NOTE • When the data is being edited such as in “EDIT”...
  • Page 82 7. Mode configuration Mode hierarchy diagram F1 PTP/ARCH/LINE F1 AUTO F1 RESET F2 ARCHPOS (when F1 is ARCH) F2 TASK F3 JUMP F3 DIR F4 VEL+ F4 VEL+ F5 VEL- F5 VEL- UNITCHG F9 VEL++ F6 POINT F10 VEL-- F7 DIRECT F11 MODIFY F14 AXIS←...
  • Page 83 7. Mode configuration F4 SYSTEM F1 PARAM F1 ROBOT F1 EDIT F2 JUMP F2 AXIS F1 EDIT F2 JUMP F3 OTHER F1 EDIT F2 JUMP F5 OP. BRD F10 PASSWRD F2 CMU F1 EDIT F2 JUMP F3 OPTION POS.OUT F1 EDIT F2 JUMP F2 SERVICE F1 EDIT...
  • Page 84: Service" Mode

    8. “SERVICE” mode “SERVICE” mode can be used only when “SAFE” mode is eneble. Use “SERVICE” mode to perform maintenance work using the MPB safely within the safety enclosure of the robot system. This mode can be selected by turning DI02 (“SERVICE” mode) OFF. Operation device CAUTION •...
  • Page 85: Auto" Mode

    9. “AUTO” mode “AUTO” mode executes robot language programs and related tasks. The initial “AUTO” mode screens are shown in Fig. 4-9-1 and Fig. 4-9-2. Fig. 4-9-1 “AUTO” mode (one-robot setting) e Automatic movement speed r Program name q Mode hierarchy w Task display t Message line y Online command...
  • Page 86 9. “AUTO” mode y Online command execution mark When an online command is being executed, a “@” mark is displayed in the second column on the second line. This mark changes to a dot ( . ) when the online command ends.
  • Page 87 9. “AUTO” mode Valid keys and submenu descriptions in “AUTO” mode are shown below. Menu Valid keys Function Cursor Scrolls the program list. Switches to other screens. Page key Resets the program. RESET Changes the program list according to each task. TASK Changes the current program.
  • Page 88: Automatic Operation

    9. “AUTO” mode Automatic operation Program commands are executed continuously. Before starting automatic operation, make sure that return-to-origin, program debugging, I/O signal connections and point data teaching have already been completed. When the execution level is set to other than level NOTE 0, automatic operation is possible even if return-to-origin is incomplete.
  • Page 89: Stopping The Program

    9. “AUTO” mode Stopping the program [Procedure] 1) Press the key during program execution to stop the program. STOP Fig. 4-9-4 Program stop screen AUTO [T1] 100% <TEST1 > CAUTION Do not turn off the robot controller RESET TASK VEL+ VEL- during program execution.
  • Page 90: Resetting The Program

    9. “AUTO” mode Resetting the program To restart a program stopped with the key from the beginning, reset the program. STOP [Procedure] NOTE The output is also reset when the Fig. 4-9-5 Program reset program is reset. However, the output will not be reset when a sequence program is being executed without AUTO...
  • Page 91 9. “AUTO” mode When the program “_SELECT” exists: 1) Press the (RESET) key in “AUTO” mode. The following message appears on the guideline when “_SELECT” exists among the programs. Press the (YES) key to reset the selected program by switching it to “_SELECT”, or press the (NO) key to just reset the current program.
  • Page 92: Switching Task Display

    9. “AUTO” mode Switching task display When a program executing multiple tasks is stopped, the program list for each task can be displayed. [Procedure] 1) Press the key during program execution to stop the program. STOP 2) Press the key to display the program list. The pointer indicates the next command line number to be executed in the current task.
  • Page 93: Switching The Program

    9. “AUTO” mode Switching the program If the program displayed on the screen is not the one you want to execute, it can be switched to another program. [Procedure] NOTE 1) Press the (DIR) key in “AUTO” mode. The output is also reset when the Program information appears.
  • Page 94: Changing The Automatic Movement Speed

    9. “AUTO” mode Changing the automatic movement speed NOTE When two robots are specified, two speeds are displayed for “ main group Automatic movement speed for the selected robot group can be set within the range of 1 ”. The speed shown sub group to 100%.
  • Page 95 9. “AUTO” mode Valid keys and submenu descriptions in “AUTO > POINT” mode are shown below. Valid keys Function Menu Cursor Switches the point number and scrolls the screen. Switches to other screens. Page key PTP/ARCH/ Switches the trace movement mode. LINEAR Specifies the arch position during ARCH motion mode.
  • Page 96: Ptp Motion Mode

    9. “AUTO” mode 9.7.1 PTP motion mode 1. When no auxiliary axis is specified: [Procedure] 1) Press the key in “AUTO>POINT” mode to display a screen like that shown below, then press the (PTP) key to select the PTP motion mode. Fig.
  • Page 97 9. “AUTO” mode 2. When auxiliary axis is specified: [Procedure] 1) Press the key in “AUTO>POINT” mode to display a screen like that shown below, then press the (PTP) key. Fig. 4-9-15 Point trace screen in PTP motion mode (with auxiliary axis) AUTO >POINT [RIGHTY] 50/100% [MG][S0H0J]...
  • Page 98: Arch Motion Mode

    9. “AUTO” mode 9.7.2 ARCH motion mode 1. When no auxiliary axis is specified: [Procedure] 1) Press the key in “AUTO>POINT” mode to display a screen like that shown below, then press the (ARCH) key. Fig. 4-9-18 Point trace screen in ARCH motion mode (with no auxiliary axis) AUTO>POINT [RIGHTY] 50/100% [MG][S0H0J] ————————————x———————y———————z———————r———...
  • Page 99 9. “AUTO” mode 2. When auxiliary axis is specified: [Procedure] 1) Press the key in “AUTO>POINT” mode to display a screen like that shown below, then press the (ARCH) key. Fig. 4-9-21 Point trace screen in ARCH motion mode (with auxiliary axis) AUTO>POINT [RIGHTY] 50/100% [MG][S0H0J] ————————————x———————y———————z———————r———...
  • Page 100: Linear Interpolation Motion Mode

    9. “AUTO” mode 9.7.3 Linear interpolation motion mode 1. When no auxiliary axis is specified: [Procedure] 1) Press the key in “AUTO>POINT” mode to display a screen like that shown below, then press the (LINE) key. Fig. 4-9-24 Point trace screen in linear interpolation motion mode (with no auxiliary axis) AUTO >POINT [RIGHTY]...
  • Page 101 9. “AUTO” mode 2. When auxiliary axis is specified: [Procedure] 1) Press the key in “AUTO>POINT” mode to display a screen like that shown below, then press the (LINE) key. Fig. 4-9-26 Point trace screen in linear interpolation motion mode (with auxiliary axis) AUTO>POINT [RIGHTY] 50/100% [MG][S0H0J] ————————————x———————y———————z———————r———...
  • Page 102: Direct Command Execution

    9. “AUTO” mode Direct command execution In “AUTO>DIRECT” mode, one line of the command statement can be executed just after you have entered it. [Procedure] 1) Press the (DIRECT) key in “AUTO” mode. The screen switches to “AUTO>DIRECT” mode and the cursor appears on the screen. The prompt (>) also appears on the bottom line of the screen.
  • Page 103: Break Point

    9. “AUTO” mode BREAK point An ongoing program can be stopped if a break point is set in the program. This is useful when debugging the program. The program execution pauses on the line just prior to a break point. The program execution NOTE will restart from the break point when the key is pressed.
  • Page 104: Break Point Deletion

    9. “AUTO” mode 3) Press the (SET) key. A “ ” mark appears to the left of the command statement and a break point is set on that line. Fig. 4-9-30 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...
  • Page 105: Step

    9. “AUTO” mode 9.10 STEP [Procedure] WARNING 1) Press the (STEP) key in “AUTO” mode. The robot may begin to move F 11 when STEP is executed. To avoid danger, do not enter the robot movement range. 2) Each time this key is pressed, the command statement of the highlighted line number is executed.
  • Page 106: Program" Mode

    10. “PROGRAM” mode Robot language programs can be edited, deleted and managed in “PROGRAM” mode. The initial “PROGRAM” mode screen is shown in Fig. 4-10-1. On entering “PROGRAM” mode, the currently selected program appears on the screen. Fig. 4-10-1 “PROGRAM” mode Online command Mode hierarchy Message line...
  • Page 107: Program List Scroll

    10. “PROGRAM” mode Valid keys and submenu descriptions in “PROGRAM” mode are shown below. Valid keys Menu Function Cursor Selects the program and scrolls the screen. Switches the page display. Page key Edits the program. EDIT Displays the program data. Compiles the program.
  • Page 108: Program Editing

    10. “PROGRAM” mode 10.2 Program editing [Procedure] 1) Press the (EDIT) key in “PROGRAM” mode. A cursor appears on the top line of a program list as shown in Fig. 4-10-2, allowing program editing. 2) Use the cursor keys to move the cursor to the position to be edited and enter a program command with the MPB.
  • Page 109 10. “PROGRAM” mode Valid keys and submenu descriptions in “PROGRAM > EDIT” mode are shown below. Valid keys Menu Function Moves the cursor and scrolls the screen. Cursor Switches the page display. Page key Switches between Insert and Overtype modes. Inserts one blank line.
  • Page 110: Cursor Movement

    10. “PROGRAM” mode 10.2.1 Cursor movement [Procedure] 1) Pressing the cursor (↑/↓) keys in “PROGRAM>EDIT” mode moves 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 <<...
  • Page 111: Inserting A Line

    10. “PROGRAM” mode 2) Press the key again. The cursor changes back to a thick line (I), and the screen returns to Overwrite mode. In Overtype mode, the input character replaces the character at the cursor position. Fig. 4-10-5 Overtype mode PROGRAM >EDIT <TEST2...
  • Page 112: Deleting A Line

    10. “PROGRAM” mode 10.2.5 Deleting a line [Procedure] Pressing the ) key in the “PROGRAM > EDIT” mode deletes L.DEL LOWER one line at the cursor position. The program lines after the cursor position then move up. For example, deleting one line on the screen in Fig.
  • Page 113: Quitting Program Editing

    10. “PROGRAM” mode 10.2.7 Quitting program editing Press the key to quit program editing in “PROGRAM>EDIT” mode. 10.2.8 Specifying the copy/cut lines [Procedure] 1) In “PROGRAM>EDIT” mode, move the cursor to the line you want to copy or cut. 2) Press the (SELECT) key to select the line.
  • Page 114: Cutting The Selected Lines

    10. “PROGRAM” mode 10.2.10 Cutting the selected lines [Procedure] After selecting the lines in “10.2.8”, press the (CUT) key. The data on the selected lines are cut and stored into the buffer. The “ “ marks then disappear. Fig. 4-10-11 Cutting the selected lines PROGRAM >EDIT <TEST2...
  • Page 115: Line Jump

    10. “PROGRAM” mode 10.2.13 Line jump [Procedure] 1) In “PROGRAM>EDIT” mode, press the (JUMP) key to enter “PROGRAM>EDIT>JUMP” mode. The message “Enter line no. > “ appears on the guideline. Fig. 4-10-13 Line jump PROGRAM >EDIT <TEST2 > ——————————————————————————————————————————— 1 ’***** TEST2 PROGRAM ***** GOTO *_’...
  • Page 116: Searching A Character String

    10. “PROGRAM” mode 10.2.14 Searching a character string [Procedure] 1) In “PROGRAM>EDIT” mode, press the (FIND) key to enter “PROGRAM>EDIT>FIND” mode. The message “Character string >” appears on the guideline. 2) Enter the character string you want to search for and press the key.
  • Page 117: Directory

    10. “PROGRAM” mode 10.3 Directory When the (DIR) key is pressed in “PROGRAM” mode, information on each NOTE A maximum of 100 programs can be program appears as shown below. stored. Fig. 4-10-17 Program information (1) PROGRAM >DIR <TEST1 > NAME LINE BYTE...
  • Page 118: Cursor Movement

    10. “PROGRAM” mode 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 date/time display. (←/→) Switches to other screens.
  • Page 119: Directory Information Display

    10. “PROGRAM” mode Fig. 4-10-19 Registering a new program NOTE The following program names have special meanings. PROGRAM >DIR <TEST1 > “FUNCTION” “SEQUENCE” NAME LINE BYTE RW/RO “_SELECT” “COMMON” TEST1 (Refer to “Programming Manual” for 2 *TEST2 these programs.) PARTS100 TEST100 1968 Enter program name >ABC123_...
  • Page 120: Copying A Program

    10. “PROGRAM” mode 10.3.4 Copying a program A program in the directory can be copied under a different name. [Procedure] 1) In “PROGRAM>DIR” mode, use the cursor (↑/↓) keys to select the program to be copied. 2) Press the (COPY) key to enter “PROGRAM>DIR>COPY” mode. The message “Enter program name >“...
  • Page 121: Erasing A Program

    10. “PROGRAM” mode 10.3.5 Erasing a program Unnecessary programs in the directory can be erased. [Procedure] 1) In “PROGRAM>DIR” mode, use the cursor (↑/↓) keys to select the program to be erased. 2) Press the (ERASE) key to enter “PROGRAM>DIR>ERASE” mode. A check message appears on the guideline.
  • Page 122: Renaming A Program

    10. “PROGRAM” mode 10.3.6 Renaming a program To change the names of programs in the directory, proceed as follows. [Procedure] 1) In “PROGRAM>DIR” mode, use the cursor (↑/↓) keys to select the program to be renamed. 2) Press the (RENAME) key to enter “PROGRAM>DIR>RENAME” mode. The message “Enter program name”...
  • Page 123: Changing The Program Attribute

    10. “PROGRAM” mode 10.3.7 Changing the program attribute Editing and erasing the programs can be prohibited by specifying the program attribute. There are two program attributes: RW and RO. Each time a change is made a program attribute is alternately switched. 1.
  • Page 124: Creating A Sample Program Automatically

    10. “PROGRAM” mode 10.3.9 Creating a sample program automatically This section explains the procedure of automatically creating a sample program for defining user function keys which can be used in “MANUAL” and “PROGRAM” modes. [Procedure] 1) In “PROGRAM>DIR” mode, press the (EXAMPLE) key to enter F 15 NOTE...
  • Page 125 10. “PROGRAM” mode [Sample program list] *** <FUNCTION> SAMPLE PROGRAM **** '*You can change any statements '*as you like. '*<FUNCTION> will help you in '*MANUAL and PROGRAM mode. '********************************************************* *M_F1:'DO(20)ALTERNATE DO(20)= ~ DO(20) *M_F2:'DO(21)ALTERNATE DO(21)= ~ DO(21) *M_F3:'DO(22)ALTERNATE DO(22)= ~ DO(22) *M_F4:'DO(23)ALTERNATE DO(23)= ~ DO(23) *M_F5:'DO(24)ALTERNATE...
  • Page 126: Compiling

    10. “PROGRAM” mode 10.4 Compiling To compile the program and create an executable object program, follow the procedure below. The object program allows you to check input errors or bugs after program editing. [Procedure] 1) In “PROGRAM>DIR” mode, select the program to compile with cursor (↑/↓) keys and press the key.
  • Page 127: Line Jump And Character String Search

    10. “PROGRAM” mode 10.5 Line jump and character string search (JUMP), (FIND), (FIND+) and (FIND-) keys can be used in the same way as in “PROGRAM>EDIT” mode. Refer to “10.2.13 Line jump” and “10.2.14 Searching a character string” in Chapter 4.) 10.6 Registering user function keys To register the user function keys which are used in “PROGRAM”...
  • Page 128 10. “PROGRAM” mode Fig. 4-10-31 Registering “FUNCTION” program (2) PROGRAM >DIR <FUNCTION> NAME LINE BYTE RW/RO TEST1 2 *TEST2 PARTS100 FUNCTION INFO 5) Press the (EDIT) key to enter “PROGRAM>EDIT” mode. A cursor appears on the first line. 6) Enter a command statement for registering function keys in the following format. The command statement format differs between the “PROGRAM”...
  • Page 129 10. “PROGRAM” mode When registering function keys for I/O commands in “MANUAL” mode *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).
  • Page 130: Resetting An Error In The Selected Program

    10. “PROGRAM” mode 10.7 Resetting an error in the selected program If an error “9.1 Program destroyed” occurs in the selected program data, this function resets the error and allows you to continue editing. [Procedure] 1) Press the (ERR. RST) key in “PROGRAM” mode. F 13 A check message appears on the guideline.
  • Page 131: Manual" Mode

    11. “MANUAL” mode Point data and shift data coordinates can be defined and edited in “MANUAL” mode. The initial “MANUAL” mode screens are shown in Fig. 4-11-1, Fig. 4-11-2 and Fig. 4- 11-3. Fig. 4-11-1 “MANUAL” mode (one-robot setting) r SHIFT/HAND w Manual movement q Mode hierarchy /coordinate units...
  • Page 132 11. “MANUAL” mode q Mode hierarchy Shows the current mode hierarchy. When the highest mode (“MANUAL” in this case) is highlighted it means the servomotor power is on. When not highlighted it means the servomotor power is off. w Manual movement speed Shows the robot movement speed selected for manual operation.
  • Page 133: Manual Movement

    11. “MANUAL” mode Valid keys and submenu descriptions in “MANUAL” mode are shown below. Valid keys Menu Function Jog key Moves the robot manually. Switches to the point data processing screen. POINT Switches to the pallet data processing screen. PALLET Increases manual movement speed for the selected robot group in VEL+ steps.(1→5→20→50→100 %)
  • Page 134 11. “MANUAL” mode 2. When return-to-origin is not complete NOTE • If the robot movement beyond the (1) When the current position is displayed in “pulse” units: soft limit is attempted with the Jog Robot movement with the Jog keys is possible the same as when return-to-origin keys, the message “Over soft is complete.
  • Page 135: Displaying And Editing Point Data

    11. “MANUAL” mode 11.2 Displaying and editing point data Press the (POINT) key in “MANUAL” mode to enter “MANUAL>POINT” mode. This mode allows you to display and edit the point data. NOTE One point is made up of data from 6 axes (x, y, z, r, a, b). When two robots (main and sub Note that the hand system flag can be set as an extended function for the point data set robots) are specified, the point data...
  • Page 136: Point Data Input And Editing

    11. “MANUAL” mode Valid keys and submenu descriptions in “MANUAL>POINT” mode are shown below. Valid keys Menu Function Cursor key Specifies the point data and scrolls the screen. (↑/↓) Page key Switches to other screens. ( / ) Enters point data with keys. EDIT Enters point data by teaching.
  • Page 137: Restoring Point Data

    11. “MANUAL” mode 3) Use the keys to enter the – SPACE point data. Enter a space to separate between the data for x, y, z, r, a, b. The data input formats are as follows. • To enter the data in joint coordinates (“pulse” units) Enter an integer of up to 8 digits.
  • Page 138: Point Data Input By Teaching

    11. “MANUAL” mode 11.2.2 Point data input by teaching NOTE Point data teaching cannot be The current position of the robot can be obtained as point data by teaching. performed when return-to-origin is incomplete. Perform point teaching When no auxiliary axis is used: after performing absolute reset.
  • Page 139 11. “MANUAL” mode 4) When point data is already allotted to the currently selected point number, a check message appears on the guideline when the (TEACH) key is pressed. Fig. 4-11-8 Point data teaching (with no auxiliary axis [3]) MANUAL>POINT>TEACH 50%[MG][S0H0X] ————————————x———————y———————z———————r———...
  • Page 140 11. “MANUAL” mode (AXIS ←) or (AXIS →) key to select the 2) Use the cursor (↑/↓) keys, F 14 F 15 axes to perform point teaching. As shown below, the point number at the left end should be highlighted when teaching on all axes.
  • Page 141 11. “MANUAL” mode CAUTION 4) When the axis arrives at the target point, press the (TEACH) key. To perform teaching at a point on the Teaching is performed so that the current robot position data is allotted to the Cartesian coordinates (millimeter currently selected point.
  • Page 142: Point Data Input By Direct Teaching

    11. “MANUAL” mode Fig. 4-11-16 Point data teaching (with auxiliary axis [8]) When teaching on auxiliary axis MANUAL>POINT 100%[MG][S0H0X] ———————x———————y———————z———————r———————a 250.00 15.00 30.00 0.00 150.00 115.00 90.00 87.86 200.00 15.00 -30.00 50.00 NOTE COMNT: Point data teaching cannot be [POS] 43 152.31 100.26 86.86...
  • Page 143: Copying Point Data

    11. “MANUAL” mode NOTE 2) Enter the point number to jump to, and press the key. Valid point numbers are from 0 to A jump is made so that the point data is displayed from the designated point 4000. number. Fig.
  • Page 144: Erasing Point Data

    11. “MANUAL” mode NOTE 2) Use the keys to enter the point number range – Valid point numbers are from 0 to for the copy source and the point number for the copy destination in the following 4000. format and press the key.
  • Page 145: Point Data Trace

    11. “MANUAL” mode NOTE 2) Use the keys to specify the point number range in the – Valid point numbers are from 0 to 4000. following format and press the key. “(erase start number) - (erase end number)” For example, to erase the data between P30 and P34, enter “30-34” and press the key.
  • Page 146: Point Comment Input And Editing

    11. “MANUAL” mode 11.2.8 Point comment input and editing NOTE Press the (COMMENT) key in “MANUAL>POINT” mode. F 12 • Point comments can be entered for The data display on the screen does not change (same as “MANUAL>POINT” mode). point numbers having no data. The 5-digit area on the left shows point numbers, with the currently selected point num- •...
  • Page 147: Point Data Input By Teaching

    11. “MANUAL” mode 11.2.8.1 Point comment input and editing [Procedure] NOTE • For point comments, it is advisable 1) In “MANUAL>POINT>COMMENT” mode, use the cursor (↑/↓) keys to select the to enter a character string that is point to edit or enter a comment. easy to understand.
  • Page 148: Jump To A Point Comment

    11. “MANUAL” mode 11.2.8.3 Jump to a point comment [Procedure] 1) Press the (JUMP) key in “MANUAL>POINT>COMMENT” mode. NOTE Valid point numbers are from 0 to The message “Enter point no. >” appears on the guideline. 4000. Fig. 4-11-25 MANUAL>POINT>COMMENT 50%[MG][S0H0X] ————————————x———————y———————z———————r———...
  • Page 149: Copying A Point Comment

    11. “MANUAL” mode 11.2.8.4 Copying a point comment Point comments can be copied under another point number. [Procedure] 1) Press the (COPY) key in “MANUAL>POINT>COMMENT” mode. The message “Copy(####-####,####)>“ appears on the guideline. NOTE Valid point numbers are from 0 to 4000.
  • Page 150: Erasing Point Comments

    11. “MANUAL” mode 11.2.8.5 Erasing point comments Point comments already entered can be deleted. [Procedure] 1) Press the (ERASE) key in “MANUAL>POINT>COMMENT” mode. The message “Erase(####-####)>” appears on the guideline. NOTE Valid point numbers are from 0 to 4000. 2) Use the keys to specify the point number range in the –...
  • Page 151: Point Comment Search

    11. “MANUAL” mode 11.2.8.6 Point comment search Point comments already entered can be located. [Procedure] 1) Press the (FIND) key in “MANUAL>POINT>COMMENT” mode. F 11 NOTE The message “Character string >” appears on the guideline. A point comment can be up to 15 characters.
  • Page 152: Point Data Error Reset

    11. “MANUAL” mode 11.2.9 Point data error reset If an error “9.2 Point data destroyed” occurs in the point data, this function resets the error and allows you to continue editing. [Procedure] 1) Press the (ERR. RST) key in “MANUAL>POINT” mode. F 13 A check message appears on the guideline.
  • Page 153: Displaying, Editing And Setting Pallet Definitions

    11. “MANUAL” mode 11.3 Displaying, editing and setting pallet definitions Press the (PALLET) key in “MANUAL” mode to enter “MANUAL>PALLET” mode. This mode allows you to display, edit and set pallet definitions. However, the standard coordinates must be set when a SCARA robot is used. Refer to “11.9 Setting the standard coordinates”...
  • Page 154 11. “MANUAL” mode Valid keys and submenu descriptions in “MANUAL>PALLET” mode are shown below. Valid keys Menu Function Cursor key Specifies the pallet definition number. (↑/↓) Page key Switches to other screens. ( / ) Edits pallet definitions. EDIT Sets the pallet definition point by teaching. METHOD Increases manual movement speed for the selected robot group in steps.
  • Page 155: Editing Pallet Definitions

    11. “MANUAL” mode 11.3.1 Editing pallet definitions [Procedure] 1) In “MANUAL>PALLET” mode, select the pallet number with the cursor (↑/↓) keys. 2) Press the (EDIT) key to enter “MANUAL>PALLET>EDIT” mode. 3) Use the cursor (↑/↓) keys to move the cursor to the position you want edit. NOTE 4) Use the keys to enter the desired value.
  • Page 156: Point Setting In Pallet Definition

    11. “MANUAL” mode 11.3.1.1 Point setting in pallet definition NOTE • Each pallet is generated with 5 In “MANUAL>PALLET>EDIT” mode, a screen like that shown below is displayed. points for pallet definition. • These 5 points should be defined Fig. 4-11-37 in order from P[1] to P[5].
  • Page 157: Editing The Point In Pallet Definition

    11. “MANUAL” mode 11.3.1.1.1 Editing the point in pallet definition NOTE • Each pallet is generated (outlined) [Procedure] with 5 points, so always specify these 5 points for pallet definition. 1) Press the (EDIT) key in “MANUAL>PALLET>EDIT>POINT” mode. • Point data in the pallet definition must be entered in “mm”...
  • Page 158: Pallet Definition By Teaching

    11. “MANUAL” mode 11.3.2 Pallet definition by teaching [Procedure] NOTE Pallets cannot be defined by teaching if 1) Select the pallet number in “MANUAL>PALLET” mode with the cursor (↑/↓) return-to-origin is incomplete. Perform keys. teaching after performing absolute reset. 2) Press the (METHOD) key to enter “MANUAL>PALLET>METHOD”...
  • Page 159 11. “MANUAL” mode 7) Enter the number of points NY and NZ (only when “3-D” is selected) as in step 6). 8) A check message then appears after setting the number of points. Press the (YES) key to determine the setting. Press the (NO) key if you want to cancel the setting.
  • Page 160: Copying A Pallet Definition

    11. “MANUAL” mode 11.3.3 Copying a pallet definition [Procedure] 1) Select the pallet number in “MANUAL>PALLET” with the cursor (↑/↓) keys. 2) Press the (COPY) key and then enter the pallet number where you want to copy the currently selected pallet definition. Fig.
  • Page 161: Deleting A Pallet Definition

    11. “MANUAL” mode 11.3.4 Deleting a pallet definition [Procedure] 1) Select the pallet number in “MANUAL>PALLET” mode with the cursor (↑/↓) keys. 2) Press the (ERASE) key. NOTE Pallet definition cannot be deleted if A check message then appears asking if the currently selected pallet definition is to the currently selected pallet is be deleted.
  • Page 162: Changing The Manual Movement Speed

    11. “MANUAL” mode 11.4 Changing the manual movement speed Manual movement speed of the selected robot group can be set anywhere within the range from 1 to 100%. Movement speed in “MANUAL” mode is set separately from the “AUTO” mode movement speed. One-fifth of the maximum speed in “AUTO” mode is equal to the maximum movement speed in “MANUAL”...
  • Page 163: Displaying, Editing And Setting Shift Coordinates

    11. “MANUAL” mode 11.5 Displaying, editing and setting shift coordinates Press the (SHIFT) key in “MANUAL” mode to enter “MANUAL>SHIFT” mode. This mode allows you to display, edit and set shift coordinates. However, the standard coordinates must be set when a SCARA robot is used. Refer to “11.9 Setting the standard coordinates”...
  • Page 164 11. “MANUAL” mode Upon entering “MANUAL>SHIFT” mode, a screen like that shown in Fig. 4-11-47, Fig. 4-11-48 or Fig. 4-11-49 appears. The currently selected shift coordinate number is highlighted. Fig. 4-11-47 “MANUAL>SHIFT” mode (one-robot setting) MANUAL>SHIFT 50% [MG][S1H0X] ————————————x———————y———————z———————r——— 0.00 0.00 0.00 0.00...
  • Page 165 11. “MANUAL” mode Valid keys and submenu descriptions in “MANUAL>SHIFT” mode are shown below. Valid keys Menu Function Cursor key Specifies the shift coordinate number. (↑/↓) Page key Switches to other screens. ( / ) EDIT Edits the shift coordinates. Sets the shift coordinates range.
  • Page 166: Editing Shift Coordinates

    11. “MANUAL” mode 11.5.1 Editing shift coordinates [Procedure] 1) In the “MANUAL>SHIFT” mode, select a shift coordinate number with the cursor (↑/↓) keys 2) Press the (EDIT) key to enter “MANUAL>SHIFT>EDIT” mode. 3) Use the cursor (←/→) key to move the cursor to the position you want to change. 4) Use the keys to enter the –...
  • Page 167: Restoring Shift Coordinates

    11. “MANUAL” mode 11.5.1.1 Restoring shift coordinates [Procedure] During shift coordinate data editing, pressing the (UNDO) key reverses the last data input and restores the preceding data. This function is enabled only on lines that are not yet complete. 11.5.2 Editing the shift coordinate range By setting the shift coordinate range, the robot operating area can be restricted to the desired range on each shift coordinate.
  • Page 168 11. “MANUAL” mode 2) Press the (RANGE) key to enter the “MANUAL>SHIFT>RANGE” mode. A cursor for editing the shift coordinate range appears. Fig. 4-11-52 Editing shift coordinate range (1) MANUAL>SHIFT>RANGE 50% [MG][S1H0X] ————————————x———————y———————z———————r——— Range of shift coorinate [mm/deg] 0.00 0.00 0.00 0.00 0.00...
  • Page 169: Restoring A Shift Coordinate Range

    11. “MANUAL” mode 11.5.2.1 Restoring a shift coordinate range [Procedure] During editing of shift coordinate range data, pressing the (UNDO) key reverses the last data input and restores the preceding data. This function is enabled only on lines that are not yet complete. 11.5.3 Shift coordinate setting method 1 This method sets the shift coordinate data by performing teaching at 2 points and then...
  • Page 170 11. “MANUAL” mode 3) Use the Jog keys to move the robot arm tip to teach point 1. (Position it accurately.) WARNING The robot starts to move when a Jog key is pressed. To avoid danger, do not enter the robot 4) Press the key, and the current position is then obtained as “1st P”.
  • Page 171: Shift Coordinate Setting Method 2

    11. “MANUAL” mode 11.5.4 Shift coordinate setting method 2 This method sets the shift coordinate data by performing teaching at 2 points and then entering the coordinate values of those 2 points The Z value of teach point 1 becomes the Z value of the shift coordinate. Fig.
  • Page 172 11. “MANUAL” mode 4) Press the key to obtain the current position as “1st P”. An edit cursor appears at the head of the “1st P” line. Fig. 4-11-60 Shift coordinate setting MANUAL>SHIFT>METHOD2 50% [MG][S0H0X] NOTE ————————————x———————y———————z———————r——— Enter all point data (x, y, z) (x, y). If Enter the point data [mm] omitted, “0”...
  • Page 173: Displaying, Editing And Setting Hand Definitions

    11. “MANUAL” mode 11.6 Displaying, editing and setting hand definitions Press the (HAND) key in “MANUAL” mode to enter “MANUAL>HAND” mode. This mode allows you to display, edit and set hand definitions. However, the standard coordinates must be set when a SCARA robot is used. Refer to “11.9 Setting the standard coordinates”...
  • Page 174 11. “MANUAL” mode Fig. 4-11-62 Hand definition screen (two-robot setting [1]) Main robot group is selected: MANUAL>HAND 50/50% [MG][S0H1X] ————————————1———————2———————3———————4——— 0.00 0.00 0.00 100.00 0.00 90.00 100.00 100.00 8000 100.00 100.00 [POS] 600.00 0.00 0.00 0.00 EDIT VEL+ VEL- Fig. 4-11-63 Hand definition screen (two-robot setting [2]) Sub robot group is selected: MANUAL>HAND 50/50%...
  • Page 175 11. “MANUAL” mode Movement of each robot type and the parameter contents are shown below. (1) SCARA robots 1) Hand attached to 2nd arm a. Robot movement • Imaginary 2nd arm of hand “n” moves to a specified point as if it were the actual 2nd arm.
  • Page 176 11. “MANUAL” mode 2) Hand attached to R-axis a. Robot movement Hand “n” moves towards a specified point while changing its movement direction. The direction to be changed is set for the specified point with an R value. Obstacles can therefore be avoided by changing the R value. b.
  • Page 177 11. “MANUAL” mode (2) Cartesian robots 1) Hand attached to 2nd arm a. Robot movement • Hand “n” moves to a specified point. b. Parameter descriptions <1st parameter>: Specify the X-axis offset amount of hand “n” with a real number. (unit: mm) <2nd parameter>: Specify the Y-axis offset amount of hand “n”...
  • Page 178 11. “MANUAL” mode 2) Hand attached to R-axis a. Robot movement Hand “n” moves towards a specified point while changing its movement direction. The direction to be changed is set for the specified point with an R value. Obstacles can therefore be avoided by changing the R value. b.
  • Page 179: Editing Hand Definitions

    11. “MANUAL” mode 11.6.1 Editing hand definitions [Procedure] 1) Press the (EDIT) key in “MANUAL>HAND” mode. 2) Use the cursor (↑/↓) keys to select the hand definition you want to edit. An edit cursor appears at the left end of the selected hand definition line. Fig.
  • Page 180: Restoring Hand Definitions

    11. “MANUAL” mode 11.6.1.1 Restoring hand definitions [Procedure] 1) During hand definition editing, pressing the (UNDO) key reverses the last data input and restores the preceding data. This function is enabled only on lines that are not yet complete. 11.6.2 Hand definition setting method 1 NOTE •...
  • Page 181 11. “MANUAL” mode 3) Use the Jog keys to move the robot working point to point 1. WARNING (Position it accurately.) The robot starts to move when a Jog key is pressed. To avoid danger, do not enter the robot movement range.
  • Page 182: Changing The Display Units

    11. “MANUAL” mode 11.7 Changing the display units [Procedure] 1) Press the (UNITCHG) key in “MANUAL” mode. This switches the units used to indicate the current position in “MANUAL” mode. 2) Each time the key is pressed, the units displayed on the upper right of the MPB screen are switched to either “X”(mm) or “J”(pulse).
  • Page 183: Absolute Reset

    11. “MANUAL” mode 11.8 Absolute reset Absolute reset is an operation to find the origin position, when the position detector in the motor cannot identify the origin position (called “origin incomplete” from now on). Movement commands in robot language cannot be executed when the origin is incomplete. Always perform absolute reset when the origin is incomplete.
  • Page 184: Checking Absolute Reset

    11. “MANUAL” mode 11.8.1 Checking absolute reset Check the status of absolute reset on each axis of the robot controller. [Procedure] 1) Press (RST.ABS) in “MANUAL” mode to enter “MANUAL>RST.ABS” mode. F 13 Fig. 4-11-76 This screen shows the following information. MANUAL >RST.ABS 50% [MG] [SOHOJ]...
  • Page 185: Axis Absolute Reset

    11. “MANUAL” mode 11.8.2 Axis absolute reset NOTE When the mark method is used as the This section explains how to perform absolute reset of each axis using the robot controller. origin detection method, absolute reset The absolute reset method differs depending on the following settings for the “Origin is impossible unless the machine reference is between 25 to 75%.
  • Page 186 11. “MANUAL” mode [Procedure] 1) In “MANUAL>RST. ABS” mode, press the (M1) to (M4) keys to enter “MANUAL>RST.ABS” mode on each axis. The selected axis appears highlighted on the MPB screen. Fig. 4-11-78 This screen shows the following information. MANUAL >RST.ABS>M1 50% [MG] [SOHOJ] ––––––––––––––––––––––––––––––––––––––––...
  • Page 187 11. “MANUAL” mode In Servo-OFF WARNING When you perform direct Check that the emergency stop button on the MPB is on, and move the selected axis teaching, make sure that the by direct movement to a position for absolute reset. Set so that the machine reference emergency stop button is is within a range of 25 to 75%.
  • Page 188 11. “MANUAL” mode 2. When the stroke end or sensor method is used as the origin detection method When the selected axis uses the stroke end or sensor method, then servo must be turned on to perform return-to-origin. [Procedure] 1) In “MANUAL>RST. ABS” mode, press the (M1) to (M4) keys to enter “MANUAL>RST.ABS”...
  • Page 189: Absolute Reset On All Axes

    11. “MANUAL” mode 11.8.3 Absolute reset on all axes This section explains how to perform absolute reset on all axes of the robot controller. The sequence for performing absolute reset of the axes is given below. 1. First, perform absolute reset at the current position, on all axes that use the mark method.
  • Page 190 11. “MANUAL” mode [Procedure] 1) Press the (ALL) key in “MANUAL>RST.ABS” mode to enter “ABS F 11 RESET” mode for all axes. Fig. 4-11-85 This screen shows the following information. MANUAL >RST.ABS>ALL 50% [MG] [SOHOJ] –––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG / M5= no axis M2 = NG /...
  • Page 191 11. “MANUAL” mode WARNING 3) Press the key and a check message appears on the guideline. The robot starts to move when absolute reset is performed. To Press the (YES) key to perform absolute reset on all axes using the mark avoid danger, do not enter the method.
  • Page 192 11. “MANUAL” mode 5) After return-to-origin is complete, the machine reference of axes using the stroke end or sensor method is displayed. Fig. 4-11-89 >RST.ABS MANUAL 50% [MG] [SOHOJ] CAUTION –––––––––––––––––––––––––––––––––––––––– If the robot controller is in origin Machine Reference (%) incomplete due to some kind of problems, perform absolute reset on M3 =...
  • Page 193: Setting The Standard Coordinates

    11. “MANUAL” mode 11.9 Setting the standard coordinates The standard coordinates set for SCARA robots are treated as Cartesian coordinates using the X-axis rotating center as the coordinate origin. The following operations and functions are enabled on SCARA robots by setting the standard coordinates.
  • Page 194 11. “MANUAL” mode The following parameters are automatically set when the standard coordinates are entered. CAUTION When setting the standard coordinates, note the following points. 1) “Arm length [mm]” • Always perform teaching with the same hand system carefully M1= ###.## ..X-axis arm length (distance to rotation center X-axis and Y-axis) and accurately.
  • Page 195 11. “MANUAL” mode Fig. 4-11-91 R-axis offset pulse Y-axis offset pulse CAUTION When two robots (main and sub robots) are specified, check the X-axis offset pulse currently selected robot group on the MPB. To switch the robot group, use the ROBOT key ( LOWER MODE Press the...
  • Page 196: Setting The Standard Coordinates By 4-Point Teaching

    11. “MANUAL” mode 11.9.1 Setting the standard coordinates by 4-point teaching Fig. 4-11-93 P [ 3 ] P [ 4 ] NOTE • Separate the teach points from each other as much as possible. • Setting might be impossible if one side is less than 50mm.
  • Page 197 11. “MANUAL” mode NOTE 2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the key. The standard coordinates are calculated based on the teach points and input point data, so perform 3) Perform teaching at point P[2] as in step 2). teaching and point data input as accurately as possible.
  • Page 198: Setting The Standard Coordinate By 3-Point Teaching

    11. “MANUAL” mode 11.9.2 Setting the standard coordinate by 3-point teaching NOTE Separate the teach points from each other as much as possible. Fig. 4-11-97 P[2] P[3] P[1] Precondition: All 3 points P[1], P[2] and P[3] must be on a straight line, with P[2] set at the midpoint between P[1] and P[3].
  • Page 199 11. “MANUAL” mode 3) Perform teaching at points P[2] and P[3] as in step 2). 4) Use the (+X) to (-Y) keys to set the direction from P[1] to P[3]. Fig. 4-11-100 MANUAL>COORDI>3POINTS 50% [MG][ Press F.key to get Direction +———————————+———>...
  • Page 200: Setting The Standard Coordinates By Simple Teaching

    11. “MANUAL” mode 11.9.3 Setting the standard coordinates by simple teaching NOTE Position the XY arms as accurately as possible, so that they are exactly set in Fig. 4-11-103 a straight line including the rotation center of the R-axis. +Y direction +X direction [Procedure] 1) In “MANUAL>COODI”...
  • Page 201 11. “MANUAL” mode 4) Enter the Y arm length and press the key. Fig. 4-11-106 MANUAL >COORDI>SIMPLE 50% [MG][ ————————————x———————y———————z———————r——— Enter the length of Y Arm [mm] [1-1000] Enter >175.00_ 5) A message for checking the arm length and offset pulse value appears on the guideline.
  • Page 202: Executing The User Function Keys

    11. “MANUAL” mode 11.10 Executing the user function keys NOTE • When using the user function keys, it is necessary to make a program User function keys allow you to perform various tasks easily when needed. For example, named “FUNCTION” and then if operation of an air-driven unit connected to an output port has been assigned to a function write command statements for key, this proves useful when performing point teaching in “MANUAL”...
  • Page 203: System" Mode

    12. “SYSTEM” mode The “SYSTEM” mode controls all kinds of operating conditions for the overall robot system. The initial screen in “SYSTEM” mode is shown in Fig. 4-12-1. Fig. 4-12-1 “SYSTEM” mode Message line Mode hierarchy Online command Version display execution mark SYSTEM V8.01...
  • Page 204 12. “SYSTEM” mode i Other expanded configurations When expansion boards are installed into the option slot of the controller, the board type and mode setting appear here. Display Meaning An optional DIO of NPN specifications is installed. The number in DIO_N(m/n..) parentheses is an ID number.
  • Page 205: Parameters

    12. “SYSTEM” mode 12.1 Parameters This section explains various parameters relating to the controller setting and robot op- eration. There are 4 types of parameters: robot parameters and axis parameters for robot operation, controller setting parameters and option board parameters. [Procedure] 1) Press the (PARAM) key in “SYSTEM”...
  • Page 206 12. “SYSTEM” mode Valid keys and submenu descriptions in “SUSTEM>PARAM” mode are shown below. Valid keys Menu Function Sets robot parameters for robot operation. ROBOT Sets axis parameters for robot operation. AXIS Sets other parameters for setting the controller. OTHER Sets parameters for option boards.
  • Page 207: Robot Parameters

    12. “SYSTEM” mode 12.1.1 Robot parameters On the MPB screen each robot parameter appears in the following format. Main group parameters Sub group parameters MG=<value> SG=<value> Main robot parameters Sub robot parameters MR=<value> SR=<value> Fig. 4.12.4 Robot parameter setting (one-robot setting) SYSTEM>PARAM>ROBOT V8.01 1.Tip weight[kg]...
  • Page 208 12. “SYSTEM” mode 1. Tip weight [kg] /WEIGHT This parameter sets the tip weight of robot (workpiece weight + tool weight) in kg units. The maximum value is set when the parameters are initialized. The maximum allowable value is determined automatically according to the current robot model.
  • Page 209 12. “SYSTEM” mode 2. Origin sequence /ORIGIN This parameter sets a sequence for performing absolute reset and return-to-origin on each axis of the robot. Enter axis numbers of the robot in the sequence for performing return-to-origin. For NOTE example, when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed Perform origin-return first for those in sequence from axis 1 to axis 6.
  • Page 210 12. “SYSTEM” mode 3. R-axis orientation /RORIEN On SCARA robots, this parameter sets whether or not to maintain the R-axis direction (orientation) when moving manually across the XY axes. The R direction (orienta- tion) 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.
  • Page 211 12. “SYSTEM” mode 4. Armtype at PGM reset/ARMTYP On SCARA robots, it is necessary to set left-handed or right-handed system when moving along XY coordinates or converting point data. This parameter is used to set the initial hand system when the program is reset. The right-handed system is selected when the parameters are initialized.
  • Page 212: Axis Parameters

    12. “SYSTEM” mode 12.1.2 Axis parameters Each axis parameter is displayed in the following format on the MPB screen. Main robot axis setting Sub robot axis setting M?=<value> S?=<value> Main auxiliary axis setting Sub auxiliary axis setting m?=<value> s?=<value> Fig. 4-12-10 Axis parameter setting (one-robot setting) SYSTEM>PARAM>AXIS V8.01 1.Accel coefficient[%]...
  • Page 213 12. “SYSTEM” mode 1. Accel coefficient [%] /ACCEL This parameter sets acceleration in “AUTO” mode in a range from 1 to 100% during movement by robot movement command. This is automatically set to 100% when the parameters are initialized. If the tip weight (workpiece weight + tool weight) is set correctly, an actual acceleration is internally set in the control to be 100% at maxi- mum performance.
  • Page 214 12. “SYSTEM” mode 2. Decel. rate [%]/DECRAT This parameter sets the deceleration rate in a range from 1 to 100% during movement NOTE by robot movement command. This parameter value is a ratio to the acceleration. A This parameter value is a ratio to the acceleration.
  • Page 215 12. “SYSTEM” mode 3. +Soft limit [pulse] /PLMT+ 4. -Soft limit [pulse] /PLMT- These parameters set the plus (+) soft limits and minus (-) soft limits that determine the range the robot can move. Soft limits inherent to each axis are automatically set when the parameters are initialized.
  • Page 216 12. “SYSTEM” mode 5. Tolerance [pulse] /TOLE This parameter sets the tolerance range of the target position where robot movement ends. This is set to 80 when initialized. Positioning on an axis is judged to be complete when the robot axis enters within the specified tolerance range.
  • Page 217 12. “SYSTEM” mode 6. Out position [pulse] /OUTPOS In PTP movement in a program, the next command can be executed when the robot enters the range specified by the Out position for the target position. This parameter sets the Out position range. When initialized, this is set to 2000. When the robot enters the Out position range, the controller determines that the pro- gram line has been executed.
  • Page 218 12. “SYSTEM” mode 7. Arch position [pulse] /ARCH When an arch motion command (optional PTP operation) is executed, arch movement begins when the robot enters the arch position range set by this parameter for the target position. This parameter is set to 2000 when initialized. When the axis specified for arch movement starts PTP movement toward the specified position and enters the arch position range, the other axes start to move.
  • Page 219 12. “SYSTEM” mode 8. Origin speed [pulse/ms] /ORGSPD This parameter sets the return-to-origin movement speed in pulses per millisecond. This speed is set to 20 when initialized. [Procedure] 1) Select “8. Origin speed [pulse/ms]” in “SYSTEM>PARAM>AXIS” mode. 2) Press the (EDIT) key.
  • Page 220 12. “SYSTEM” mode 9. Manual accel [%] /MANACC This parameter sets the acceleration in a range from 1 to 100% during robot manual movement. The manual acceleration is automatically set to 100 when the parameters are initialized. If the tip weight (workpiece weight + tool weight) is set correctly, then the actual acceleration is automatically determined internally in the controller to obtain the optimum performance at 100% [Procedure]...
  • Page 221 12. “SYSTEM” mode 10.Origin shift [pulse] /SHIFT This parameter is used to correct the origin position error when the motor has been replaced for some reason or the robot origin position has shifted due to mechanical shocks. This parameter is set to 0 when initialized. To correct the origin position error, enter the number of pulses required to move the origin back to the correct position.
  • Page 222 12. “SYSTEM” mode 11.Arm length [mm] /ARMLEN This parameter sets the X, Y axis arm length on SCARA robots. This is automatically determined according to the current robot type when initialized. The arm length is also determined automatically when standard coordinates are set. On XY robots and MULTI type robots, setting the axis length also automatically determines the weight of each axis.
  • Page 223 12. “SYSTEM” mode 12.Offset pulse /OFFSET On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at 0 pulses. This is set to 0 when initialized. • X-axis offset pulses ... Angle formed by X axis arm and +X-axis on standard coordinates (unit: pulses) •...
  • Page 224 12. “SYSTEM” mode 13.Axis tip weight [kg] /AXSTIP This parameter sets the weight of each axis tip (workpiece weight + tool weight) in kilogram units on MULTI type robots or auxiliary axes. A maximum value is set when the parameters are initialized. The maximum weight is automatically determined according to the currently used axis type.
  • Page 225 Fig. 4-12-27 Setting the “Origin method” SYSTEM>PARAM>AXIS V8.01 14.Origin method M1=SENSOR M2=SENSOR M3=TORQUE M4=MARK CAUTION • YAMAHA can accept no liability SENSOR TORQUE MARK from problems arising due to changing the return-to-origin method without consulting 4) Press one of the (SENSOR), (TORQUE) or (MARK) keys.
  • Page 226 ––– CAUTION 4) Press the (---) or (+++) key. • YAMAHA can accept no liability from problems arising due to changing the return-to-origin 5) Repeat the above steps 3) and 4) if necessary. method without consulting YAMAHA beforehand. • Return-to-origin will be...
  • Page 227 1) Select “16. Motor direction” in “SYSTEM>PARAM>AXIS” mode. 2) Press the (EDIT) key. CAUTION 3) Select the axis with the cursor (↑/↓) keys. • YAMAHA can accept no liability from problems arising due to Fig. 4-12-29 Setting the “Motor direction” changing the return-to-origin method without consulting YAMAHA beforehand.
  • Page 228: Other Parameters

    12. “SYSTEM” mode 12.1.3 Other parameters When changing other parameters on the MPB, follow the descriptions in this section. Fig. 4-12-30 Editing other parameters SYSTEM>PARAM>OTHER V8.01 1.Display language(JPN/ENG) ENGLISH 2.Data display length 6char 3.Parameter display unit PULSE 4.DO cond. on EMG HOLD 5.Watch on STD.DO DC24V VALID...
  • Page 229 12. “SYSTEM” mode 2. Data display length/DATLEN This parameter sets the number of digits to display such as for point data. This is automatically set to “6char” (6 digits) when the parameters are initialized. [Procedure] 1) Select “2. Data display length” in “SYSTEM>PARAM>OTHERS” mode. 2) Press the (EDIT) key.
  • Page 230 12. “SYSTEM” mode 4. DO cond. on EMG /EMGCDO This parameter sets whether or not to hold the DO/MO/LO/TO/SO port outputs when an emergency stop signal is input to the controller. This is automatically set to “HOLD” when the parameters are initialized. [Procedure] 1) Select “4.
  • Page 231 12. “SYSTEM” mode 6. Incremental Mode control /INCMOD This parameter sets whether to have origin incomplete status every time power to this controller is turned on. This is automatically set invalid when the parameters are initialized. [Procedure] 1) Select “6. Incremental Mode control” in “SYSTEM>PARAM>OTHERS” mode. 2) Press the (EDIT) key.
  • Page 232 12. “SYSTEM” mode 8. DI noise filter/SCANMD This parameter cancels external input signals in the form of short pulses such as noise CAUTION pulses (misdetected as dedicated input signals or general-purpose input signals). This This function is enabled from V8.23 is effective in preventing response to unnecessary input.
  • Page 233 12. “SYSTEM” mode 9. Skip undefined parameters CAUTION • When this parameter is enabled New parameters may be added along with upgrading the controller software version. (valid), the spelling difference When the new version software including new parameters is loaded to a controller between parameters is not using the old version software of old version, an error "10.14 Undefined parameters"...
  • Page 234: Parameters For Option Boards

    12. “SYSTEM” mode 12.1.4 Parameters for option boards This section explains how to set parameters for option boards. CAUTION Option boards are roughly divided into two types: option DIO boards and serial I/O boards. This function is enabled from V8.18 or later.
  • Page 235: Option Dio Setting

    12. “SYSTEM” mode 12.1.4.1 Option DIO setting NOTE Setting to "VALID" is recommended The following parameter for option DIO (NPN or PNP specifications) boards is used to so that the 24V supply for the option enable or disable monitoring of the DC 24V supply input. board is monitored during operation.
  • Page 236: Serial I/O Setting

    12. “SYSTEM” mode 12.1.4.2 Serial I/O setting NOTE • Set the Board status parameter to For serial I/O boards, you can set the following 3 parameters including the parameter "INVALID" when not using serial used to enable or disable the serial I/O boards (CC_Link/DeviceNet/ProfiBUS). I/O boards.
  • Page 237 12. “SYSTEM” mode 2) Select the parameter with the cursor (↑/↓) keys. Fig. 4-12-46 SYSTEM>PARAM>OP.BRD>SELECT V8.18 1.board condition VALID 2.remote cmd / IO cmd(SI05) VALID 3.Output MSG to SOW(1) INVALID EDIT JUMP 3) Press the (EDIT) key. Fig. 4-12-47 SYSTEM>PARAM>OP.BRD>SELECT V8.18 1.board condition VALID...
  • Page 238: Communication Parameters

    12. “SYSTEM” mode 12.2 Communication parameters Set the following parameters for communication procedures when using the RS-232C interface. There are 8 kinds of communication parameters. 1. Communication mode 2. Data bit 3. Baud rate 4. Stop bit 5. Parity 6. Termination code 7.
  • Page 239 12. “SYSTEM” mode 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. ( / ) Edits the parameter. EDIT Moves the cursor to the designated parameter.
  • Page 240 12. “SYSTEM” mode 2. Data bits This parameter sets the data bit length. [Procedure] 1) Select “2. Data bits” in “SYSTEM>CMU” mode. NOTE Katakana letters (Japanese phonetic) cannot be sent if data bit length was 2) Press the (EDIT) key. set to 7 bits.
  • Page 241 12. “SYSTEM” mode 4. Stop bit This parameter sets the stop bit length. [Procedure] 1) Select “4. Stop bit” in “SYSTEM>CMU” mode. NOTE Set to 2 bits if communication errors frequently occur. 2) Press the (EDIT) key. The function key menu changes. Fig.
  • Page 242 12. “SYSTEM” mode 6. Termination code This parameter sets the line feed code. [Procedure] 1) Select “6. Termination code” in “SYSTEM>CMU” mode. 2) Press the (EDIT) key. The function key menu changes. Fig. 4-12-54 Setting the “Termination code” SYSTEM>CMU V8.01 3.Baud rate 9600 4.Stop bit...
  • Page 243 12. “SYSTEM” mode 8. RTS/CTS control This parameter sets whether to control the data flow using RTS/CTS signal. [Procedure] NOTE 1) Select “8. RTS/CTS CONTROL> in “SYSTEM>CMU “ mode. Data omissions may occur if data flow control is not performed. Make use of data flow control as much as 2) Press the (EDIT) key.
  • Page 244: Option Parameters

    12. “SYSTEM” mode 12.3 OPTION parameters The OPTION parameters are used to set expanded controller functions. These parameters consist of 3 types: parameters for area check output, parameters relating to SAFE mode, and parameters relating to the serial I/O. [Procedure] 1) In “SYSTEM”...
  • Page 245: Setting The Area Check Output

    12. “SYSTEM” mode 12.3.1 Setting the area check output This function checks whether the current robot position is within an area specified by the NOTE area check output parameter’s point data, and outputs the result to the specified port. The •...
  • Page 246 12. “SYSTEM” mode [Procedure] 1) Press (POS.OUT) in “SYSTEM>OPTION” mode to enter the area check output mode. Fig. 4-12-59 Selecting the area check output number SYSTEM>OPTION>POS.OUT V8.01 1.Output of area 1 2.Output of area 2 3.Output of area 3 4.Output of area 4 SELECT 2) Select an area check output number with the cursor (↑/↓) keys and press the (SELECT) key.
  • Page 247 12. “SYSTEM” mode 1. Area check output on/off This parameter sets whether or not to use the area check output function. [Procedure] 1) Select “1. Output of area n” in “SYSTEM>OPTION>POS.OUT>SELECT” mode. NOTE • Select the robot for the area check.
  • Page 248 12. “SYSTEM” mode 3) Select the output port with the (DO(20)) through (DO(27)) keys. 4) Press the key to quit the setting. To continue selecting other items, use the cursor (↑/↓) keys. 3. Comparison point No. 1 4. Comparison point No. 2 Set the point numbers for determining the area to perform area check.
  • Page 249: Setting The "Service" Mode

    YAMAHA prior Parameter settings made here are only valid until the controller power is turned off, unless to shipping.
  • Page 250 12. “SYSTEM” mode [Procedure] 1) Press (SERVICE) in “SYSTEM>OPTION” mode. The message, “Enter password” appears on the guideline. Enter “SAF” here and press the key. Fig. 4-12-64 Entering the "SERVICE" mode setting password SYSTEM>OPTION V8.01 Enter password >_ 2) The following screen appears when the correct password is entered. Fig.
  • Page 251 12. “SYSTEM” mode 1. “SERVICE” mode level Set the service mode level by referring to the table below. Description Hold to Run function AUTO mode operation Level 0 Disabled Allowed NOTE The settings made here are only valid Level 1 Enabled Allowed until the controller power is turned...
  • Page 252 12. “SYSTEM” mode 2. Operating speed limits in “SERVICE” mode Specify the maximum robot operating speed. Description Sets robot operation within 3 % of maximum operating speed. <3% <100% Sets no limit on robot operating speed. NOTE The settings made here are only valid [Procedure] until the controller power is turned off.
  • Page 253 12. “SYSTEM” mode 3. Operating device in “SERVICE” mode Specify the operating device to use. Description NOTE Only MPB operation is allowed. The settings made here are only valid MPB/DI until the controller power is turned Allows MPB and dedicated input. off.
  • Page 254: Saving The "Service" Mode Parameters

    12. “SYSTEM” mode 12.3.2.1 Saving the “SERVICE” mode parameters WARNING In “SERVICE” mode, changing To save the parameter settings for “SERVICE” mode, follow the procedure below. the settings from their default The parameter settings made here are only valid until the controller power is turned off, values is likely to increase hazards to the robot operator unless you save those settings.
  • Page 255: Sio Settings

    12. “SYSTEM” mode 12.3.3 SIO settings NOTE • Output results might be incorrect The serial I/O unit allows the master station sequencer (PLC) to send and receive parallel if the SIO specified port is the port ON/OFF data in the robot controller I/O unit, regardless of the robot program. This same as the port used by the program.
  • Page 256 12. “SYSTEM” mode 1. Direct connection from SI n ( ) to DO n ( ) NOTE Output results might be incorrect if the Serial port input can be directly connected to parallel port output. The relation between SIO specified port is the same as the the parallel and serial ports that can be set is as follows.
  • Page 257 12. “SYSTEM” mode 2. Direct connection from DI n ( ) to SO n ( ) NOTE Output results might be incorrect if the Parallel port input can be directly connected to serial port output. The relation between SIO specified port is the same as the the serial and parallel ports that can be set is as follows.
  • Page 258: Initialization

    12. “SYSTEM” mode 12.4 Initialization When initializing the parameter data you entered, follow the descriptions in this section. [Procedure] 1) Press the (INIT) key in “SYSTEM” mode. The initialization screen appears. Fig. 4-12-75 Initialization screen SYSTEM>INIT V8.01 PARAM MEMORY CLOCK 2) Select the item to initialize with the (PARAM) to (CLOCK) keys.
  • Page 259: Initializing The Parameters

    12. “SYSTEM” mode 12.4.1 Initializing the parameters To initialize the robot parameters, axis parameters and other parameters, follow the procedure below. The “Display language (JPN/ENG)" setting is not changed by initialization. [Procedure] 1) Press the (PARAM) key in “SYSTEM>INIT” mode. NOTE •...
  • Page 260: Initializing The Memory

    12. “SYSTEM” mode 12.4.2 Initializing the memory This initializes the program, point data, shift coordinates, hand definitions and pallet definitions. Before initializing, make sure that the currently input data is no longer needed. [Procedure] 1) Press the (MEMORY) key in “SYSTEM>INIT” mode. Fig.
  • Page 261: Initializing The Communication Parameters

    12. “SYSTEM” mode Valid keys and submenu descriptions in “SYSTEM>INIT>MEMORY” mode are shown below. Valid keys Menu Function Deletes the program data. PROGRAM Deletes the point data. POINT Initializes the shift coordinate data. SHIFT Initializes the hand definition data. HAND Deletes/initializes all data (program, point, shift coordinates, hand definition, pallet definition, point comment).
  • Page 262: Clock Setting

    12. “SYSTEM” mode 12.4.4 Clock setting A clock function is provided in the controller for setting the date and time. [Procedure] CAUTION The clock used in the controller might 1) Press the (CLOCK) key in “SYSTEM>INIT” mode. differ from the correct time. If this happens, correct the time.
  • Page 263: System Generation

    • If you change the system generation by mistake, this may accidents, save the initial parameter data when shipped from YAMAHA and the parameter adversely effect robot operation data from system upgrades onto an external PC storage device by way of the RS-232C.
  • Page 264: Self Diagnosis

    12. “SYSTEM” mode 12.5 Self diagnosis This function makes a check of the controller and displays the error history and battery voltages. [Procedure] 1) In “SYSTEM” mode, press the (DIAGNOS) key to enter “SYSTEM>DIAGNOS” mode Fig. 4-12-82 Self diagnosis SYSTEM>DIAGNOS V8.01 CHECK HISTRY...
  • Page 265: Error History Display

    12. “SYSTEM” mode 12.5.2 Error history display To display past errors that occurred, follow the procedure below. A maximum of 500 items may be stored in the error history. [Procedure] 1) Press the (HISTRY) key to enter “SYSTEM>DIAGNOS> HISTRY” mode. Fig.
  • Page 266: Absolute Battery Voltage Display

    12. “SYSTEM” mode 12.5.3 Absolute battery voltage display To check the absolute battery voltage, proceed as follows. [Procedure] NOTE • The battery voltage appearing on 1) Press the (BATTERY) key. the display is the voltage when the controller power is turned on prior to charging.
  • Page 267: Backup Processes

    12. “SYSTEM” mode 12.6 Backup processes The various data in the controller's internal memory is saved on the internal flash ROM. [Procedure] 1) Press the (BACKUP) key in the "SYSTEM" mode. Fig. 4-12-87 Backup SYSTEM>BACKUP V8.08 RAM CARD FROM Valid keys and submenu descriptions in "SYSTEM>BACKUP" mode are shown below.
  • Page 268: Loading Files

    12. “SYSTEM” mode 12.6.1.1 Loading files The various data saved on the controller's internal flash ROM is restored into the controller's internal memory. NOTE [Procedure] The data saved on the internal flash ROM can be restored if the internal 1) Press the (LOAD) key in the "SYSTEM>BACKUP>FROM"...
  • Page 269: Saving Files

    12. “SYSTEM” mode 12.6.1.2 Saving files NOTE The data saved on the internal flash The data in the controller's internal memory are saved as ALL files on the flash ROM. The ROM can be restored if the internal data cannot be saved in the various units. If data is already saved, the new data cannot be memory is damaged for any reason.
  • Page 270: Monitor" Mode

    13. “MONITOR” mode The “MONITOR” mode displays the I/O status regardless of the current mode and level. The “MONITOR” mode display is overlapped onto the screen during normal operation. So the robot controller can still be operated even with the monitor screen displayed. [Procedure] 1) Press the key.
  • Page 271 13. “MONITOR” mode 3) Press the key again to display other monitor screens. DISPLAY Pressing the key shifts the monitor screen in the following sequence. DISPLAY DI monitor → DO monitor → MO monitor → LO/TO monitor → SI monitor → SO monitor →...
  • Page 272: Utility" Mode

    14.“UTILITY” mode The “UTILITY” mode can be entered from any other mode regardless of the mode level. [Procedure] 1) Press the ) key. UTILITY LOWER NOTE The “UTILITY” mode screen is displayed. The current internal controller temperature is displayed on the right end of the 3rd line.
  • Page 273: Canceling Emergency Stop; Motor Power And Servo On/Off

    14. “UTILITY” mode 14.1 Canceling emergency stop; Motor power and servo on/off 14.1.1 Canceling emergency stop Emergency stop must be cancelled to turn the servo on and operate the robot again in the following cases. (1) When the emergency stop button was released after pressing the emergency stop button.
  • Page 274: Motor Power And Servo On/Off

    14. “UTILITY” mode 14.1.2 Motor power and servo on/off This is usually used with the motor power turned on. This operation is performed after emergency stop has been cancelled or when turning the servo on/off temporarily in order to perform direct teaching. [Procedure] 1) Press the (MOTOR) key in “UTILITY”...
  • Page 275: Enabling/Disabling The Sequence Execution Flag

    14. “UTILITY” mode 14.2 Enabling/disabling the sequence execution flag To enable or disable execution of sequence programs, proceed as follows. [Procedure] 1) Press the (SEQUENC) key in “UTILITY” mode. 2) To enable execution of sequence programs, press the (ENABLE) key. To disable execution of sequence programs, press the (DISABLE) key.
  • Page 276: Changing The Arm Type

    14. “UTILITY” mode 14.3 Changing the arm type To set the hand type of SCARA robots that move by the data on Cartesian coordinates, follow the procedure below. The right-handed system is selected when the parameters are initialized. (Arm type can be changed only for SCARA robots.) [Procedure] 1) Press the (ARMTYPE) key in “UTILITY”...
  • Page 277: Resetting The Output Ports

    14. “UTILITY” mode 14.4 Resetting the output ports This resets the general-purpose output ports DO2() to DO27()/MO2() to MO27()/LO0()/ TO0()/SO2() to SO27()/SOW(2) to SOW(15). [Procedure] 1) Press the (RST.DO) key in “UTILITY” mode. A check message appears on the guideline. Fig.
  • Page 278: Changing The Execution Level

    14. “UTILITY” mode 14.5 Changing the execution level Program execution levels can be set as shown in the table below. However, the following NOTE commands are usable only when return-to-origin is complete. Execution level is automatically set to “LEVEL 0” in the following cases. Movement commands : MOVE, MOVE2, MOVEI, MOVEI2, DRIVE, 1.
  • Page 279: Changing The Execution Level

    14. “UTILITY” mode 14.5.1 Changing the execution level To change the execution level, proceed as follows. [Procedure] 1) Press the ) key twice to enter “UTILITY” mode, then press UTILITY LOWER (EXECUTE) key. Fig.4-14-9 UTILITY Date,Time : 01/07/23,12:36:37 (36°) Execut level: LEVEL7 Access level: LEVEL0 EXECUTE ACCESS RST.DO...
  • Page 280: Displaying The Help Message

    14. “UTILITY” mode 14.5.2 Displaying the Help message See the help message as needed. [Procedure] 1) Press the (HELP) key. F 15 The first page of the Help screen appears. Press the (NEXT P.) key or cursor (↑) key to refer to the next page or press (PREV.
  • Page 281: Changing The Access Level (Operation Level)

    14. “UTILITY” mode 14.6 Changing the access level (operation level) NOTE Once the robot system is installed, anyone can change its program and point data. However, Access level is automatically set to unauthorized changing of such data can be a source of trouble. “LEVEL 0”...
  • Page 282: Changing The Access Level

    14. “UTILITY” mode 14.6.2 Changing the access level NOTE Change the access level as needed. The online command (@ACCESS) [Procedure] from the RS-232C allows changes to the access level regardless of the 1) Set the access level with the (LEVEL0) to (LEVEL3) keys.
  • Page 283 Chapter 5 I/O interface Contents 1. I/O interface overview ..............5-1 Power supply ..................5-1 Connector I/O signals ................5-2 Connector pin numbers ................ 5-3 Typical I/O signal connection ............... 5-4 Typical output signal connection ............5-5 1.5.1 Dedicated outputs .................. 5-5 1.5.2 General-purpose outputs ................
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  • Page 285: I/O Interface Overview

    1. I/O interface overview The robot controller has a standard I/O interface for compatibility with customer systems. A description of each I/O terminal and its connection is given here. Connect these I/O terminals correctly and efficiently. This standard I/O interface contains 10 dedicated inputs and 11 outputs, and 16 general- CAUTION purpose inputs and 8 outputs.
  • Page 286: Connector I/O Signals

    1. I/O interface overview Connector I/O signals Remarks I/O No. Signal name CAUTION DI05 I/O command execution trigger input • See "7. I/O connections" in Servo ON DI01 Chapter 3 for a definition of NPN Sequence control DI10 and PNP specifications. Interlock DI11 •...
  • Page 287: Connector Pin Numbers

    1. I/O interface overview Connector pin numbers STD. DIO Connection side Solder side Connector type: MR-50LM An STD. DIO connector is supplied with the controller.
  • Page 288: Typical I/O Signal Connection

    1. I/O interface overview Typical I/O signal connection NPN specifications CAUTION See "7. I/O connections" in Chapter DC24V (P.COM DI) 3 for a definition of NPN and PNP specifications. DI 01 DI 10 DI 11 DI 12 DI 17 DI 20 DI 21 DI 22 Protective...
  • Page 289: Typical Output Signal Connection

    1. I/O interface overview Typical output signal connection 1.5.1 Dedicated outputs CAUTION See "7. I/O connections" in Chapter NPN specifications 3 for a definition of NPN and PNP specifications. COMMON DO 01a DO 01b DO 02a DO 02b DO 03a DO 03b DO 10 DO 14...
  • Page 290: General-Purpose Outputs

    1. I/O interface overview 1.5.2 General-purpose outputs CAUTION NPN specifications • When an inductive load (solenoid, relay, etc.) is used, always connect a diode in DC24V parallel as a surge killer. • Never short the DO output to DC 24V, since this will damage the DO 20 to DO27 internal circuitry.
  • Page 291: Dedicated Input Signals

    1. I/O interface overview Dedicated input signals NOTE 1. DI01 Servo-ON input If two or more custom inputs are supplied simultaneously or the pulse Use to cancel emergency stop and turn on the servo power (servo-on). (However, the width of input signals is too short, the emergency stop input signal contacts must be closed.) input signals might not be recognized.
  • Page 292 1. I/O interface overview 8. DI15 Program reset input DI15 is used to reset the program. When a signal is input to DI15 while the program is stopped in “AUTO” mode, the robot program is reset. At this point, all general-purpose outputs and variables are cleared.
  • Page 293: Dedicated Output Signals

    1. I/O interface overview Dedicated output signals 1. DO01a CPU_OK (A contact) output This is always on during normal controller operation. In the following cases this output turns off and CPU operation stops. • Serious malfunction • When the power supply voltage has dropped to lower than the specified value. Normal operation cannot resume if this signal is turned off once, without turning the power supply again.
  • Page 294 1. I/O interface overview In case (3) Since the CPU has stopped, the alarm cannot be turned off and operation cannot be reset unless the power supply is turned on again. In case (4) When a battery abnormality is detected, the alarm cannot turn off until the power supply is turned on again.
  • Page 295: Dedicated I/O Signal Timing Chart

    1. I/O interface overview Dedicated I/O signal timing chart 1.8.1 Controller power ON, servo ON and emergency stop CAUTION It will take about 3 seconds for the controller to issue the CPU_OK CPU_OK output: DO(01)a output after the power is turned on. Servo-ON output: DO(02)a Alarm output: DO(03)a Emergency stop input...
  • Page 296: Absolute Reset

    1. I/O interface overview 1.8.2 Absolute reset Conditions: MANUAL mode and servo ON CPU_OK output: DO(01)a Servo-ON output: DO(02)a Return-to-origin complete output: DO(11) Interlock input: DI(11) off Absolute reset input: DI(17) off Move Robot axis status Stop a ) b ) c ) d ) e ) f ) g ) h ) i ) j ) k )
  • Page 297: Switching To Auto Mode, Program Reset And Execution

    1. I/O interface overview 1.8.3 Switching to AUTO mode, program reset and execution AUTO mode output: DO(10) Return-to-origin complete output: DO(11) Robot program in-progress output: DO(13) Program reset output: DO(14) Interlock input: DI(11) Program start input: DI(12) AUTO mode input: DI(13) Program reset input: DI(15) b ) c ) g ) h )
  • Page 298: Stopping Due To Program Interlocks

    1. I/O interface overview 1.8.4 Stopping due to program interlocks AUTO mode output: DO(10) Return-to-origin complete output: DO(11) Robot program in-progress output: DO(13) Interlock input: DI(11) Program start input: DI(12) d ) e ) f ) g ) 100ms or more Program execution a) Program start input turns on.
  • Page 299: General-Purpose I/O Signals

    1. I/O interface overview General-purpose I/O signals 1.9.1 General-purpose input signals CAUTION When the "8. DI noise filter" parameter explained in section 12.1.3, These are a total of 16 signals consisting of DI20 to DI27 and DI30 to DI37. "Other parameters", is enabled These general-purpose inputs are available to the user, and can be connected to components (valid), the ON or OFF signal width such as pushbutton switches and sensors.
  • Page 300: Option I/O Interface Overview

    2. Option I/O interface overview The option I/O interface of the controller is expandable to a maximum of 4 units for compatibility with customer systems. A description of each I/O terminal and its connection is given here. Connect these I/O terminals correctly and efficiently. This option I/O interface contains 24 general-purpose inputs and 16 outputs.
  • Page 301: Power Supply

    2. Option I/O interface overview ID settings Use the DIP switch on the option I/O interface unit (adjacent to OPT. DIO connector) to set the ID. Fig. 5-2-1 DIP switch OPT. DIO connector The DI/DO ports are assigned based on these ID. ( I : switch lever) DIP switch Input port No.
  • Page 302: Connector I/O Signals

    2. Option I/O interface overview Connector I/O signals I/O No. Signal name Remarks CAUTION ID=1 ID=2 ID=3 ID=4 ID=1 ID=2 ID=3 ID=4 See "7. I/O connections" in Chapter P.COM DI P.COM DI + common 3 for a definition of NPN and PNP specifications.
  • Page 303: Connector Pin Numbers

    2. Option I/O interface overview Connector pin numbers OPT. DIO Connection side Solder side Connector type: MR-50LM An OPT. DIO connector is supplied with the controller.
  • Page 304: Typical Input Signal Connection

    2. Option I/O interface overview Typical input signal connection CAUTION NPN specifications See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP P.COM DI External power specifications. supply is used. External power supply N.COM DI Typical output signal connection NPN specifications External power supply is used.
  • Page 305: General-Purpose Output Signal Reset (Off)

    2. Option I/O interface overview 2.7.3 General-purpose output signal reset (off) All general-purpose output signals are reset (off) in the following cases. 1) When the (RST.DO) key was pressed in “UTILITY” mode. 2) When any of the following operations is performed without executing a sequence program or the sequencer execution flag was reset.
  • Page 306: Ratings

    3. Ratings 1. Input NPN specifications CAUTION See "7. I/O connections" in Chapter DC input (plus common type) Method 3 for a definition of NPN and PNP Photocoupler insulation method specifications. Input power DC 24V, 10mA Response time 20ms Min. (during on/off) PNP specifications DC input (minus common type) Method...
  • Page 307: Caution Items

    4. Caution items 1. When using a dual-lead proximity sensor as an input signal, check whether or not it is within input signal specifications. If the sensor has a high residual voltage during on and off, this might cause possible malfunctions. 2.
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  • Page 309 Chapter 6 SAFETY I/O interface Contents 1. SAFETY I/O interface overview ............6-1 Power ....................6-1 Connector I/O signal chart ..............6-1 Connector terminal numbers ..............6-2 Emergency stop input signal connections ..........6-3 Dedicated input signal connections ............6-6 Input signal description .................
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  • Page 311: Power

    1. SAFETY I/O interface overview The robot controller is provided with standard (I/O) input/output interfaces for compatibility with the system used by the customer. A description of the I/O terminals and connection methods are explained below. Connect the I/O terminals correctly for effective operation. The SAFETY I/O interface contains an emergency stop input and one dedicated input point.
  • Page 312: Connector Terminal Numbers

    1. SAFETY I/O interface overview Connector terminal numbers Connection side Solder side...
  • Page 313: Emergency Stop Input Signal Connections

    1. SAFETY I/O interface overview Emergency stop input signal connections Connections using the standard MPB programming unit with external emergency stop circuit CAUTION External emergency stop and the Emergency stop switch MPB emergency stop button are MPB connector disabled when pin 13 and pin 14 are directly shorted to each other on the SAFETY connector.
  • Page 314 1. SAFETY I/O interface overview Connections using the MPB-E2 enable switch compatible programming unit with external emergency stop circuit (PNP specifications) Emergency Enable stop switch switch CAUTION MPB connector External emergency stop and the MPB emergency stop button are disabled when pin 13 and pin 14 are directly shorted to each other on the SAFETY connector.
  • Page 315 1. SAFETY I/O interface overview 2. When the service key switch contact is open: The enable switch is operable at this point. a. In normal operation, EMG 24V is connected to EMG RDY via the MPB-E2 emergency stop switch, enable switch and SAFETY connector, and turns on the controller internal motor power relay.
  • Page 316: Dedicated Input Signal Connections

    1. SAFETY I/O interface overview Dedicated input signal connections CAUTION See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications. NPN specifications P.COMDI for STD.DIO DI02 NOTE Protective Connect DC 24V and ground for STD. circuit DIO.
  • Page 317: Input Signal Description

    1. SAFETY I/O interface overview Input signal description CAUTION See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications. 1. DI02 SERVICE mode input Service mode input can only be used on robot controllers with SAFE mode enabled. When the DI02 contact is open (OFF), the robot controller service mode is set for exclusive control for operating levels, operating speed limits and operating devices conforming to the service mode parameter settings.
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  • Page 319 Chapter 7 RS-232C interface Contents 1. Communication overview ..............7-1 2. Communication function overview ..........7-2 3. Communication specifications ............7-3 Connector ..................... 7-3 Transmission mode and communication parameters ......7-4 Communication flow control ..............7-5 3.3.1 Flow control during transmit ..............7-5 3.3.2 Flow control during receive ..............
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  • Page 321: Communication Overview

    1. Communication overview The robot controller can communicate with external devices in the following 2 modes using the RS- 232C interface. These modes can be used individually or jointly in a variety of applications. (1) Data communication is done by communication commands in robot language (SEND command).
  • Page 322: Communication Function Overview

    2. Communication function overview There are 2 types of robot controller communication modes, “ONLINE” and “OFFLINE”. (1) “OFFLINE” mode In “OFFLINE” mode, the communication between the robot and external unit is executed with SEND commands in the program. • SEND command (robot → external unit) SEND <source file>...
  • Page 323: Communication Specifications

    3. Communication specifications Connector The RS-232C interface connector is located on the front panel of the robot controller as shown below. RCX40 MOTOR OP.1 OP.3 BATT OP.2 OP.4 RGEN STD.DIO SAFETY ACIN • Specifications of the RS-232C interface connector installed on the robot controller are shown below.
  • Page 324: Transmission Mode And Communication Parameters

    3. Communication specifications 3.Connection cable examples a. Cable capable of hardware busy control Controller External device b. Cable not using control wires Controller External device * For signal wire layout on the external device, refer to the instruction manual for that NOTE 1) Termination code device.
  • Page 325: Communication Flow Control

    3. Communication specifications Communication flow control Software flow control (XON/XOFF) and hardware flow control (RTS/CTS) methods can be selected by specifying the communication parameters. 3.3.1 Flow control during transmit NOTE 1) Transmission stops when XON/XOFF, DSR and CTS indicate whether the other party can receive data. transmission is disabled in either of XON/XOFF or RTS/CTS flow Flow Control...
  • Page 326: Other Caution Items

    3. Communication specifications Other caution items 1) The controller allows receiving data as long as the receive buffer has a free area. The receive buffer is cleared in the following cases. • When the power was turned off and turned back on. •...
  • Page 327: Character Code Table

    3. Communication specifications Character code table HEX. " STOP XOFF & < > Note 1: The above character codes are written in hexadecimal. Note 2: SP indicates a space. Note 3: Only capital letters can be used for robot language. Small letters are used for program comments and so on.
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  • Page 329 Chapter 8 Specifications Contents 1. Controller basic specifications ............8-1 2. Controller basic specifications ............8-2 3. Robot controller external view ............8-3 RXC40 external view ................8-3 4. MPB basic specifications and external view ........8-4...
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  • Page 331: Controller Basic Specifications

    Setting by acceleration/deceleration coefficient (1% steps) Acceleration/deceleration (Only acceleration can be changed by programming.) setting Zone control (Optimum speed setting matching SCARA robot arm position) YAMAHA BASIC conforming to JIS B8439 (SLIM Program language language) Multitask 8 tasks maximum Sequence program 1 program...
  • Page 332: Controller Basic Specifications

    2. Controller basic specifications Function Description AUTO mode (Major functions: program execution, step execution, etc.) PROGRAM mode (Major functions: program creation and editing, etc.) Operation modes MANUAL mode (Major functions: jog movement, point data teaching, etc.) SYSTEM mode (Major functions: parameter editing, data initializing, etc.) UTILITY mode (Major functions: motor power supply control, etc.) Array declaration commands (DIM statement) Assignment commands (Numeric assignment statement, character string...
  • Page 333: Robot Controller External View

    Fig. 8-3-1-1 Standard RCX40 139.5 15.5 RCX40 MOTOR OP.1 OP.3 BATT OP.2 OP.4 RGEN STD.DIO SAFETY ACIN 44.8 27.6 Fig. 8-3-1-1 RCX40 with RGU option installed 139.5 15.5 RCX40 MOTOR OP.1 OP.3 RGU-2 RGEN BATT OP.2 OP.4 RGEN STD.DIO SAFETY ACIN YAMAHA MOTOR CO.,LTD.
  • Page 334: Mpb Basic Specifications And External View

    4. MPB basic specifications and external view MPB basic specifications and external view Model Liquid crystal display (40 characters × 8 lines) Display screen DC ±12V Power 1500V × 1 microsecond Noise resistance Operating Ambient temperature: 0 to 40°C, humidity: 35 to 85% environment (no condensation), storage temperature: -10 to 65°C W189 ×...
  • Page 335 Chapter 9 Troubleshooting Contents 1. Error Messages ................. 9-1 Robot controller error messages ............9-1 [ 0] Warnings and messages ................9-3 [ 1] Warnings (Error history entry) ..............9-5 [ 2] Robot operating area errors ................. 9-5 [ 3] Program file operating errors ............... 9-8 [ 4] Data entry and edit errors ................
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  • Page 337: Error Messages

    1. Error Messages Robot controller error messages When an error occurs, an error message appears on the message line (2nd line) of the MPB screen. Error messages comprise the following elements. 12.1: Emg.stop on Message Error classification No. Error No. Error group No.
  • Page 338 • Turn the power ON again in “UTILITY” mode to reset. DO 02a (SERVO ON) = OFF DO 03a (ALARM) = ON CAUTION *4 … System backup battery defect When an error cannot be cancelled, • Replace battery to reset. contact your YAMAHA sales dealer. DO 03a (ALARM) = ON...
  • Page 339: 0] Warnings And Messages

    1. Error Messages [ 0] Warnings and messages : Undefined system error Code : &H0000 Meaning/Cause : Undefined system error. Action : Contact our company. : Origin incomplete * If the cause of the Origin incomplete error can be pinpointed, an error code will be attached in parentheses at the end.
  • Page 340 1. Error Messages : Program suspended by “HOLD” Code : &H0006 Meaning/Cause : Program execution was interrupted by a HOLD command. Action : Press the key to cancel hold condition and start running START the program from the next command. : Turn on power again Code : &H0007...
  • Page 341: 1] Warnings (Error History Entry)

    1. Error Messages 0.16 : Changed SERVICE mode input Code : &H0010 Meaning/Cause : Status of service mode inputs (DI02, SI02) was changed. Action : --- 0.17 : Can't edit while STD.DIO DC24V on Code : &H0011 Meaning/Cause : Setting to disable the DC 24V monitoring function of STD.DIO was attempted even though DC 24V was being supplied at STD.DIO connector.
  • Page 342 1. Error Messages : Std. Coord. doesn't exist Code : &H0202 Meaning/Cause : Setting of standard coordinates is incomplete. Action : 1. Set the standard coordinates. 2. Set the parameter arm length and offset pulse. : Coordinate cal. failed Code : &H0203 Meaning/Cause : a.
  • Page 343 1. Error Messages 2.10 : Exceeded movable range Code : &H020A Meaning/Cause : Area is present 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.
  • Page 344: 3] Program File Operating Errors

    1. Error Messages 2.23 : Cannot move (RIGHTY to LEFTY) Code : &H02017 Meaning/Cause : a. Interpolation movement shifting from the right-handed sys- tem to the left-handed system was executed with a SCARA robot. Action : 1. Check the current hand system and point data's hand system flag.
  • Page 345 1. Error Messages : Too many breakpoints Code : &H0306 Meaning/Cause : Setting of break point exceeding 4 points was attempted. Action : After deleting unnecessary break points, set the new break point. (Up to 4 break points can be set in one program.) : Breakpoint doesn’t exist Code : &H0307...
  • Page 346: 4] Data Entry And Edit Errors

    1. Error Messages 3.15 : Illegal password Code : &H030F Meaning/Cause : There is a mistake in the password entry. Action : Enter the correct password. 3.16 : Cannot reset ABS Code : &H0310 Meaning/Cause : Absolute reset was not performed correctly. Action : 1.
  • Page 347: 5] Robot Language Syntax (Compiling) Errors

    1. Error Messages : Undefined axis number Code : &H0405 Meaning/Cause : Specified axis number does not exist. Action : Enter a correct axis number. [ 5] Robot language syntax (compiling) errors : Syntax error Code : &H0501 Meaning/Cause : Syntax error found in program. Action : Change to the correct syntax.
  • Page 348 1. Error Messages : Illegal axis name Code : &H0507 Meaning/Cause : Robot axis name is wrong. Action : Change to the correct axis name. : Illegal order Code : &H0508 Meaning/Cause : Wrong bit specified for input/output port. Action : Change to ascending order starting from right.
  • Page 349 1. Error Messages 5.15 : FOR variable error Code : &H050F Meaning/Cause : Variable names for NEXT statement and corresponding FOR state- ment do not match. Action : Change so that FOR statement variable names match with NEXT statement variable names. 5.16 : WEND without WHILE Code : &H0510...
  • Page 350 1. Error Messages 5.21 : ELSE without IF Code : &H0515 Meaning/Cause : There is no IF statement corresponding to ELSE statement. Action : 1. Delete the ELSE statement. 2. Add an IF statement corresponding to the ELSE statement. 5.22 : IF without ENDIF Code : &H0516 Meaning/Cause : There is no ENDIF statement corresponding to IF statement.
  • Page 351 1. Error Messages 5.28 : Duplicated label Code : &H051C Meaning/Cause : Two or more of the same labels were defined. Action : Define another label. 5.29 : Undefined array Code : &H051D Meaning/Cause : Assignment/reference was made for undefined array. Action : Define the undefined array.
  • Page 352 1. Error Messages 5.37 : Specification mismatch Code : &H0525 Meaning/Cause : Cannot execute command under present robot specifications. Action : Change command for execution. 5.38 : Illegal option Code : &H0526 Meaning/Cause : Error is present in command option. Action : Change to a correct option.
  • Page 353 1. Error Messages 5.45 : Illegal program name Code : &H052D Meaning/Cause : a. When transmitting a program file by SEND command, the NAME statement was not defined on beginning line of the program data. b. Characters other than alphanumeric and underscore ( _ ) were used in the program name.
  • Page 354: 6] Robot Programming Execution Errors

    1. Error Messages 5.51 : Illegal command line Code : &H0533 Meaning/Cause : Cannot execute command statement between SELECT and CASE statements. Action : Delete the command statement between SELECT and CASE state- ments. 5.52 : Command doesn’t exist Code : &H0534 Meaning/Cause : Line does not have a command statement.
  • Page 355 1. Error Messages : Divided by 0 Code : &H0603 Meaning/Cause : A command to divide by 0 (÷ 0) was attempted. Action : Change from the divide by 0 command. : Point doesn’t exist Code : &H0604 Meaning/Cause : Assignment/movement/reference to an undefined point was at- tempted.
  • Page 356 1. Error Messages 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/Cause : CUT command was executed for a task not executed by START command.
  • Page 357 1. Error Messages 6.17 : Illegal command in error routine Code : &H0611 Meaning/Cause : Command which could not be executed was attempted within an error processing routine. Action : Delete the command which could not be executed. 6.18 : EXIT FOR without FOR Code : &H0612 Meaning/Cause : EXIT FOR command was executed without executing FOR command.
  • Page 358: 9] Memory Errors

    1. Error Messages [ 9] Memory errors : Program destroyed Code : &H0901 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 being turned off during rewrite of program data. Action : 1.
  • Page 359 1. Error Messages : Pallet data destroyed Code : &H0909 Meaning/Cause : Part or all of the pallet definition data was destroyed. Action : Initialize the pallet definition data. 9.31 : Memory full Code : &H091F Meaning/Cause : No available space in the program/point data area. Action : Delete unnecessary programs/points.
  • Page 360: System Setting Or Hardware Errors

    1. Error Messages 9.39 : Sequence object destroyed Code : &H0927 Meaning/Cause : Part or all of the sequence object program has been destroyed. Action : Make the sequence object program again. 9.40 : Cannot find sequence object Code : &H0928 Meaning/Cause : No sequence object program.
  • Page 361 1. Error Messages 10.9 : Cannot set no axis Code : &H0A09 Meaning/Cause : A no-axis setting was attempted on an axis which cannot accept. The following axes cannot be set to no-axis. • X and Y axes except on MULTI type robots Action : 1.
  • Page 362: I/O And Option Board Errors

    1. Error Messages 10.22 : STD.DIO DC24V power low Code : &H0A16 Meaning/Cause : a. DC 24V not supplied to STD.DIO connector. b. Drop in DC 24V being supplied for STD.DIO. c. STD.DIO connector is not connected. Action : 1. Supply DC 24V to STD.DIO connector. 2.
  • Page 363 1. Error Messages 12.11 : CC-Link communication error Code : &H0C0B Meaning/Cause : a. Error in cable for CC-Link system. b. Wrong communication setting for CC-Link system. c. Master station sequencer power is turned off, has stopped operating or is damaged. d.
  • Page 364 1. Error Messages 12.19 : DeviceNet link error(Explicit) Code : &H0C13 Meaning/Cause : a. The DeviceNet board was reset by an Explicit message request (Reset request to Identity Obj) from the client (master PLC). Action 12.31 : DI DC24V disconnected Code : &H0C1F Meaning/Cause : a.
  • Page 365: Mpb Errors

    1. Error Messages 12.70 : Incorrect option setting Code : &H0C46 Meaning/Cause : a. Error in DIP switch setting on option unit. b. Mismatched option units have been installed. c. Cannot identify the installed option unit. Action : 1. Check the DIP switch settings on the option unit. 2.
  • Page 366: Rs-232C Communication Errors

    1. Error Messages [14] RS-232C communication errors 14.1 : Communication error Code : &H0E01 Meaning/Cause : a. During external communication via the RS-232C, an error occurred. b. An overrun error or framing error occurred via the RS-232C. c. Power supply for external device turned on or off after con- necting communication cable with the external device.
  • Page 367: Memory Card Errors

    1. Error Messages 14.22 : No start code (@) Code : &H0E16 Meaning/Cause : Starting code "@" was not added at beginning of single line in an on-line command. Action : Add starting code "@" at the beginning of on-line command. 14.23 : Illegal command,Operating Code : &H0E17...
  • Page 368 1. Error Messages 15.2 : Read only file Code : &H0F02 Meaning/Cause : Writing was attempted on a write protected file. Action : 1. Change to another file. 2. Change to a file not write protected. 15.3 : Same file name already exists Code : &H0F03 Meaning/Cause : File name change was attempted but the same file name already...
  • Page 369 1. Error Messages 15.16 : Media data destroyed Code : &H0F10 Meaning/Cause : All or part of data stored on memory card is damaged. Action : 1. Format the memory card. 2. Overwrite the damaged portion with new data. 3. Replace the memory card backup battery. 4.
  • Page 370: Motor Control Errors

    1. Error Messages [17] Motor control errors 17.1 : System error (DRIVER) Code : &H1101 Meaning/Cause : Error occurred in software for driver unit. Action : Contact our company with details of the problem. Dedicated output : *2 17.2 : Watchdog error (DRIVER) Code : &H1102 Meaning/Cause : a.
  • Page 371 1. Error Messages 17.5 : Overheat Code : &H1105 Meaning/Cause : Temperature in power module of driver unit exceeded 70°C. Action : 1. Improve the equipment environment. 2. Check that cooling fan is working correctly. 3. Lower the robot duty cycle and decrease the amount of heat generated.
  • Page 372 1. Error Messages 17.10 : Feedback error 1 Code : &H110A Meaning/Cause : Wiring of motor cable or encoder cable is incorrect. Action : 1. Rewire the motor cable or encoder cable correctly. 2. Replace the motor cable or encoder cable. Dedicated output : *2 17.11 : Feedback error 2 Code...
  • Page 373 1. Error Messages 17.21 : Bad origin sensor Code : &H1115 Meaning/Cause : a. Origin sensor is defective. b. Sensor cable is broken. Action : 1. Replace the origin sensor. 2. Replace the origin sensor cable. 17.22 : Bad PZ Code : &H1116 Meaning/Cause : a.
  • Page 374 1. Error Messages 17.31 : Servo off Code : &H111F Meaning/Cause : Movement command was attempted in servo OFF state. Action : Change status to servo ON. 17.34 : Servo on failed Code : &H1122 Meaning/Cause : a. Servo-ON was attempted for each axis while motor power was off.
  • Page 375 1. Error Messages 17.80 : ABS.backup failed (DRIVER) Code : &H1150 Meaning/Cause : a. Backup information on position was disabled when system generation was performed during previous controller startup b. In the driver unit, backup of position information failed when power was cut off.
  • Page 376: Major Software Errors

    1. Error Messages 17.90 : DRIVE2 module type error Code : &H115A Meaning/Cause : Motor specifications do not match current sensor specifications. Action : 1. Replace the controller. 2. Redo the system generation. 17.91 : Cannot perform ABS.reset Code : &H115B Meaning/Cause : Absolute reset was attempted at a position where absolute reset cannot be performed.
  • Page 377 1. Error Messages 21.3 : System error (TaskID) Code : &H1503 Meaning/Cause : Software error occurred. Action : Contact our company with details of this problem. 21.4 : System error (drcom) Code : &H1504 Meaning/Cause : Software error occurred. Action : Contact our company with details of this problem.
  • Page 378: Major Hardware Errors

    1. Error Messages 21.41 : System error (EXCEPTION) Code : &H1529 Meaning/Cause : a. Software error occurred. Action : 1. Contact our company with details of this problem. [22] Major hardware errors 22.1 : AC power low Code : &H1601 Meaning/Cause : a.
  • Page 379 1. Error Messages 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.
  • Page 380 1. Error Messages 22.40 : PCMCIA interface overtime Code : &H1628 Meaning/Cause : 1. Failed to acquire access privilege for PCMCIA interface. Action : 1. Replace the PCMCIA interface driver. : 2. Replace the controller. Dedicated output : *1 22.41 : OPT.1 interface overtime Code : &H1629 Meaning/Cause : 1.
  • Page 381: Mpb Error Messages

    1. Error Messages MPB Error Messages When a hardware error or a software error occurs in the MPB, the following messages are highlighted (shown with reversed background) on the guideline of the lowest line of the screen. M P B T R A P ! ! Contents : Undefined operation code was executed.
  • Page 382 1. Error Messages M P B T r a n s m i t E r r o r ! ! ( T i m e O u t E r r o r ) Contents : Transmission to controller is impossible. Cause : a.
  • Page 383: Troubleshooting

    Please contact our company with details of the problem that occurs. Report the following items in as much detail as possible. Item Description • Controller model name and serial No. example: RCX40 + regenerative unit • Robot model name + serial No. What happened example: YK250X • Controller version No.
  • Page 384: Acquiring Error Information

    2. Troubleshooting Acquiring error information Error history (log) information is stored inside the robot controller. The following 2 methods are available for checking this information. 2.2.1 Acquiring information from the MPB [Procedure] 1) Press the (DIAGNOS) key in “SYSTEM” mode. 2) To check controller error status, press the (DIAGNOS) key.
  • Page 385: Troubleshooting Checkpoints

    2. Troubleshooting Troubleshooting checkpoints 1. Installation and power supply Symptom Possible cause Check items Corrective action Controller won't turn on • Power is not supplied. • Check power input terminal • Connect power input terminal even with power supplied. connection (L/N/GND). correctly.
  • Page 386 2. Troubleshooting 2. Robot operation Symptom Possible cause Check items Corrective action Controller turns on but • Interlock signal. • Check standard I/O interface • Connect the standard I/O can't execute program and connector (for interlock signal) interface connector for manual movement.
  • Page 387 2. Troubleshooting 3. I/O operation Symptom Possible cause Check items Corrective action Won't operate even when • No DC24V supply. • Check that DC 24V is supplied • Supply DC 24V. custom signal input is from standard I/O interface supplied. connector.
  • Page 388 All rights reserved. No part of this publication may be reproduced in 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.