Basic Sequence From Installation To Operation - Omron YRC User Manual

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Basic sequence from installation to operation

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