Page 1 YAMAHA 4-AXIS ROBOT CONTROLLER RCX141 User’s Manual ENGLISH E93-Ver. 2.02...
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 to 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 the YAMAHA or YAMAHA sales dealer, turn off the robot controller and wait for at least 30 minutes. Some components in the robot controller may be hot or still retain 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 may cause abnormal robot operation (vibration, noise) when the power is turned on. [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 and simplifies maintenance. 5. CE marking* As a YAMAHA robot series product, 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 RCX141 ............2-3 2. Part names and functions............2-4 RCX141 (Maximum number of axes: 4 axes) ........2-4 3. Controller system ..............2-5 4. Optional devices ................2-6 MPB programming box ............... 2-6 Expansion I/O board ................
Page 10 9. Connecting a regenerative unit ..........3-13 10. Precautions for cable routing and installation ......3-14 10.1 Wiring methods ................3-14 10.2 Precautions for installation ..............3-15 10.3 Methods of preventing malfunctions ..........3-15 11. Checking the robot controller operation .........3-16 11.1 Cable connection ................
Page 11 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 ..............4-40 Direct command execution ............... 4-42 Break point ..................4-43 9.9.1 Setting break points ..................
Page 12 11.2.8 Point comment input and editing ..............4-88 11.2.8.1 Point comment input and editing ..............4-89 11.2.8.2 Point data input by teaching ................4-89 11.2.8.3 Jump to a point comment ................4-90 11.2.8.4 Copying a point comment ................4-91 11.2.8.5 Erasing point comments ...................
Page 13 12.4.1 Initializing the parameters ................4-207 12.4.2 Initializing the memory ................. 4-208 12.4.3 Initializing the communication parameters ........... 4-209 12.4.4 Clock setting ....................4-210 12.4.5 System generation ..................4-211 12.5 Self diagnosis .................. 4-212 12.5.1 Controller check ................... 4-212 12.5.2 Error history display ..................
Page 14 Chapter 8 Specifications 1. Controller basic specifications ...........8-1 2. Controller basic functions............8-2 3. Robot controller external view ..........8-3 RCX141 external view ................ 8-3 4. MPB basic specifications and external view.......8-4 Chapter 9 Troubleshooting 1. Error Messages ................9-1 Robot controller error messages ............9-1 [ 0] Warnings and messages ....................
Page 15 [ 2] Robot operating area errors ..................9-5 [ 3] Program file operating errors ..................9-9 [ 4] Data entry and edit errors ..................9-11 [ 5] Robot language syntax (compiling) errors ............... 9-11 [ 6] Robot language execution errors ................9-19 [ 9] Memory errors ......................
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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 Motor overload precautions ..............1-2 1.4 Warning labels ..................1-3 1.5 Warning marks ..................1-3 2. Warranty ..................1-4 3.
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Page 19: Safety
1. Safety Please observe all safety rules and cautions to ensure safe and correct use of the YAMAHA robot. Also, bear in mind that not all safety items can be listed in detail, so that accurate judgment by the operator or service personnel is essential for operating 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 work 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 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, then heat generated from the controller itself and from peripheral equipment may drive the temperature above the allowable operating temperature range.
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Page 25: Chapter 2 System Overview
1.1 Main system configuration ..............2-1 1.2 Axis definition for the RCX141 ..............2-3 2. Part names and functions ..............2-4 2.1 RCX141 (Maximum number of axes: 4 axes) ........... 2-4 3. Controller system ................2-5 4. Optional devices ................2-6 4.1 MPB programming box ................
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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: MXYx+MR12T+MR12T 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 Rcx141
1. System overview Axis definition for the RCX141 Axis definitions for the YAMAHA RCX141 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 RCX141 (Maximum number of axes: 4 axes) Fig. 2-2-1 RCX141 MOTOR OP.1 OP.3 MODEL. SER. NO. MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN CAUTION READ INSTRUCTION MANUAL OP.2 OP.4 RGEN STD.DIO SAFETY ACIN 200-230V~ 50-60Hz...
Page 31: Controller System
3. Controller system 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 ROB I/O ZR DRIVER1 BOARD ASSY SAFETY CN10 CN10 CN13 CPU BOARD ASSY STD.DIO...
Page 32: Optional Devices
4. Optional devices MPB programming box 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 The expansion I/O board used in the robot controller has 24 general-purpose input points and 16 general-purpose output points.
Page 33: Basic Sequence From Installation To Operation
5. Basic sequence from installation to operation The basic sequence from installation to actual operation is shown below. Refer to this sequence to use the RCX141 safely, correctly and effectively. Before beginning the work, read this user's manual thoroughly. Basic procedure...
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Page 35: 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. Connector names ................3-5 4. Connecting to the power ..............3-6 AC200 to 230V single-phase specifications ...........
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Page 37: 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 dents on the packing box, please notify your YAMAHA sales dealer without unpacking the box. Unpacking The robot controller is packed with accessories as shown below, according to the order specifications.
Page 38: Installing The Robot Controller
Installation 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 RCX141 MOTOR OP.1 OP.3 to avoid dropping and resultant MODEL. damage. SER. NO.
Page 39: 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 Fig.
Page 40 2. Installing the robot controller 3) Attaching the L-type brackets (supplied as standard accessories) to the rear CAUTION • When attaching the L-type Fig. 3-2-2-3 brackets to the rear of the controller, provide a clearance of at least 30mm between the rear panel and wall or other objects.
Page 41: Connector Names
3. Connector names Connector names, locations and functions are shown below. Fig. 3-3-1 RCX connectors OP.1 OP.3 RCX141 MOTOR OP.1 OP.3 MODEL. SER. NO. MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN CAUTION ROBI/O XY READ INSTRUCTION MANUAL ROBI/O ZR OP.2 OP.4...
Page 42: Connecting To The Power
4. Connecting to the power Connect ring-tongue 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 43 4. Connecting to the power (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 44: Installing An External Leakage Breaker
3. Make sure that the controller is securely grounded. 4. Stray capacitance between the Leakage current cable and FG may vary RCX141 4mA(MAX) depending on the cable installation condition, causing the leakage current to fluctuate. Installing a circuit protector...
Page 45: Connecting The Robot Cables
A misconnection will cause the robot to malfunction. Connected to YAMAHA robot • Keep robot cables separate from the robot controller power connection lines and other equipment power lines. Using them in close contact with lines carrying power may cause malfunctions.
Page 46: Connecting The Mpb Programming Box
6. Connecting the MPB programming box 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 an MPB terminator (supplied as an accessory) into the MPB connector.
Page 47: I/O Connections
7. I/O connections The various input/output (I/O) signals from peripheral equipment can be connected to the robot con- troller. 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, "Parallel I/O interface" or see Chapter 6, "SAFETY I/O interface".
Page 48: 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 RCX141 MOTOR OP.1 OP.3 MODEL.
Page 49: Connecting A Regenerative Unit
9. Connecting a regenerative unit When a regenerative unit (RGU-2) is required, connect it 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 50: Precautions For Cable Routing And Installation
6) Do not extend the ground wire longer than necessary. The ground wire should be as short as possible. Refer to the drawing below when making the cable connections. Fig. 3-10-1 I/O cable RCX141 MOTOR OP.1 OP.3 MODEL. SER. NO.
Page 51: Precautions For Installation
10. Precautions for cable routing and installation 10.2 Precautions for installation This robot controller is not designed with an explosion-proof, dust-proof or drip-proof structure. Do not install it in the following locations or environments (1) where exposed to flammable gases or liquids. (2) where conductive debris such as metal cutting chips are spread.
Page 52: Checking The Robot Controller Operation
• SAFETY connector (supplied) (Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector.) 11.1 Cable connection Fig. 3-11-1 Neutral Power cable Earth SAFETY connector (supplied) YAMAHA robot PHASER series YAMAHA robot X series...
Page 53: Emergency Stop Input Signal Connection
11. Checking the robot controller operation 11.2 Emergency stop input signal connection Fig. 3-11-2 CAUTION External emergency stop and the RCX141 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.
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Page 55: 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 box ..............4-3 Part names .................... 4-3 Main functions ..................4-4 Connection to the robot controller ............4-5 4.
Page 56 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 57 11.“MANUAL” mode ................4-71 11.1 Manual movement ................4-74 11.2 Displaying and editing point data ............4-77 11.2.1 Point data input and editing ..............4-78 11.2.1.1 Restoring point data ................4-79 11.2.2 Point data input by teaching ..............4-80 11.2.3 Point data input by direct teaching ............4-84 11.2.4 Point jump display ................
Page 58 12.1.4.2 Serial I/O setting ................... 4-177 12.1.4.3 Setting the network parameters ............. 4-179 12.2 Communication parameters .............. 4-181 12.3 OPTION parameters ................. 4-187 12.3.1 Setting the area check output ............. 4-188 12.3.2 Setting the “SERVICE” mode .............. 4-193 12.3.2.1 Saving the “SERVICE” mode parameters ..........4-198 12.3.2.2 Help display in “SERVICE”...
Page 59: 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 Programming box MPB MPB is used for • robot operation • programming •...
Page 60: 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 RCX141 MOTOR OP.1 OP.3 MODEL. SER. NO. MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN 5 MPB connector...
Page 61: Mpb Programming Box
3. MPB programming box 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 box 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 62: Main Functions
3. MPB programming box 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 63: Connection To The Robot Controller
Connect the MPB programming box to the MPB connector on the front panel of the robot controller. Connect the cable securely since poor connections might cause malfunctions or breakdowns. Fig. 4-3-2 Robot controller connection MPB programming box RCX141 MOTOR OP.1 OP.3 MODEL. SER. NO.
Page 64: 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 65: 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 66: 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 Function key Control key Data key...
Page 67: 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 68: Function Keys
5. Operation keys Function keys To operate the MPB, select the menus by pressing the function keys. The relation of the function keys to their menus in “MANUAL” mode is shown below. Function key Selected menu (F 1) POINT F 11 (F 2) PALLET F 12...
Page 69 5. Operation keys Relation of function keys to menus Fig. 4-5-4 Function keys and menus MANUAL 50%[MG][S0H0J] Current position *M2= 0 *M3= *M4= ORIGIN POINT PALLET VEL+ VEL- ↓ ↓ ↓ ↓ ↓ [F1] [F2] [F3] [F4] [F5] ∧ SHIFT HAND UNITCHG VEL++...
Page 70: 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 71 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 72: 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 data input, programming and data editing. There are 2 kinds of data keys. (1) Alphanumeric keys : Enters numbers.
Page 73: 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. Pressing the emergency stop button cuts off power to the robot to stop operation. A message as shown below appears on the MPB screen. The highlighted display for the mode name is cancelled during emergency stop.
Page 74: 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 75 6. Emergency stop 5) Press the (On) key to turn on the motor power. At the same time, the servomo- tor 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 76: 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 77: 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 78: 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 79 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 80 7. Mode configuration Mode hierarchy diagram F1 PTP/ARCH/LINEAR F1 AUTO F1 RESET F2 ARCHPOS (when F1 is ARCH) F2 TASK F3 JUMP F3 DIR F4 VEL+ F4 VEL+ F5 VEL- F5 VEL- F6 A.AXIS+ (when F1 is ARCH) F7 A.AXIS- (when F1 is ARCH) F8 UNITCHG F9 VEL++ F6 POINT...
Page 81 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 F1 POS.OUT F1 EDIT F2 JUMP F2 SERVICE...
Page 82: Service" Mode
8. “SERVICE” mode “SERVICE” mode can be used only when “SAFE” mode is enabled. Use “SERVICE” mode to perform safe maintenance work with the MPB while within the safety enclosure of the robot system. This mode can be selected by turning DI02 (“SERVICE” mode) OFF. Operation device CAUTION •...
Page 83: 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 84 9. “AUTO” mode y Online command execution mark When an online command is being executed, an “@” mark is displayed in the second column on the second line. This mark changes to a dot ( . ) when the online command ends.
Page 85 9. “AUTO” mode Valid keys and submenu descriptions in “AUTO” mode are shown below. Valid keys Menu Function Cursor key Scrolls the program listing. ( ↑ / ↓ ) Page key Switches to other screens. Resets the program. RESET TASK Changes the program listing according to each task.
Page 86: Automatic Operation
9. “AUTO” mode Automatic operation Program commands are executed continuously during automatic operation. 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 NOTE level is set to other than level 0, automatic operation is possible even if return-to-origin is Regardless of the execution level, some incomplete.
Page 87: 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 88: 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 89 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 90: Switching Task Display
9. “AUTO” mode Switching task display When a program executing multiple tasks is stopped, the program listing 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 listing. The pointer indicates the next command line number to be executed in the current task.
Page 91: 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 92: 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 93 9. “AUTO” mode Valid keys and submenu descriptions in “AUTO > POINT” mode are shown below. Valid keys Menu Function Cursor key Switches the point number and scrolls the screen. ( ↑ / ↓ ) Page key Switches to other screens. PTP/ARCH/ Switches the trace movement mode.
Page 94: 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 95 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 96: 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 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 (ARCH) key. Settings in steps 2) and 3) are not required when performing point trace using an auxiliary axis.
Page 98: 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 (LINEAR) key. Fig. 4-9-24 Point trace screen in linear interpolation motion mode (with no auxiliary axis) AUTO >POINT [RIGHTY]...
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 (LINEAR) 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 100: 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 101: 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 102: Deleting Break Points
9. “AUTO” mode 9.9.2 Deleting break points Break points can be deleted. Press the (SEARCH) key as needed to find a break point that was set. [Procedure] 1) Use the cursor (↑/↓) keys to select the line number where the break point is set. 2) Press the (CANCEL) key.
Page 103: Executing A Step
9. “AUTO” mode 9.10 Executing a 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 104: 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 105: Scrolling A Program Listing
10. “PROGRAM” mode Valid keys and submenu descriptions in “PROGRAM” mode are shown below. Valid keys Menu Function Cursor key Selects the program and scrolls the screen. ( ↑ / ↓ ) Page key Switches the page display. EDIT Edits the program. Displays the program data.
Page 106: 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 listing 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 107 10. “PROGRAM” mode Valid keys and submenu descriptions in “PROGRAM > EDIT” mode are shown below. Valid keys Menu Function Cursor key Moves the cursor and scrolls the screen. ( ↑ / ↓ ) Page key Switches the page display. Switches between Insert and Overtype modes.
Page 108: 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 109: Inserting A Line
10. “PROGRAM” mode 2) Press the key again. The cursor changes back to a thick line ( ), 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 110: 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 upward. For example, deleting one line on the screen in Fig.
Page 111: 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 112: 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 113: 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 114: 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 115: 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 116: 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. (←...
Page 117: 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 118: 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 119: 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 confirmation message appears on the guideline.
Page 120: 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 121: 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 122: 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 123 10. “PROGRAM” mode [Sample program listing] *** <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 124: 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 125: 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” earlier in this chapter.) 10.6 Registering user function keys To register the user function keys which are used in “PROGRAM”...
Page 126 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 127 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 128: 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 confirmation message appears on the guideline.
Page 129: 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 130 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 131 11. “MANUAL” mode Valid keys and submenu descriptions in “MANUAL” mode are shown below. Valid keys Menu Function Moves the robot manually. Jog key POINT Switches to the point data processing screen. Switches to the pallet data processing screen. PALLET ORIGIN Performs return-to-origin.
Page 132: Manual Movement
11. “MANUAL” mode 11.1 Manual movement WARNING The robot starts to move when a Jog key is pressed. To avoid In “MANUAL” mode, you can manually move the robot with the Jog keys as explained danger, do not enter the robot below.
Page 133 11. “MANUAL” mode 1) When "X" is displayed (When not in "Tool coordinate" mode) When a Jog key is pressed, the robot arm tip moves in the corresponding direction on the Cartesian coordinates. If auxiliary axis setting is made, then the robot moves only along the corresponding axis.
Page 134 11. “MANUAL” mode If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error message “2.1: Over soft limit” appears and the robot does not move. Likewise, if robot movement beyond the shift coordinate range is attempted, the error message “2.11: Exceeded shift coord.
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 return-to-origin.
Page 139 11. “MANUAL” mode 4) When point data is already allotted to the currently selected point number, a confirmation message appears on the guideline when the (TEACH) key is pressed. Fig. 4-11-12 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. 4-11-20 Point data teaching (with auxiliary axis [8]) When teaching on auxiliary axis MANUAL>POINT 100%[MG][S0H0X] ————————————x———————y———————z———————r——— = 100.00 250.00 15.00 30.00 = 220.00 150.00 115.00 86.86 = 400.00 200.00 15.00 -30.00 NOTE COMNT: Point data teaching cannot be [POS] 212.43 152.31...
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 9999. 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 9999. 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 9999. 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 easy to understand. point to edit or enter a comment.
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. 9999. Fig. 4-11-29 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 9999.
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 9999. 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 confirmation 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. 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. 4-11-41 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 return-to- origin. 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 confirmation 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 confirmation message then appears asking if the currently selected pallet the currently selected pallet is definition is to 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. 4-11-51, Fig. 4-11-52 or Fig. 4-11-53 appears. The currently selected shift coordinate number is highlighted. Fig. 4-11-51 “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. 4-11-56 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. 4-11-64 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. 4-11-66 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. 4-11-67 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 5) Use the Jog keys to move the robot working point to point 2. (Position it accurately.) NOTE • When teach point 1 is obtained, the Z direction shift value is automatically determined. 6) Press the key to enter the teaching value. •...
Page 182: Changing The Display Units
11. “MANUAL” mode 11.7 Changing the display units The units used to indicate the current position on the MPB screen can be switched to either "pulses" and "mm". If hand data for the R-axis is selected (hand definition is made), then "Tool coordinate"...
Page 183: Return-To-Origin
11. “MANUAL” mode 11.8 Return-to-origin After the power to the controller is turned on, return-to-origin must be performed before starting robot operation. When return-to-origin is performed, the robot arms move to their mechanical origin positions and the position data in the controller is reset. Return-to-origin must be performed on incremental mode axes.
Page 184 11. “MANUAL” mode Return-to-origin operation using the stroke end detection method Fig. 4-11-82 Return-to-origin direction Return-to-origin start position Stroke end q In the stroke end detection method, return-to-origin can start from any position. w Upon starting return-to-origin, the robot starts moving in the return-to-origin direction.
Page 185: Semi-Absolute
11.8.2 Semi-absolute "Semi-absolute" is the name for a simple absolute scale used in the YAMAHA linear single-axis robot PHASER series. Robots with this simple absolute scale have a quick absolute search function that utilizes our unique method to automatically perform an absolute search on the position detection scale when return-to-origin starts.
Page 186 11. “MANUAL” mode Sensor method: When the origin sensor turns on during absolute search Stroke end detection method: When the stroke end is detected during absolute search Fig. 4-11-84 Origin sensor turns on or stroke end is detected. Max. 76mm Return-to-origin direction Stop position Absolute search start position...
Page 187: Return-To-Origin Procedure
11. “MANUAL” mode 11.8.3 Return-to-origin procedure This section explains how to perform return-to-origin on all axes specified by the controller. The robot must be at servo-on to perform return-to-origin on incremental mode axes using the stroke end detection method or sensor method for return-to-origin. Likewise, CAUTION the robot must be at servo-on to perform an absolute search on semi-absolute mode axes.
Page 188: 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 189 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 190 11. “MANUAL” mode Fig. 4-11-88 X-axis offset pulse X-axis arm length Y-axis arm length CAUTION When two robots (main and sub robots) are specified, check the Y-axis offset pulse R-axis offset pulse currently selected robot group on the MPB. To switch the robot group, use the ROBOT key ( LOWER MODE...
Page 191: Setting The Standard Coordinates By 4-Point Teaching
11. “MANUAL” mode 11.9.1 Setting the standard coordinates by 4-point teaching Fig. 4-11-90 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 192 11. “MANUAL” mode NOTE 2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the key. Standard coordinates are calculated based on the teach points and input point data, so perform teaching and 3) Perform teaching at point P[2] as in step 2).
Page 193: 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. 4-11-94 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 194 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. 4-11-97 MANUAL>COORDI>3POINTS 50% [MG][ Press F.key to get Direction +———————————+———>...
Page 195: 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. 4-11-100 a straight line including the rotation center of the R-axis. +Y direction +X direction [Procedure] 1) In “MANUAL>COODI”...
Page 196 11. “MANUAL” mode 4) Enter the Y arm length and press the key. Fig. 4-11-103 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 197 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 assigning operation of an air-driven unit connected to an output port to a function key will write command statements for prove useful when performing point teaching in “MANUAL”...
Page 198 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 Robot model SYSTEM...
Page 199 12. “SYSTEM” mode i Other expanded configurations CAUTION • See “7. I/O connections” in Chapter When expansion boards are installed into the option slot of the controller, the board 3 for a definition of NPN and PNP type and mode setting appear here. specifications.
Page 200 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 201 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. OTHERS Sets parameters for option boards.
Page 202 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 V8.30 1.Tip weight[kg]...
Page 203 12. “SYSTEM” mode 1. Tip weight [kg] /WEIGHT This parameter sets the tip weight of robot (workpiece weight + tool weight) in kg units. However, set the tip weight in 0.1 kg units when the currently set robot is YK180X or YK220X. The maximum value is set when the parameters are initialized.
Page 204 12. “SYSTEM” mode 2. Origin sequence /ORIGIN This parameter sets a sequence for performing return-to-origin or absolute search on each axis of the robot to determine the reference position. The numbers 3 1 2 4 5 6 are set automatically when the parameters are initialized. NOTE Enter axis numbers of the robot in the sequence for performing return-to-origin.
Page 205 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 206 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 207 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 V8.30 1.Accel coefficient[%]...
Page 208 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, then the actual acceleration is internally set in the control to be 100% at maximum performance.
Page 209 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 rate to the acceleration. A This parameter value is a rate to the acceleration.
Page 210 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 211 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 a value unique to each axis when initialized. Positioning on an axis is judged to be complete when the robot axis enters within the specified tolerance range.
Page 212 12. “SYSTEM” mode 6. Out position [pulse] /OUTPOS During 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 a value unique to each axis.
Page 213 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 a value unique to each axis 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 214 12. “SYSTEM” mode 8. Origin speed [pulse/ms] /ORGSPD CAUTION • The maximum return-to-origin This parameter sets the speed to perform return-to-origin or absolute search in pulses speed on incremental mode axes per millisecond. is determined by the motor. The maximum speed of semi-absolute When initialized, this speed is set to a value unique to each axis for incremental mode mode axes is 20 pulses per axes or set to 20 pulses per millisecond (= 20mm/s) for semi-absolute mode axes.
Page 215 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 optimum performance at 100% [Procedure]...
Page 216 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 217 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 de- termines the weight of each axis.
Page 218 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. When initialized, this is set to a value unique to each robot type that is cur- rently set.
Page 219 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 220 “sensor” ..: Origin is detected by sensor input. “torque” ..: Origin is detected when the axis moves against the mechanical stroke end. “mark” ..: This method cannot be used with the RCX141. [Procedure] 1) Select “14. Origin method” in “SYSTEM>PARAM>AXIS” mode.
Page 221 SYSTEM>PARAM>AXIS V8.30 15.Origin direction M1=––– M2=––– M3=+++ m4=––– CAUTION ––– • YAMAHA can accept no liability from problems arising due to changing the return-to-origin 4) Press the (---) or (+++) key. direction without consulting YAMAHA beforehand. • Return-to-origin will be 5) Repeat the above steps 3) and 4) if necessary.
Page 222 This parameter cannot be changed while the servo is on. To change the parameter, make sure the servo is off. [Procedure] CAUTION • YAMAHA can accept no liability 1) Select “16. Motor direction” in “SYSTEM>PARAM>AXIS” mode. from problems arising due to changing the axis polarity...
Page 223 12. “SYSTEM” mode 12.1.3 Other parameters When changing other parameters on the MPB, use the descriptions in this section. Fig. 4-12-30 Editing other parameters SYSTEM>PARAM>OTHERS V8.30 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.DIO DC24V VALID...
Page 224 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 225 12. “SYSTEM” mode 4. DO cond. on EMG /EMGCDO This parameter sets whether or not to hold output of the DO/MO/LO/TO/SO ports 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 226 12. “SYSTEM” mode 6. Incremental Mode control /INCMOD You do not have to set this parameter for the RCX141. 7. IO cmd (DI05) on STD.DIO/STDPRM This parameter sets whether to enable or disable the command function that uses DI05 (I/O command execution trigger input) of the STD.DIO connector. This is automatically NOTE set to "INVALID"...
Page 227 12. “SYSTEM” mode 8. DI noise filter/SCANMD This parameter sets whether to cancel external input signals (dedicated input signals, general-purpose input signals) that might appear like noise in the form of short pulses. When this parameter is set to "VALID", the on and off periods of input signals must be longer than 25msec since the controller does not respond to any signal input shorter than 25msec.
Page 228 12. “SYSTEM” mode 9. TRUE condition / EXPCFG NOTE This parameter is supported by This parameter selects the operation when the conditional expression, which is used controllers of Ver. 8.63 onwards. for the STOPON option in an IF (including ELSEIF), WHILE to WEND, WAIT, MOVE, or DRIVE statement, is a numeric expression.
Page 229 12. “SYSTEM” mode 10.Unit select / PTUNIT NOTE • This parameter is supported by This parameter selects the point data unit system to be used when the controller is controllers of Ver. 8.63 onwards. started. For incremental specification robots and semi-absolute specification robots, •...
Page 230 12. “SYSTEM” mode 11.Error output (DO & SO) / ERPORT NOTE • This parameter is supported by If an error has occurred in the controller, that error can be output by turning on a controllers of Ver. 8.63 onwards. general-purpose output DO and SO, except for those with an error group number •...
Page 231 12. “SYSTEM” mode 12.MOVEI/DRIVEI start position /MOVIMD NOTE • This parameter is supported by This parameter setting is used when a relative motion operation is stopped by an controller Ver. 8.66 and later. In interlock or emergency stop, etc., and specifies whether motion is to occur to the earlier versions, relative motion to a original target position, or to a new target position referenced to the current position, new target position referenced to the...
Page 232 12. “SYSTEM” mode 13.Skip undefined parameters CAUTION If this parameter is set to "VALID", There are cases where new parameters are added according to the software upgrading then misspellings in the parameter for robot controllers. If you attempt to load the parameter file containing these new file cannot be detected.
Page 233 12. “SYSTEM” mode 12.1.4 Parameters for option boards NOTE • For detailed information on serial I/ This section explains how to set parameters for option boards from the MPB. O units such as CC-Link, Ethernet, Option boards are roughly divided into three types: option DIO boards, serial I/O boards and YC-Link, refer to their respective manuals.
Page 234 12. “SYSTEM” mode 12.1.4.1 Option DIO setting NOTE Setting to "VALID" is recommended so The following parameter for option DIO (NPN or PNP specifications) boards is used to that the 24V supply for the option enable or disable monitoring of the DC 24V supply input. board is monitored during operation.
Page 235: 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 (CC-Link/DeviceNet/PROFIBUS), there are 3 parameters (4 "INVALID" when not using serial parameters for DeviceNet only) to be set, including the parameter to enable or disable the I/O boards.
Page 236 12. “SYSTEM” mode 2) Select the parameter with the cursor (↑/↓) keys. Fig. 4-12-49 SYSTEM>PARAM>OP.BRD>SELECT V8.63 1.board condition VALID 2.remote cmd / IO cmd(SI05) VALID 3.Output MSG to SOW(1) INVALID 4.IO size Large EDIT JUMP 3) Press the (EDIT) key. Fig.
Page 237 12. “SYSTEM” mode 12.1.4.3 Setting the network parameters CAUTION When making the Ethernet settings to When using Ethernet, you set four parameters including the parameter to enable or disable use TELNET, you will need to set any the Ethernet board. other parameters than those shown on the right.
Page 238 12. “SYSTEM” mode 3) The currently set parameters are displayed. CAUTION Changes you made to the IP address When changing the "Board condition" parameter, press (INVALID) to and subnet mask are enabled after restarting the robot controller. When disable the Ethernet unit or press (VALID) to enable the Ethernet unit.
Page 239: 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 240 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 241 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 242 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 243 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. 4-12-60 Setting the “Termination code” SYSTEM>CMU V8.30 3.Baud rate 9600 4.Stop bit...
Page 244 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 possible.
Page 245: Option Parameters
12. “SYSTEM” mode 12.3 OPTION parameters The OPTION parameters are used to set expanded controller functions. These parameters consist of 4 types: parameters for area check output, parameters relating to SAFE mode, parameters relating to the serial I/O, and parameters relating to double-carrier type robots. [Procedure] 1) In “SYSTEM”...
Page 246: Setting The Area Check Output
12. “SYSTEM” mode 12.3.1 Setting the area check output NOTE • If the port used for area check This function checks whether the current robot position is within an area specified by the output is the same as the output area check output parameter’s point data, and outputs the result to the specified port.
Page 247 12. “SYSTEM” mode [Procedure] 1) Press (POS.OUT) in “SYSTEM>OPTION” mode to enter the area check output mode. Fig. 4-12-65 Selecting the area check output number V8.63 SYSTEM>OPTION>POS.OUT 1.Output of area1 2.Output of area2 3.Output of area3 4.Output of area4 SELECT 2) Select an area check output number with the cursor (↑/↓) keys and press the (SELECT) key.
Page 248 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 249 12. “SYSTEM” mode 3) Select the output port with the (20) through (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 250 12. “SYSTEM” mode 5. Condition for area check output NOTE • This parameter is supported by Selects the condition that allows the area check output to turn on, from either when controllers of Ver. 8.63 onwards. On the robot is within a specified area or when outside it. earlier version controllers, the area check output turns on when the robot [Procedure]...
Page 251: Setting The "Service" Mode
YAMAHA prior Parameter settings made here are only valid until the controller power is turned off, unless to shipping.
Page 252 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. 4-12-72 Entering the "SERVICE" mode setting password SYSTEM>OPTION V8.30 Enter password >_ 2) The following screen appears when the correct password is entered. Fig.
Page 253 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 254 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 255 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 256: 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 257: 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 258 12. “SYSTEM” mode 1. Direct connection from SI n ( ) to DO n ( ) NOTE Output results might be incorrect if the The serial port input can be directly connected to parallel port output. The relation SIO specified port is the same as the between parallel and serial ports that can be set is as follows.
Page 259 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 be- SIO specified port is the same as the tween serial and parallel ports that can be set is as follows.
Page 260: Double-Carrier Setting
12. “SYSTEM” mode 12.3.4 Double-carrier setting NOTE The anti-collision function for double This controller has a function to prevent two carriers (sliders) from colliding with each carriers is supported by controllers of other, when the two carriers are installed on the same axis of double-carrier type robots. Ver.
Page 261 12. “SYSTEM” mode 12.3.4.2 Setting the double-carrier parameters [Procedure] 1) Press the (W.CARRIER) in "SYSTEM>OPTION" mode. Fig. 4-12-85 Double-carrier parameter setting (1) SYSTEM>OPTION>W.CARRIER V8.58 1.Stroke[mm] 0.00 2.Carrier1 3.Carrier2 4.Control mode EDIT JUMP Valid keys and submenu descriptions in this mode are shown below. Valid keys Menu Function...
Page 262 12. “SYSTEM” mode 2) Enter the stroke in "mm" units and press . Up to 2 decimal places are allowed. Refer to the drawing below to determine the stroke. Fig. 4-12-87 Stroke setting Stroke Origin position Origin position Point where one carrier is closest to the other 2.
Page 263 12. “SYSTEM” mode 4. Control mode setting Select the double-carrier functions. [Procedure] 1) Select "4. Control mode" and press (EDIT). Fig. 4-12-89 Double-carrier parameter setting (4) SYSTEM>OPTION>W.CARRIER>EDIT V8.58 1.Stroke[mm] 650.00 2.Carrier1 3.Carrier2 4.Control mode WARNING The robot moves as follows according to the control mode setting. Valid keys Menu Function...
Page 264: 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. 4-12-90 Initialization screen SYSTEM>INIT V8.30 PARAM MEMORY CLOCK 2) Select the item to initialize with the (PARAM) to (CLOCK) keys.
Page 265: 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 among "other" parameters is not changed by initialization. [Procedure] NOTE 1) Press the (PARAM) key in “SYSTEM>INIT” mode. •...
Page 266: 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 267: 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 268: 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, set the correct time.
Page 269: System Generation
To protect the equipment against adversely effect robot operation such accidents, save the initial parameter data when shipped from YAMAHA and the or create operator hazards. parameter data from system upgrades onto an external PC storage device by way of the Always consult YAMAHA if RS-232C.
Page 270: 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. 4-12-97 Self diagnosis SYSTEM>DIAGNOS V8.30 CHECK HISTRY...
Page 271: 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 272: Displaying The Total Operation Time
12. “SYSTEM” mode 12.5.3 Displaying the total operation time Use the following procedure to check the total controller operation time. [Procedure] 1) Press the (TOTAL) key. Fig. 4-12-100 Displaying the total operation time SYSTEM >DIAGNOS>TOTAL V8.30 Total operation time (04/05/20, 12:05) YEAR DAY HOUR MIN Power-on time 0/ 14/ 10: 34...
Page 273: Backup Processes
12. “SYSTEM” mode 12.6 Backup processes The various data in the controller's internal memory can be backed up in the internal flash ROM. [Procedure] 1) Press the (BACKUP) key in the "SYSTEM" mode. Fig. 4-12-102 Backup SYSTEM>BACKUP V8.30 RAM CARD FROM Valid keys and submenu descriptions in "SYSTEM>BACKUP"...
Page 274: Loading Files
12. “SYSTEM” mode 12.6.1.1 Loading files The various data backed up in the controller's internal flash ROM can be loaded back into the controller's internal memory. NOTE [Procedure] If the data in the internal memory is destroyed for any reason, it can be 1) Press the (LOAD) key in the "SYSTEM>BACKUP>FROM"...
Page 275: Saving Files
12. “SYSTEM” mode 12.6.1.2 Saving files NOTE If the data in the internal memory is The data in the controller's internal memory are saved as ALL files on the flash ROM. The destroyed for any reason, it can be data cannot be saved separately. If data is already saved, the new data cannot be saved restored by loading the backup data from the internal flash ROM.
Page 276: 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 277 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 278 13. “MONITOR” mode Fig. 4-13-6 Current command monitor display MANUAL>POINT 50% [MG][S0H0J] _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _ _ _ _ _ _ _ _ z _ _ _ _ _ _ _ _ _ r _ _ _ Current monitor(100% = Max torque) D1 = D5 =...
Page 279: 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 280: 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 281: 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 282: 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 283: Changing The Arm Type
14. “UTILITY” mode 14.3 Changing the arm type To set the hand type on SCARA robots that move using Cartesian coordinate data, 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 284: 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 confirmation message appears on the guideline. Fig.
Page 285: 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 286 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 : 04/05/23,12:36:37 (36°C) Execut level: LEVEL7 Access level: LEVEL0 EXECUTE ACCESS RST.DO...
Page 287: 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 288: 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. How- Access level is automatically set to ever, unauthorized changing of such data can be a source of trouble. “LEVEL 0”...
Page 289: 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.
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Page 291 Chapter 5 Parallel I/O interface Contents 1. Standard I/O interface overview ............5-1 Power supply ..................5-1 Connector I/O signals ................5-2 Connector pin numbers ................ 5-3 Typical input signal connection ............5-4 Typical output signal connection ............5-5 1.5.1 Dedicated outputs ..................
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Page 293: Standard I/O Interface Overview
1. Standard I/O interface overview The robot controller has a standard I/O interface for compatibility with customer systems. CAUTION A description of each I/O terminal and its connection is given here. Connect these I/O See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP terminals correctly and efficiently.
Page 294: Connector I/O Signals
1. Standard I/O interface overview Connector I/O signals Remarks I/O No. Signal name CAUTION I/O command execution trigger input DI05 • 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 295: Connector Pin Numbers
1. Standard 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 296: Typical Input Signal Connection
1. Standard I/O interface overview Typical input 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...
Page 297: Typical Output Signal Connection
1. Standard 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 298: General-Purpose Outputs
1. Standard 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 (NPN specifications) since DO 20 to DO27 this will damage the internal...
Page 299: Dedicated Input Signal Description
1. Standard I/O interface overview Dedicated input signal description NOTE 1. DI01 Servo-ON input If two or more dedicated inputs are Use to cancel emergency stop and turn on the servo power (servo-on). (However, the supplied simultaneously or the pulse width of input signals is too short, the emergency stop input signal contacts must be closed.) input signals might not be recognized.
Page 300 1. Standard I/O interface overview 6. DI13 AUTO mode input DI13 is used to switch to “AUTO” mode. When the DI13 contact is closed (ON), operation switches to “AUTO” mode at the rising edge of the signal pulse. • Input signal pulse width: 100ms minimum CAUTION Signal input to DI14 is prohibited.
Page 301: Dedicated Output Signal Description
1. Standard I/O interface overview Dedicated output signal description 1. DO01a CPU_OK output: contact A (normally open) This is always on during normal controller operation. In the following cases this output turns off and CPU operation stops. • Serious malfunction •...
Page 302 1. Standard 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 303: Dedicated I/O Signal Timing Chart
1. Standard 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 304: Return-To-Origin
1. Standard I/O interface overview 1.8.2 Return-to-origin 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 Return-to-origin input (DI17) Move Robot axis status Stop a ) b ) c ) d ) e ) f ) g ) h ) i ) j ) k )
Page 305: Switching To Auto Mode, Program Reset And Execution
1. Standard 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 status 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 306: Stopping Due To Program Interlocks
1. Standard 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 307: General-Purpose I/O Signals
1. Standard I/O interface overview General-purpose I/O signals 1.9.1 General-purpose input signals CAUTION These are a total of 16 signals consisting of DI20 to DI27 and DI30 to DI37. If the "DI noise filter" parameter is These general-purpose inputs are available to the user and can be connected to components set to "VALID"...
Page 308 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 309 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. ( : switch lever) DIP switch Input port No.
Page 310 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 311 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 312: Power Supply
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 313 2. Option I/O interface overview 2.7.3 General-purpose output signal reset (off) All the general-purpose output signals are reset in the following cases. 1) When (RST.DO) is selected in “UTILITY” mode. 2) When any of the following operations is performed while no sequencer program is executed.
Page 314: Ratings
3. Ratings 1. Input NPN specifications CAUTION See "7. I/O connections" in Chapter DC input (positive common type) Method 3 for a definition of NPN and PNP Photocoupler insulation method specifications. Input power DC 24V±10%, 10mA/point Response time 20ms Min. (during on/off) PNP specifications DC input (negative common type) Method...
Page 315: 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 317 Chapter 6 SAFETY I/O interface Contents 1. SAFETY I/O interface overview ............6-1 Power ....................6-1 Connector I/O signals ................6-1 Connector terminal numbers ..............6-2 Emergency stop input signal connections ..........6-3 Dedicated input signal connections ............6-6 Input signal description ................. 6-7...
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Page 319: Power
1. SAFETY I/O interface overview The robot controller is provided with SAFETY I/O 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 320: Connector Terminal Numbers
1. SAFETY I/O interface overview Connector terminal numbers Connection side Solder side...
Page 321: Emergency Stop Input Signal Connections
1. SAFETY I/O interface overview Emergency stop input signal connections Connections using the standard MPB programming box 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 322 1. SAFETY I/O interface overview Connections using the MPB-E2 (MPB compatible with an enable switch) 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 323 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 324: 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 325: 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 327 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 329: 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 performed by communication commands in robot language (SEND command).
Page 330: 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 331: Communication Specifications
3. Communication specifications Connector The RS-232C interface connector is located on the front panel of the robot controller as shown below. RCX141 MOTOR OP.1 OP.3 MODEL. SER. NO. MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN CAUTION READ INSTRUCTION MANUAL OP.2 OP.4...
Page 332: 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 333: 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 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 334: 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 335 Fig. 7-3-1 Problems caused by poor connections Improper ground wire connection might cause electrical shock if connector metal parts are touched. External device * RCX141 AC100 to 200V Connector metal parts Potential Malfunction or breakdown might Ground wire was not at ground...
Page 336: Character Code Table
3. Communication specifications Character code table H EX. " STOP XO FF & EO F < > Note 1: The above character codes are written in hexadecimal. Note 2: SP indicates a blank space. Note 3: Only capital letters can be used for robot language. Small letters are used for program comments and so on.
Page 337: Connecting To A Pc
3. Communication specifications Connecting to a PC The following are examples of connecting to a PC using the YAMAHA communication cable. 1) Using the PC's COM port RCX141 CAUTION MOTOR OP.1 OP.3 MODEL. There is no problem with reversing SER. NO.
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Page 339 Chapter 8 Specifications Contents 1. Controller basic specifications ............8-1 2. Controller basic functions ..............8-2 3. Robot controller external view ............8-3 RCX141 external view ................8-3 4. MPB basic specifications and external view ........8-4...
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Page 341: Controller Basic Specifications
Setting by accel coefficient and decel. rate parameters (1% steps) Acceleration/deceleration (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 342: Controller Basic Functions
2. Controller basic functions 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 343: Robot Controller External View
READ INSTRUCTION MANUAL OP.2 OP.4 RGEN STD.DIO SAFETY ACIN 200-230V~ 50-60Hz MAX.2500VA 44.8 27.6 Fig. 8-3-1-2 RCX141 with RGU-2 option installed 139.5 15.5 (20) RCX141 MOTOR OP.1 OP.3 RGU-2 MODEL. SER. NO. MANUFACTURED FACTORY AUTOMATION EQUIPMENT MADE IN JAPAN CAUTION...
Page 344: 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 345 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 ............... 9-9 [ 4] Data entry and edit errors ................
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Page 347: 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 348 • Turn the power ON again in “UTILITY” mode to reset. DO 02a (SERVO ON) = OFF DO 03a (ALARM) = ON CAUTION When an error cannot be cancelled, *4 … System backup battery defect contact your YAMAHA sales dealer. • Replace battery to reset. DO 03a (ALARM) = ON...
Page 349: 0] Warnings And Messages
1. Error Messages [ 0] Warnings and messages : Undefined 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 350 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 351: 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 352 1. Error Messages : Coordinate cal. failed Code : &H0203 Meaning/Cause : a. Preset calculation for setting standard coordinates is not functioning. b. Operating position exceeded the operating area range. Action : 1. Set the standard coordinates correctly. 2. Change operating position to within operating area. : Shift cal.
Page 353 1. Error Messages 2.11 : ? exceeded shift coord. range Code : &H020B Meaning/Cause : Shift coordinate range ? value was exceeded. Action : 1. Change the operating position of ? value to within the shift coordinates range. 2. Change shift coordinates range ? value. 2.17 : Arch condition bad Code : &H0211...
Page 354 1. Error Messages 2.24 : Cannot move (LEFTY to RIGHTY) Code : &H0218 Meaning/Cause : a. Interpolation movement shifting from the left-handed system to the right-handed system was executed with a SCARA robot. Action : 1. Check the current hand system and point data hand system flag.
Page 355: 3] Program File Operating Errors
1. Error Messages [ 3] Program file operating errors : Too many programs Code : &H0301 Meaning/Cause : Making of a new program was attempted after number of pro- grams exceeded 100. Action : Make a new program after deleting an unnecessary program. (Make a backup if necessary.) : Program already exists Code...
Page 356 1. Error Messages 3.10 : Object program doesn’t exist Code : &H030A Meaning/Cause : The object program name is not registered. Action : Make an object program. 3.11 : Cannot use function Code : &H030B Meaning/Cause : Unable to execute or unneeded hierarchy was selected. Action : --- 3.12 : Cannot overwrite...
Page 357: 4] Data Entry And Edit Errors
1. Error Messages 3.18 : Duplicated Breakpoint Code : &H0312 Meaning/Cause : Setting of breakpoint was attempted on line already set with break- points. Action : To set the breakpoint, specify a line where breakpoints have not yet been set. [ 4] Data entry and edit errors : Point number error Code...
Page 358 1. Error Messages : Number error Code : &H0503 Meaning/Cause : a. Mistake in the number entry. b. Expression value is wrong. Action : 1. Change to the correct number. 2. Change to the correct value. : Bit number error Code : &H0504 Meaning/Cause : Specified bit number is not within 0 to 7.
Page 359 1. Error Messages 5.10 : Too many characters Code : &H050A Meaning/Cause : a. Character string was defined in excess of 75 characters. b. Addition to the character string total exceeds 75 characters. Action : 1. Change to character string count of 75 characters or less. 2.
Page 360 1. Error Messages 5.17 : WHILE without WEND Code : &H0511 Meaning/Cause : There is no WEND statement corresponding to WHILE statement. Action : 1. Delete the WHILE statement. 2. Add a WEND statement corresponding to the WHILE state- ment. 5.18 : NEXT without FOR Code : &H0512...
Page 361 1. Error Messages 5.24 : END SUB without SUB Code : &H0518 Meaning/Cause : a. There is no SUB statement corresponding to END SUB statement. b. END SUB command was executed without SUB command. Action : 1. Delete the END SUB statement. 2.
Page 362 1. Error Messages 5.32 : Undefined user function Code : &H0520 Meaning/Cause : Undefined function was called. Action : Set definition for undefined function. 5.34 : Too many dimensions Code : &H0522 Meaning/Cause : An array exceeding 3 dimensions was defined. Action : Change array to within 3 dimensions.
Page 363 1. Error Messages 5.41 : Illegal command outside proce. Code : &H0529 Meaning/Cause : Command cannot be executed outside of procedure (between SUB to END SUB statements). Action : Delete command that cannot be executed outside of procedure. 5.42 : Illegal command inside IF Code : &H052A Meaning/Cause : Cannot execute command between IF to ENDIF...
Page 364 1. Error Messages 5.48 : END SELECT without SELECT Code : &H0530 Meaning/Cause : There is no SELECT statement corresponding to END SELECT statement. Action : 1. Delete the END SELECT statement. 2. Add a SELECT statement corresponding to the END SE- LECT statement.
Page 365: 6] Robot Language Execution Errors
1. Error Messages 5.55 : ELSEIF without ENDIF Code : &H0537 Meaning/Cause : There is no ENDIF statement corresponding to ELSEIF statement. Action : 1. Delete the ELSEIF statement. 2. Add an ENDIF statement corresponding to the ELSEIF statement. [ 6] Robot language execution errors : Illegal command Code : &H0601...
Page 366 1. Error Messages : RETURN without GOSUB Code : &H0607 Meaning/Cause : RETURN command was executed without executing the GOSUB command. Action : Confirm execution of GOSUB command. : END SUB without CALL Code : &H0608 Meaning/Cause : END SUB command was executed without executing CALL com- mand.
Page 367 1. Error Messages 6.14 : Task number error Code : &H060E Meaning/Cause : a. Task number is outside the range 2 to 8. b. START, CUT, SUSPEND or RESTART command was ex- ecuted for task 1 (main task). c. START, CUT, SUSPEND or RESTART command was ex- ecuted for its own task.
Page 368 1. Error Messages 6.21 : Same point exists Code : &H0615 Meaning/Cause : a. Same points exist for 1 of 3 points of an MOVE C command. b. Same points are consecutively on the path of PATH motion. Action : 1. Change the MOVE C command to 3 different points. 2.
Page 369 1. Error Messages 6.28 : PATH without END Code : &H061C Meaning/Cause : PATH START was executed without executing PATH END. Action : Execute PATH END to end the path setting and then execute PATH START. 6.29 : No PATH data Code : &H061D Meaning/Cause : No path is set for PATH motion.
Page 370: 9] Memory Errors
1. Error Messages 6.35 : Expression value error Code : &H0623 Meaning/Cause : The expression value is other than -1 and 0 even though condi- tional expression is a numeric expression. Action : 1. Set the expression value correctly. 2. Change the "TRUE condition" parameter setting. [ 9] Memory errors : Program destroyed Code...
Page 371 1. Error Messages : POS.OUT data destroyed Code : &H0908 Meaning/Cause : Part or all of the POS.OUT data was destroyed. Action : Initialize the POS.OUT data. : Pallet data destroyed Code : &H0909 Meaning/Cause : Part or all of the pallet definition data was destroyed. Action : Initialize the pallet definition data.
Page 372: System Setting Or Hardware Errors
1. Error Messages 9.38 : Sequence object memory full Code : &H0926 Meaning/Cause : Sequence object program exceeded its memory capacity. Action : Compress the source size of sequence program, so that the object program size is reduced. 9.39 : Sequence object destroyed Code : &H0927 Meaning/Cause : Part or all of the sequence object program has been destroyed.
Page 373 1. Error Messages 10.8 : Cannot set auxiliary axis Code : &H0A08 Meaning/Cause : Setting of axis that cannot be set as an auxiliary axis was at- tempted. The following axes cannot be set as an auxiliary axis. • SCARA type robot axes •...
Page 374: I/O And Option Board Errors
1. Error Messages 10.21 : Sys. backup battery low voltage Code : &H0A15 Meaning/Cause : a. System backup battery voltage is low. b. System backup battery is disconnected from CPU board. Action : 1. Replace system backup battery. 2. Connect system backup battery securely to CPU board. Dedicated output : *4 10.22 : STD.DIO DC24V power low Code...
Page 375 1. Error Messages 12.3 : Arm locked Code : &H0C03 Meaning/Cause : Movement of an arm was attempted while the arm lock variable LO was ON. Action : Clear the arm lock variable LO. 12.11 : CC-Link communication error Code : &H0C0B Meaning/Cause : a.
Page 376 1. Error Messages 12.17 : DeviceNet hardware error Code : &H0C11 Meaning/Cause : a. Breakdown in DeviceNet compatible unit. Action : 1. Replace the DeviceNet compatible unit. 12.18 : Incorrect DeviceNet setting Code : &H0C12 Meaning/Cause : a. The MacID or communication speed setting is incorrect. Action : 1.
Page 377 1. Error Messages 12.32 : DO1 DC24V disconnected Code : &H0C20 Meaning/Cause : a. DC 24V not being supplied to DO1 section of OPT.DIO unit. b. Drop in DC 24V supply voltage to DO1 section of OPT.DIO unit. c. OPT.DIO connector is not connected. Action : 1.
Page 378: Mpb Errors
1. Error Messages 12.42 : EtherNet hardware error Code : &H0C2A Meaning/Cause : a. Breakdown in EtherNet compatible unit. Action : 1. Replace the EtherNet compatible unit. 12.70 : Incorrect option setting Code : &H0C46 Meaning/Cause : a. Error in DIP switch setting on option unit. b.
Page 379: 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 380: 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 381 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 382 1. Error Messages 15.15 : Media type mismatch Code : &H0F0F Meaning/Cause : Memory card is unusable. Action : Replace the memory card. 15.16 : Media data destroyed Code : &H0F10 Meaning/Cause : All or part of data stored on memory card is damaged. Action : 1.
Page 383: Motor Control Errors
1. Error Messages 15.29 : Timeout error Code : &H0F1D Meaning/Cause : Failed to load/write file. Action : 1. Try to reload/rewrite the file. 2. Replace the memory card. 3. Replace the controller. [17] Motor control errors 17.1 : System error (DRIVER) Code : &H1101 Meaning/Cause : Error occurred in software for driver unit.
Page 384 1. Error Messages 17.4 : Over load Code : &H1104 Meaning/Cause : a. Robot drive section mechanically locked b. Motor current exceeded its rated value due to a motor over- load. c. Motor acceleration is excessive. d. System generation setting is wrong. e.
Page 385 1. Error Messages 17.6 : P.E.counter overflow Code : &H1106 Meaning/Cause : a. Robot drive section mechanically locked. b. Motor acceleration is excessive. c. System generation setting is wrong. d. Motor cable wiring is broken or wiring is incorrect. e. Electromagnetic brake for holding vertical axis is defective. f.
Page 386 1. Error Messages 17.17 : Mode error Code : &H1111 Meaning/Cause : Driver unit is in abnormal control mode status. Action : Contact our company with details on the problem. Dedicated output : *2 17.18 : DPRAM data error Code : &H1112 Meaning/Cause : 2 tries at loading the dual port RAM failed.
Page 387 1. Error Messages 17.24 : Can not reserve parameter Code : &H1118 Meaning/Cause : Data for driver unit from the CPU unit was not received by driver unit. Action : 1. Turn the power off and then on again. 2. Replace the controller. 17.28 : Dual P.E.
Page 388 1. Error Messages 17.35 : Axis weight over Code : &H1123 Meaning/Cause : The weight (sum of work weight + axis weight) on a particular robot axis exceeded the maximum payload of that axis. Action : 1. Redo the system generation. 2.
Page 389: Major Software Errors
1. Error Messages 17.99 : Pole Search Error Code : &H1163 Meaning/Cause : Failed to detect the motor magnetic pole when the servo was turned on. a. Servo wire is broken or misconnected. b. Position sensor cable is miswired. c. Axis parameter setting related to motor control is wrong. Action : 1.
Page 390: Major Hardware Errors
1. Error Messages 21.10 : Watchdog error (CPU) Code : &H150A Meaning/Cause : a. CPU malfunctioned due to external noise. b. Controller is defective. Action : 1. Turn the power off and then on again. 2. Replace the controller. Dedicated output : *1 21.11 : System error (EmgHalt) Code : &H150B...
Page 391 1. Error Messages 22.3 : DC24V power low Code : &H1603 Meaning/Cause : a. DC 24V power supply malfunctioned and the voltage dropped. b. Electromagnetic brake for vertical axis is defective. c. Wiring for electromagnetic brake of vertical axis is wrong. d.
Page 392 1. Error Messages 22.12 : Abnormal temperature Code : &H160C Meaning/Cause : Controller internal temperature rose to 60°C or more. Action : 1. Improve the operating environment. 2. Check if the cooling fan is operating correctly. 3. Replace the controller. Dedicated output : *1 22.13 : Bus interface overtime Code...
Page 393 1. Error Messages 22.42 : OPT.2 interface overtime Code : &H162A Meaning/Cause : 1. Failed to acquire access privilege for interface with option board connected to option slot 2. Action : 1. Replace the option board connected to option slot 2. : 2.
Page 394: 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 395 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 : Transmitting to controller is impossible. Cause : a.
Page 396: 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: RCX141 + regenerative unit • Robot model name + serial No. What happened example: YK250X • Controller version No.
Page 397: 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 398: Troubleshooting Checkpoints
2. Troubleshooting Troubleshooting checkpoints 1. Installation and power supply Symptom Possible cause Check items Corrective action Controller won't turn on • Power not supplied. • Check power input terminal • Connect power input terminal even with power supplied. connection (L/N/GND). correctly.
Page 399 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 400 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. dedicated input signal is from standard I/O interface supplied. connector.
Page 401 MEMO...
Page 402 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.

Yamaha RCX141 User Manual

Table of Contents

Chapter 1 Safety

Chapter 2 System Overview

Chapter 3 Installation

Chapter 4 Operation

Chapter 5 Parallel I\/O Interface

Chapter 6 Safety I\/O Interface

Chapter 7 Rs-232C Interface

Chapter 8 Specifications

Chapter 9 Troubleshooting

Quick Links

Chapters

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Summary of Contents for Yamaha RCX141