Omron YRCX Series Operation Manual
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Omron YRCX Series Operation Manual

Omron YRCX Series Operation Manual

Scara robots, robot controller
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  • Page 3: Table Of Contents

    CONTENTS YRCX Operation Manual Warranty Important information before reading this manual Introduction About this manual Safety precautions Signal symbols Overview of the YRCX Before using the robot controller (Be sure to read the following notes) Chapter 1 Using the robot safely 1.
  • Page 4 CONTENTS YRCX Operation Manual 5. Hierarchy structure 5.1 Basic hierarchies 5.2 Quick menu 2-10 5.3 Selecting hierarchy and menu 2-14 Chapter 3 Operation 1. Servo operation 1.1 Emergency stop release and alarm reset 1.2 Motor power and servo on/off 1.2.1 Servo operation (all axes) 1.2.2 Servo operation (each axis) 2.
  • Page 5 CONTENTS YRCX Operation Manual 4.10 Input function 3-22 4.10.1 Inputting message 3-22 4.10.2 Canceling INPUT command 3-23 4.11 Debug function 3-23 4.11.1 Executing a step 3-24 4.11.2 Skipping a step 3-24 4.11.3 Executing the next step 3-24 4.11.4 Break points 3-24 4.11.5 RUNTO 3-25...
  • Page 6 CONTENTS YRCX Operation Manual 2.3.8 Searching a character string 4-12 2.3.9 Jumping step 4-13 2.3.10 Checking entry data 4-13 2.4 Compiling sequence program 4-13 2.5 Setting a main program 4-14 2.6 Changing a program attribute 4-14 2.7 Deleting a program 4-15 2.8 Changing a program name 4-15...
  • Page 7 CONTENTS YRCX Operation Manual 7.4 Parameter descriptions 4-47 7.4.1 Controller parameters 4-47 7.4.2 Robot parameters 4-49 7.4.3 Axis parameters 4-52 7.4.4 I/O parameters 4-58 7.4.5 Option board related parameters 4-60 7.5 PRM skip 4-64 8. Area check output 4-65 8.1 Setting area check output 4-65 8.2 Initializing area check output 4-66...
  • Page 8 CONTENTS YRCX Operation Manual 8. Initialize 8.1 Initializing data 8.2 Setting the clock 9. Generation 5-10 Chapter 6 Monitor 1. Overview of function 2. Current position display 3. I/O status display 3.1 I/O monitor list 3.2 I/O monitor detail 3.3 Changing output status 4.
  • Page 9 CONTENTS YRCX Operation Manual Troubleshooting 1. When trouble occurs 2. Acquiring the alarm information 2.1 Checking the alarm occurrence status 2.2 Checking the alarm history 3. Troubleshooting checkpoints 3.1 Installation and power supply 3.2 Robot operation 3.3 I/O 4. Alarm messages [ 0] Operation messages [ 1] System events A-10...

  • Page 11: Warranty

    OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS.

  • Page 13: Important Information Before Reading This Manual

    Important information before reading this manual Introduction About this manual Safety precautions Signal symbols Overview of the YRCX Before using the robot controller (Be sure to read the following notes)

  • Page 15: About This Manual

    OMRON robot controller safely and correctly. About this manual Warnings and cautions listed in this manual relate to OMRON robot controllers. To ensure safety of the user's final system that includes OMRON robots and controllers, please take appropriate safety measures as required by the user's individual system.

  • Page 16: Safety Precautions

    Safety precautions Warnings and cautions listed in this manual relate to OMRON robot controllers. To ensure safety of the user's final system that includes OMRON robots and controllers, please take appropriate safety measures as required by the user's individual system.

  • Page 17: Overview Of The Yrcx

    *Refer to "Multi-tasking" in the YRCX programming manual for more details on tasks. Robot language The YRCX series controller comes with a BASIC-like high-level robot language that conforms to the industrial robot programming language SLIM*. This robot language allows easy programming even of complex movements such as multi-task operations.

  • Page 18: Before Using The Robot Controller (Be Sure To Read The Following Notes)

    Before using the robot controller (Be sure to read the following notes) Please be sure to perform the following tasks before using the robot controller. Failing to perform these tasks will require the return-to-origin for setting the origin position each time the power is turned on or may cause abnormal operation (vibration, noise).

  • Page 19: Chapter 1 Using The Robot Safely

    Chapter 1 Using the robot safely 1. Emergency action when a person is caught by robot 2. Emergency stop Emergency stop release and alarm reset 3. Power-ON procedures 4. Usage environments...

  • Page 21: Emergency Action When A Person Is Caught By Robot

    Emergency action when a person is caught by robot If a person should get caught between the robot and mechanical part such as the installation base, or get captured by the robot, free the person by following the instructions below. For axis not equipped with a brake Put the robot into the emergency stop status to shut off the motor power to the robot.
  • Page 22 Step 5 Use the cursor keys ( / ) to Step 5 Brake release confirmation screen select [OK] and press to release the brake. For the vertical axis, when the brake is released, the vertical axis may drop. Therefore, check that the vertical axis is supported by the table, etc., and then release the brake.

  • Page 23: Emergency Stop

    Emergency stop To stop the robot immediately in case of emergency during operation, press the emergency stop button on the programming box. Pressing the emergency stop button cuts off power to the robot. CAUTION In addition to the emergency stop button on the programming box, the SAFETY connector has terminals for external dedicated input (emergency stop).
  • Page 24 Step 1 Turn the emergency stop button clockwise to release the emergency stop status. Step 2 Reset the alarm. Step 2 "QUICK MENU" screen Press on the programming box. The "QUICK MENU" screen will appear. Use the cursor keys ( ) to select [Alarm Reset], and then press .

  • Page 25: Power-On Procedures

    Power-ON procedures This section describes the procedures from turning on the controller power to performing return-to-origin of the robot. CAUTION To connect the programming box to the controller, always use the dedicated cable and connector that come supplied with the programming box. Do not modify the cable and do not connect a relay to the cable. NOTE •...

  • Page 26: Usage Environments

    Usage environments Operating temperature Operating 0°C to 40°C 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.

  • Page 27: Chapter 2 System Overview

    Chapter 2 System overview Operation overview The YRCX robot controller External device connectors 7-segment LED display function Programming box Part names and functions Connection to the robot controller Programming box screen 4. Operation key Operation key layout Basic key operation Function keys Control keys Data keys...

  • Page 29: Operation Overview

    Operation over view The controller configuration and main functions are shown below. Set up the equipment as needed according to the operation to be performed. NOTE The external circuit connected to the robot controller should be prepared by the user. Operation over view ■...

  • Page 30: The Yrcx Robot Controller

    The YRCX robot controller The illustration below shows the controller’s main display functions and connectors to external devices. Controller front panel ■ 2. "PWR" LED 1. 7-segment LED display 4. PB connector 5. RS-232C connector 3. AC IN 6. Ethernet connector 7.

  • Page 31: 7-Segment Led Display Function

    7-segment LED display function In normal status When alarm/warning occurs. • • ON/Complete OFF/Incomplete Servo status Return-to-origin Emergency Message header Group number/Warning number status stop status Alarm Warning Normally, the servo status, return-to-origin status, and emergency stop status are displayed. If an alarm or warning occurs, the alarm number or warning number is displayed.

  • Page 32: Programming Box

    Switch is pressed to mid position : Operation possible Switch is fully pressed : Emergency stop Manufacturer: OMRON Type number: A4E-B200HS PB connector Use this connector to connect the programming box to the robot controller. Connects the USB memory and programming box.

  • Page 33: Connection To The Robot Controller

    Connection to the robot controller Connect the programming box to the PB connector on the front panel of the controller. Make sure that the cable is securely connected since poor connections may cause malfunction or breakdown. CAUTION Emergency stop is triggered and the servo turns off when the programming box is disconnected from the controller while the controller power is on.

  • Page 34: Operation Key

    Data area This area shows various data or edit contents. Scrolling the area left or right will display up to 255 characters/line. Guide line (bottom line) The bottom line mainly shows the contents assigned to the programming box function keys. Operation key Operation key layout The operation keys are covered with a plastic sheet to prevent dust.

  • Page 35: Function Keys

    Example of key input Input key Character type Description Input data Shift 1: When pressing the key in the key type Alpha (Alphabet) "A", "B", "C" *1 status, the display at the upper portion of the key is input. Shift 2: When pressing the key in the key type Num status, (Number) "2"...

  • Page 36: Control Keys

    Control keys There are four kinds of control keys; Hierarchy move keys, Cursor keys, Edit keys, and Jog keys. The functions of each key are explained below. Hierarchy move keys : Displays the "QUICK MENU" screen. : Displays the next port while the "MONITOR" screen is displayed. : Returns to the previous screen or initial screen.

  • Page 37: Data Keys

    NOTE keys are hereafter called the "Jog keys". They are enabled when Jog movement can be operated. CAUTION Axis 1 of the robot may not match to the X-axis on the XY coordinates depending on the robot setting. Data keys The data keys are used for input data, creating programs, and editing data.

  • Page 38: Quick Menu

    System The robot setting or data can be initialized or data can be saved into an external memory. Additionally, the robot system information or alarm log can also be checked in this hierarchy. Monitor The current position information or I/O status is displayed. Quick menu When pressing , the "QUICK MENU"...
  • Page 39 The following shows the operations that can be performed according to the manual lock switch and control setting status. CE Specifications Normal specifications SAFETY connector AUTO mode input Manual lock switch External External PBEX PBEX Control setting device device (GET) (GET) (RELEASE) (RELEASE)
  • Page 40 CE Specifications Normal specifications SAFETY connector AUTO mode input Manual lock switch External External PBEX PBEX Control setting device device (GET) (GET) (RELEASE) (RELEASE) Mode Manual Automatic Manual Automatic History ✔ ✔ ✔ ✔ ✔ ✔ Check ✔ ✔ ✔ ✔...
  • Page 41 Ser vo Operation "SERVO OPERATION (ALL)" screen Operates the servo status. For details, refer to "1. Servo operation" in Chapter 3. Robot Change "ROBOT CHANGE" screen Input the robot number to select and press the ENTER key. Press the F1 key (ARM TYPE) to change the hand system.

  • Page 42: Selecting Hierarchy And Menu

    PRM SKIP "PRM SKIP" screen Input "0: INVALID" or "1: VALID" and press the ENTER key. Selecting hierarchy and menu The robot operation is mainly performed by selecting an objective hierarchy from the hierarchy menu. (Refer to the "Hierarchy diagram" described later.) To select the menu, use the cursor keys. When turning on the controller power, the initial screen (menu screen) will appear.
  • Page 43 Hierarchy diagram ■ Operation F1 SPEED F2 INCH F3 TEACH F4 UNIT F5 EDIT F6 TRACE F7 JUMP F8 GRIPPER F1 SPEED F2 INCH F3 TEACH F4 UNIT F5 EDIT F6 TRACE F7 JUMP F8 AXIS Point Trace F1 SPEED F2 ARCH F1 SPEED F2 PTP...
  • Page 44 Origin Return F1 MARK F1 TRQ/SENS F2 GRIPPER F3 ALL ROBOTS F4 DUAL F1 TRQ/SENS F2 GRIPPER F2 MARK F3 ALL ROBOTS F4 DUAL F3 ALL ROBOT F1 TRQ/SENS F2 MARK F3 GRIPPER F4 DUAL F4 DUAL F1 TRQ/SENS F2 MARK F3 GRIPPER F4 ALL ROBOTS Robot Change...
  • Page 45 F2 3D F4 NEXT F1 TEACH F1 SPEED F2 INCH F1 EDIT Parameter F1 CONT F1 SPEED F4 NEXT F2 JUMP F2 INCH F3 PRM SKIP F4 NEXT F1 SPEED F1 EDIT F2 ROBOT F2 INCH F2 JUMP F1 SPEED F4 NEXT F1 EDIT F3 AXIS...
  • Page 46 System History F1 RELOAD F1 RELOAD Check F1 ROBOT Property F2 OPTION F3 CLOCK F4 VERSION F5 CONFIG F6 GRIPPER USB Memory F1 SAVE F1 CHOOSE F1 CHOOSE Operation F2 NEXT F2 LOAD F1 CHOOSE F1 CHOOSE F2 NEXT F1 CHANGE PW Execution Level F1 SAVE Safety Setting...

  • Page 47: Chapter 3 Operation

    Chapter 3 Operation 1. Servo operation Emergency stop release and alarm reset Motor power and servo on/off 1.2.1 Servo operation (all axes) 1.2.2 Servo operation (each axis) 2. Jog 3-3 Jog movement 2.1.1 Jog movement in return-to-origin complete status 2.1.2 Jog movement in return-to-origin complete status (When hand definition is set) 2.1.3 Jog movement in return-to-origin incomplete status Changing the display units Changing the Jog movement speed...
  • Page 48 Chapter 3 Operation 4.10 Input function 3-22 4.10.1 Inputting message 3-22 4.10.2 Canceling INPUT command 3-23 4.11 Debug function 3-23 4.11.1 Executing a step 3-24 4.11.2 Skipping a step 3-24 4.11.3 Executing the next step 3-24 4.11.4 Break points 3-24 4.11.5 RUNTO 3-25 5.

  • Page 49: Servo Operation

    Ser vo operation Emergency stop release and alarm reset Step 1 Turn the emergency stop button Step 2 "QUICK MENU" screen clockwise to release the emergency stop. Step 2 Reset the alarm. Press the [QUICK MENU] key on the programming box. The "QUICK MENU" screen will appear.

  • Page 50: Servo Operation (Each Axis)

    Step 2 Turn on/off the motor power and Step 2 "SERVO OPERATION (ALL)" screen servo. Use the cursor keys to any of the following items, and then press the ENTER key. ON: Turn on the servo. OFF: Turn off the servo. POWER: Turn on only the motor power.

  • Page 51: Jog

    The "JOG" screen is shown below. 2. Robot setting status 1. Hierarchy 4. Coordinate unit system 3. Current position 5. Hand system 6. First arm and second arm rotation information 7. Point information 8. Guide line Hierarchy Displays the current hierarchy. Robot setting status Displays the currently selected robot, shift and so on.

  • Page 52: Jog Movement

    Point information Displays the point name when the number and point name of the displayed point data are registered. Guide line Displays the contents assigned to the function keys. Valid keys and submenu descriptions in the Jog operation are shown below. Valid keys Menu Function...

  • Page 53: Jog Movement In Return-To-Origin Complete Status

    2.1.1 Jog movement in return-to-origin complete status When the current position is displayed in "pulse" units. "[pulse]" is displayed on the right of "CURRENT" on the programming box screen. Each time a Jog key is pressed, the robot moves a Display shown in "pulse"...

  • Page 54: Jog Movement In Return-To-Origin Complete Status (When Hand Definition Is Set)

    2.1.2 Jog movement in return-to-origin complete status (When hand definition is set) Robot movement in "Tool coordinate" mode (example) ■ I Hand definition -90.00 degrees 100.00mm HAND 1 I Jog key operation Robot movement with keys Robot movement with to and keys Each time a Jog key is pressed, the robot moves a specified distance (inching movement).

  • Page 55: Changing The Display Units

    Changing the display units The current position on the programming box screen can be changed in "pulse" units, "mm" units, or "tool coordinate ("mm" units)". The tool coordinates are used when the hand data fixed to the R-axis is selected (hand definitions are set). •...

  • Page 56: Changing The Inch Distance

    Changing the inch distance When the inching movement amount of the target robot uses "pulse" units, you can set 1 to 10000 [pulse]. When using "mm" units, you can set the inching movement amount in a range of 0.001 to 10 [mm]. The following describes how to set the inching movement amount.

  • Page 57: Jumping The Point Display

    Step 2 Move the robot axis. Move the axis with the Jog keys. Confirming the teaching execution ■ The current position display will change as the axis moves. Step 3 Perform teaching. When the axis reaches the target position, press the F3 key (TEACH). The confirmation screen appears.

  • Page 58: Ptp Motion

    PTP motion Valid keys and submenu descriptions on the "PTP (ALL)" and "PTP (SEP)" screens are shown below. Valid keys Menu Function Moves the cursor. Executes the point trace. Stops the point trace. SPEED Sets the movement speed for the point trace. ARCH Changes the trace type to arch motion.

  • Page 59: Linear Interpolation Motion

    Each axis point trace ■ Step 1 Display the "PTP (SEP)" screen. Press the F8 key (SEP) on the "PTP (ALL)" screen (Operation Point Trace). Step 2 Select the point number to check. Step 2,3 "PTP (SEP)" screen Use the cursor keys to select [ ] or [ ] on the screen and press the ENTER key to change the point number.
  • Page 60 All axes point trace ■ Step 1 Display the "LINEAR (ALL)" screen. Press the F3 key (LINEAR) on the "PTP (ALL)" or "Arch motion" screen. Step 2 Select the point number to check. Step 2 "LINEAR (ALL)" screen Use the cursor keys to select [ ] or [ ] on the screen and press the ENTER key to change the point number.

  • Page 61: Arch Motion

    Arch motion Valid keys and submenu descriptions on the "ARCH (ALL)" and "ARCH (SEP)" screens are shown below. Valid keys Menu Function Moves the cursor. Executes the point trace. Stops the point trace. SPEED Sets the movement speed for the point trace. Changes the trace type to PTP motion.

  • Page 62: Setting The Speed

    Step 3 Set the axis number and arch motion position to perform arch motion. For details about the arch motion position, refer to "Arch pulse 1/2" parameter of "6.4.3 Axis parameters" in Chapter 4. Step 4 Input the arch option as necessary. Step 4 Arch option Press the F8 key (OPTION) to display the pop-...

  • Page 63: Jumping The Point Display

    Jumping the point display Point data can be displayed from the specified point number. Step 1 Step 2,3 Display the jump destination point Inputting the point number number entry screen. Press the F7 key (JUMP) on the PTP screen. The number designation screen will appear. Step 2 Input the point number and press the ENTER key.
  • Page 64 Hierarchy Displays the current hierarchy. Robot setting status Displays the currently selected robot, shift and so on. Specified "shift coordinate" number Specified "hand definition" number Specified "robot number" Specified speed Displayed when any alarm occurs. Displayed when the servo is on. AUTO Displayed when the control setting is "RELEASE".

  • Page 65: Executing Automatic Operation

    Valid keys Menu Function ALL TASK Changes to the all task display. JUMP Specifies the program number. PROGRAM Moves to the "PROGRAM SELECTION" screen. Used to edit the program. DEBUG Changes to the "DEBUG" screen. REGISTER Registers the program to the task. RELEASE Cancels the task registration of the task.

  • Page 66: Stopping A Program

    Stopping a program Confirming the program stop ■ Stopping a program ■ The program execution is interrupted or stopped. When pressing the F2 key (STOP), the program stop confirmation screen will appear. Use the cursor keys to select [OK], and then press the ENTER key.

  • Page 67: Resetting All Programs

    4.3.2 Resetting all programs All programs registered as task are reset, and then the program set in the main program or current Confirming the program reset ■ program is registered as task. Press the F11 key (ALL RESET) on the "AUTO OPE (SEP)"...

  • Page 68: Task Priority

    Task priority The priority of each task can be specified in a rage of 1 to 64. The smaller priority value, the higher priority. The larger priority value, the lower priority. (High: 1 64: Low) When the program is registered as task, "32" is set as initial value. * For details about priority, refer to "Multi-task"...

  • Page 69: Sequence Program Execution Flag

    Sequence program execution flag The sequence program execution is switched between "disable" and "enable". For details about sequence program, refer to the YRCX programing manual. Sequence program run/stop confirmation screen ■ Press the F4 key (SEQ) on the "AUTO OPE (ALL TASK)"...

  • Page 70: 4.10 Input Function

    4.10 Input function It is possible to input some data into "INPUT" command in the program using the input function. Press the F5 key (INPUT) on the "AUTO OPE (ALL)", and then "AUTO OPE (INPUT)" screen will appear. "INPUT" screen ■...

  • Page 71: Canceling Input Command

    4.10.2 Canceling INPUT command Select "CANCEL" using the cursor keys and press the ENTER key to cancel "INPUT" command in execution. The program execution line will move to the next line after canceling the command. 4.11 Debug function The program step execution or break point setting is performed with the debug function. Select the program to debug on the "AUTO OPE (SEP)"...

  • Page 72: Executing A Step

    Valid keys and submenu descriptions on the "DEBUG" screen are shown below. Valid keys Menu Function Moves the cursor. Executes the automatic operation. Stops the automatic operation. RESET Resets the program currently selected. Executes one line displayed in the execution line display and moves the STEP execution line display to the next line.

  • Page 73: Runto

    Setting break points ■ Step 1 Step 1 "DEBUG" screen Select the line where to set a break point. Move the cursor to a line to set the break point on the "DEBUG" screen (Operation Automatic Operation Debug). Step 2 Step 2 Set the break point.

  • Page 74: Origin Return

    Origin return Before turning on the power to start the robot operation, it is necessary to set the origin point that becomes the reference for the robot operation. For absolute type axes, it is necessary to set the origin position only when the robot is put in the return-to- origin incomplete status.

  • Page 75: Return-To-Origin Operation

    the initial screen. The "ORIGIN RTN (TRQ/SENS)" screen will appear. Check the return-to-origin status. "ORIGIN RTN (TRQ/SENS)" screen ■ Return-to-origin Return-to-origin Axis Sensor Machine reference complete status method Axis 1 Complete Sensor method Axis 2 Complete Sensor method Torque (stroke end) Axis 3 Complete method...
  • Page 76 origin from that position. 3. After the origin sensor turns on, the robot stops and the origin position is then found. At this point, the current position of each axis is set as an origin shift parameter value. NOTE For the sensor method, the return-to-origin starts in the origin sensor on status. When the return-to-origin operation continues without turning off the origin sensor, "17.500: Origin sensor failure"...

  • Page 77: Return-To-Origin Procedure

    Return-to-origin procedure The robot must be at servo-on status to perform return-to-origin operation. The return-to-origin procedure is shown below. The absolute search procedure is the same as the return-to- origin procedure. WARNING The robot starts moving as soon as return-to-origin is performed. To avoid hazardous situations, do not enter the robot movement range.

  • Page 78: Absolute Reset (Mark Method) Procedure

    Step 3 Check the machine reference. Step 3 "ORIGIN RTN (TRQ/SENS)" screen After the return-to-origin operation has been completed, "Ref." (machine reference) and "Status" are displayed on the "ORIGIN RTN (TRQ/SENS)" screen. Check that the machine reference is within the tolerable value and that the status is "OK".
  • Page 79 Position where absolute reset can be performed and "0" pulse position ■ When performing absolute reset at position A, position B (machine reference 38%) is reset as "0" pulse position. he The axis moves to the "0" pulse position after resetting when performing absolute reset in the servo on status. WARNING When performing absolute reset in the servo on status, the robot operates slightly.
  • Page 80 Step 4 Perform absolute reset. WARNING The robot starts to move slightly when absolute reset is performed while the servo is on. To avoid danger, do not enter the robot movement range. Press the ENTER key on the "ORIGIN RTN (MARK)" screen to complete absolute reset. After absolute reset has been completed, the axis moves to the "0"...

  • Page 81: Return-To-Origin For All Robots

    Step 3 Select the axis to perform absolute Step 3 Confirming the absolute reset execution reset. Use the cursor keys to select the axis number for absolute reset, and then press the ENTER key. Absolute reset execution confirmation screen will appear. Step 4 Perform absolute reset.

  • Page 82: Dual Offset

    Step 3 Check the display turns "OK". Step 3 "ORIGIN RTN (ALL ROBOT)" screen As the return-to-origin conditions of each axis and gripper are displayed, confirm now they are "OK". Press the ESC key to return to the initial screen. Check Dual offset When two drive axes are the completely same, they can be controlled as one drive axis, which is called...

  • Page 83: Automatic Dual Offset Setting

    6.1.1 Automatic dual offset setting Step 3 "ORIGIN RTN (DUAL)" screen Step 1 Turn the servo on of the axis to set dual offset. Step 2 Select [Operation] from the initial screen and then [Origin Return] to display the "ORIGIN RTN" screen. Step 3 Press the F3 key (DUAL) to display the "ORIGIN RTN (DUAL)"...

  • Page 84: Adjusting Dual Offset

    6.1.2 Adjusting dual offset Step 1,2 Step 1 Execution screen Display the pop-up screen for executing in the same procedure of "6.1.1 Automatic dual offset setting". Step 2 Confirm the "Mode" value is set to"1". Step 3 The setting value of "DualOfst" is the value set by automatic setting.

  • Page 85: Chapter 4 Edit

    Chapter 4 Edit Point editing Inputting/editing point data Point data input by teaching Point data input by direct teaching Jumping point display Copying point data Deleting point data Executing point trace Deleting point name Program editing Selecting the program Creating a new program 4-10 Editing the program 4-10...
  • Page 86 Chapter 4 Edit 4. Hand definitions 4-25 Data format of hand definition 4-26 4.1.1 SCARA type robots 4-27 "HAND EDIT"/"CREATING NEW HAND" screen 4-28 Creating new hand definitions 4-30 Editing hand definitions 4-31 Setting hand definitions 4-31 Selecting hand definitions 4-32 5. Work definitions 4-33 Data format of work definition 4-34...

  • Page 87: Point Editing

    Point editing When selecting [Edit] - [Point Edit] from the initial screen, the "POINT EDIT" screen will appear. One point consists of 6 axes data (axis 1, axis 2, axis 3, axis 4, axis 5, and axis 6). For the point data that is set in the Cartesian coordinate system ("mm" units), the hand system flag, first arm rotation information, and second arm rotation information can be set as expansion settings.
  • Page 88 Hierarchy Displays the current hierarchy. Robot setting status Displays the currently selected robot, shift and so on. Specified "shift coordinate" number Specified "hand definition" number Specified "robot number" Specified speed Displayed when any alarm occurs. Displayed when the servo is on. AUTO Displayed when the control setting is "RELEASE".

  • Page 89: Inputting/Editing Point Data

    Valid keys and submenu descriptions on the "POINT EDIT" screen (Edit Point Edit) are shown below. Valid keys Menu Function Moves the cursor or scrolls the screen. Switches between the "insert" and "overwrite" modes alternately. Deletes one character on the left of the cursor position. Deletes one character at the cursor position.

  • Page 90: Point Data Input By Teaching

    Data entry format is shown below. When registering new point data, input the point data for all axes, axis 1 to axis 6. When the registration is completed even if there is an axis without inputting data, "4.202: input format error" occurs. If the data format is incorrect, the alarm message, such as "5.206 Digit number error", etc.
  • Page 91 CAUTION • When using multiple robots, be sure to check the current target robot. • The robot is changed from the "QUICK MENU". For details, refer to "5.2 Quick menu" in Chapter 2. NOTE • In the return-to-origin incomplete status, the teaching of the point data cannot be performed. Be sure to perform the teaching after the return-to-origin has been performed.

  • Page 92: Point Data Input By Direct Teaching

    Point data input by direct teaching Point data can also be registered by direct teaching (moving the robot by hand to the target point while the robot servo is off). To directly load the current position of the point data, use the "JOG" screen. WARNING Before starting direct teaching, press the emergency stop button on the programming box so that the servo will not turn on by external operation.

  • Page 93: Deleting Point Data

    Step 3 Copy the point data Use the cursor keys to select [OK], and then press the ENTER key. The point data in the specified range is copied to the start number of the copy destination. When pressing the ESC key before executing the copy, the copy process is then canceled. Deleting point data Step 1 Step 1,2...

  • Page 94: Program Editing

    Program editing In the program editing, you can edit or delete the robot language program. When inputting the program edit initial screen (Edit Program Edit) by selecting [Program Edit] on the "Edit" pop-up screen that is displayed from the Menu screen, the "PROGRAM SELECTION" screen will appear as shown in the figure below.

  • Page 95: Selecting The Program

    Line count Displays the number of program lines. Guide line Displays the contents assigned to the function keys. Valid keys and submenu descriptions on the "PROGRAM SELECTION" screen are shown below. Valid keys Menu Function Moves the cursor. Creates a new program. EDIT Moves to the "PROGRAM EDIT"...

  • Page 96: Creating A New Program

    Creating a new program To create a new program, register the program name at first. Step 1 Create a new program. Press the F1 key (NEW) on the "PROGRAM SELECTION" screen (Edit Program Edit). The program name entry screen will appear. Step 2 Input the program name.

  • Page 97: Cursor Movement

    Valid keys Menu Function Sets the cut contents, deletes the selected contents, and saves the data into the buffer temporarily. PASTE Inserts the data saved in the buffer to a portion immediately before the cursor line. FIND Specifies the character string you want to find. JUMP Displays the program from the specified line.

  • Page 98: Inserting A Line

    2.3.4 Inserting a line A blank line is inserted into the program. Move the cursor to the top of the line where you want to insert a line, and then press the ENTER key. A blank line is then inserted to a portion immediately before the cursor line. When the cursor is located at a position other than the top of the line, a new line is inserted into the cursor position.

  • Page 99: Jumping Step

    Step 2 Input the character string to search. Step 2,3 Searching a character string Input the character string to find, and then press the ENTER key. Up to 24 characters can be input. Step 3 Specify the search direction. The search starts toward the top from the cursor position by pressing the F1 key (Previous) and the cursor jumps to the character string that is found first.

  • Page 100: Setting A Main Program

    Step 1 Display the sequence compile pop-up screen. Step 2 Executing the sequence compile Press the F3 key (SEQ CMP) on the "PROGRAM EDIT" screen (Edit Program Edit Edit) to display the pop-up screen. Step 2 Execute the sequence compile. Select [OK] and press the ENTER key.

  • Page 101: Deleting A Program

    Step 1 Select the program to change the Step 2 Changing the program attribute attribute. Select the program to change the attribute. For details about how to select the program, refer to "2.1 Selecting the program" in this Chapter. Step 2 Change the program attribute.

  • Page 102: Copying A Program

    NOTE • Characters 0 to 9, A to Z, and "_" (underscore) are valid for the program name. • Up to 16 characters can be used. • Program names that are already used for other programs cannot be used. • Since the controller recognizes the program names shown below as special programs, do not use these names for normal ones.

  • Page 103: Shift Coordinates

    Shift coordinates Use the cursor keys to select [Edit] on the initial screen, and press the ENTER key. Next, select [Shift Coordinate], and then press the ENTER key to display the "SHIFT COORDINATE" screen. In this hierarchy, you can display, edit, or set the shift coordinates and shift coordinate range. However, when using SCARA type robots, the standard coordinates need to be set.
  • Page 104 Shift coordinate range ■ dM Z dP Z d MR When moving to the "SHIFT COORDINATE" screen (Edit Shift Coordinate), the screen shown below will appear. "SHIFT COORDINATE" screen ■ 2. Robot setting status 1. Hierarchy 7. Shift coordinate range 6.
  • Page 105 Hierarchy Displays the current hierarchy. Robot setting status Displays the currently selected robot, shift and so on. Specified "shift coordinate" number Specified "hand definition" number Specified "robot number" Specified speed Displayed when any alarm occurs. Displayed when the servo is on. AUTO Displayed when the control setting is "RELEASE".

  • Page 106: Creating New Shift Coordinates

    Creating new shift coordinates Shift coordinates are created newly. Valid keys and submenu descriptions on the "CREATING NEW SHIFT" screen (Edit Shift Coordinate New) are shown below. Valid keys Menu Function Specifies the shift coordinates and shift coordinate range (+/-). Switches between the "insert"...

  • Page 107: Editing Shift Coordinates

    Editing shift coordinates Shift coordinates are edited. Valid keys and submenu descriptions on "SHIFT EDIT" screen (Edit Shift Coordinate Edit) are shown below. Valid keys Menu Function Specifies the shift coordinates and shift coordinate range (+/-). UNIT Switches the units of the current position "mm" and "pulse". Moves to the "CREATING NEW SHIFT"...
  • Page 108 Shift coordinate setting 1 ■ Point 1 (1st P) Point 2 (2nd P) X’ Y’ Step 1 Display "SHIFT SETTING 1" screen. Press the F3 key (SETTING1) to display "Edit > Shift coordinate > Shift setting 1". Step 2 Step 2 Input shift coordinate number.
  • Page 109 Step 6 Step 6 Set the shift coordinate. Checking the setting Check the shift coordinate to be displayed. Select “SET” and press the ENTER key to save the settings. Press the F4 key (FINISH) to finish setting. When pressing the F4 key (FINISH) or ESC key in the status that the settings are not saved, the setting finishes without saving the data.

  • Page 110: Selecting Shift Coordinates

    Step 3 Step 3 Determine the point P [1]. Inputting the inch distance Move the robot tip to the Point P [1] with the jog key, press the F4 key (NEXT) to decide the position. NOTE Determine the points to teach accurately, otherwise the shift coordinates cannot be set correctly.

  • Page 111: Hand Definitions

    Step 2 Inputting the shift number Step 2 Input the shift number. Use 0 to 9 keys to input the shift number. Select [CLR] and press the ENTER key. The shift number currently selected at the upper right portion of the screen changes from (S) to " "...

  • Page 112: Data Format Of Hand Definition

    Robot setting status Displays the currently selected robot, shift and so on. Specified "shift coordinate" number Specified "hand definition" number Specified "robot number" Specified speed Displayed when any alarm occurs. Displayed when the servo is on. AUTO Displayed when the control setting is "RELEASE". (This is not displayed when the setting is "GET"...

  • Page 113: Scara Type Robots

    4.1.1 SCARA type robots Hand attached to 2nd arm Robot movement • Imaginary 2nd arm of hand "n" moves to a specified point as if it were the actual 2nd arm. • Imaginary 2nd arm of hand "n" determines whether the robot is in a right-handed system or left-handed system. Parameter descriptions <1st parameter>: Specify with an integer, the difference between the number of offset pulses of the standard...

  • Page 114: Hand Edit"/"Creating New Hand" Screen

    Hands attached to R-axis (SCARA type) ■ Standard 2nd arm 150.0 0mm H A N D 0 -90.00 degrees 1 0 0.00m m H A N D 1 Input example ROBOT : 1 (Robot number) ROBOT (Robot number) : 0.00 (degree) : -90.00 (degree)
  • Page 115 Hierarchy Displays the current hierarchy. Robot setting status Displays the currently selected robot, shift and so on. Specified "shift coordinate" number Specified "hand definition" number Specified "robot number" Specified speed Displayed when any alarm occurs. Displayed when the servo is on. AUTO Displayed when the control setting is "RELEASE".

  • Page 116: Creating New Hand Definitions

    Creating new hand definitions New hand definitions are created. Valid keys and submenu descriptions on the "CREATING NEW HAND" screen (Edit Hand Definition New) are shown below. Valid keys Menu Function Specifies the hand data. Switches between the "insert" and "overwrite" modes alternately. Deletes one character immediately before the cursor position.

  • Page 117: Editing Hand Definitions

    Editing hand definitions Hand definitions are edited. Valid keys and submenu descriptions on the "HAND EDIT" screen (Edit Hand Definition Edit) are shown below. Valid keys Menu Function Specifies the hand data. UNIT Switches the units of the current position "mm" and "pulse". Moves to the "CREATING NEW HAND"...

  • Page 118: Selecting Hand Definitions

    Step 1 Input the hand definition number. Input the hand definition number using 0 to 9 keys and press the F4 key (NEXT). Step 2 Teach working point at the point Step 2 Teaching P [1]. Move the robot tip to the point P [1] with the jog keys and press the F4 key (NEXT).

  • Page 119: Work Definitions

    Work definitions A workpiece that is held at the tip of the robot or the tool specified by hand definition will be regarded as the robot coordinate position by work definition. Using work definition enables the tip of a different workpiece to move to the same Cartesian coordinate position.

  • Page 120: Data Format Of Work Definition

    Data format of work definition ± #####.### ± #####.### ± #####.### ± #####.### Item Input range Description Unit Work definition number (n) 0 to 39 Specifies X-coordinate Offset amount from the tip of the X-coordinate Offset robot (the tip of the tool with hand definition) of the work "n" with real number.

  • Page 121: Editing Work Definitions

    Step 1 Step 1 Select the work definition number Selecting the work definition number with the cursor keys. The work definition scrolls up or down to display the set contents of this shift number by three when the scroll function is ON. Step 2 Press the F1 key (EDIT) to display the "WORK EDIT"...

  • Page 122: Selecting Work Definitions

    Step 1 Step 1 Select the work definition number Selecting the work definition number with the cursor keys. The work definition scrolls up or down to display the set contents of this shift number by three when the scroll function is ON. Step 2 Press the F1 key (EDIT) to display the "WORK DEFINITION"...

  • Page 123: Pallet Definitions

    Pallet definitions Use the cursor keys to select [Edit] on the initial screen and press the ENTER key. Next, select [Pallet Definition] and press the ENTER key to display the "PALLET DEFINITION" screen. In this hierarchy, you can display, edit, or set the pallet definitions. However, when using SCARA type robots, the standard coordinates need to be set.
  • Page 124 Press the F1 key (EDIT) to move to the "PALLET EDIT" screen. "PALLET EDIT" screen ■ 2. Robot setting status 1. Hierarchy 4. Coordinate unit system 3. Current position 5. Pallet number 6. Pallet coordinates 7. Guide line Hierarchy Displays the current hierarchy. Robot setting status Displays the currently selected robot, shift and so on.

  • Page 125: Creating New Pallet Definitions

    Valid keys and submenu descriptions on the "PALLET DEFINITION" screen (Edit Pallet Definition) are shown below. Valid keys Menu Function Selects the operation system that specifies the pallet number. EDIT Edits the pallet data currently selected. Switches the scroll function on/off. Returns to the previous screen.

  • Page 126: Editing Pallet Definitions

    Step 5 Set the data you have input. After inputting the data, press the ENTER key to set it. Press the ESC key to cancel the data you have input and return to the previous screen. Step 6 Return to the "PALLET DEFINITION" screen. After the data has been set, press the ESC key to return to the "PALLET DEFINITION"...

  • Page 127: Setting Point Of Pallet Definitions

    Step 1 Step 2 Display the "PALLET SETTING" Inputting the pallet definition number screen. Press the F2 key (SETTING), <Edit> and <Pallet definition to open the "PALLET SETTING" screen. Step 2 Select the pallet to define. Input the pallet number using 0 to 9 keys and press the F1 key (2D) or F2 key (3D) to select the dimension.

  • Page 128: Parameters

    WARNING The robot starts to move when point trace or manual operation is executed. To avoid danger, do not enter the robot movement range. NOTE • There are five point data in the pallet definition. Set all of the point data. •...
  • Page 129 Valid keys Menu Function TRACKING Sets the tracking system related parameters.* Returns to the previous screen. * Refer to the each manual for details. Step 2 Select the parameter. Use the cursor keys to select the parameter. Input the parameter number on the pop-up screen that is displayed by pressing the F2 key (JUMP) to select the parameter otherwise.

  • Page 130: Parameter List

    Parameter list Controller parameters ■ For details about parameters, refer to "10.4 Controller parameters" in this Chapter. Name Identifier Setting range Initial value Unit Incremental Mode control INCMOD 0: INVALID, 1: VALID MOVEI/DRIVEI start pos. MOVIMD 0: KEEP, 1: RESET MOVET start pos.
  • Page 131 Name Identifier Setting range Initial value Unit XY axis accel. rate SCRACC 1 to 500 XY axis accel. velocity rate SCRVEL 1 to 500 R axis velocity rate SCRRVEL 1 to 500 Depends on the model. Inner side circle minimum radius MINRAD 10 to 100000 5000...
  • Page 132 I/O parameters ■ For details about parameters, refer to "10.7 I/O parameters" in this Chapter. Name Identifier Setting range Initial value DO output at emergency stop EMGCDO 0: IO_RESET, 1: IO_HOLD Error output (DO & SO)* ERPORT 0 to 0277 (Octal) Battery warning output (DO &...

  • Page 133: Parameter Descriptions

    Parameter descriptions 7.4.1 Controller parameters Incremental mode control ‹INCMOD › ■ This parameter sets whether or not the robot is always put in the return-to-origin incomplete status when starting up this controller. Set "0: INVALID" in the case that there are axes whose return-to-origin method are set to "Mark". When this parameter is initialized, "0: INVALID"...
  • Page 134 Sequence flag ‹SEQFLG› ■ This parameter sets whether the controller executes the sequence program. When this parameter is initialized, "0: INVALID" is set. Setting Meaning 0: INVALID The sequence program execution is not allowed. 1: VALID The sequence program execution is allowed. 3: VALID &...

  • Page 135: Robot Parameters

    INPUT/PRINT using channel ‹STDPRN› ■ This parameter sets the PRINT statement output destination channel and INPUT statement input origin channel. When this parameter is initialized, "1: PB" is set. Setting Meaning 1: PB Programming box 2: CMU RS232C port 3: ETH Ethernet port Emergency time ‹EMGTIM›...
  • Page 136 Tip weight (g) ‹WEIGHTG› ■ The tip weight (workpiece weight + tool weight) of the robot is set in "g" units. When this parameter is initialized, the value of the tip weight will be set depending on the robot model.The maximum value is determined by the robot model that has been set.
  • Page 137 The actual example of return-to-origin operation is shown below. Programming box operation PGM execution IO operation Key operation Command *1 Input port DI17 mode *2 Absolute specifications only Impossible (possible by-axis) ORIGIN 0, 2 DI17 Incremental specifications only Impossible (possible by-axis) ORIGIN 0, 1 DI14 Both specifications at the same time...

  • Page 138: Axis Parameters

    7.4.3 Axis parameters Plus (+) soft limit ‹PLMT+› Minus (-) soft limit ‹PLMT-› ■ This parameter sets the axis movement range using the upper limit value [plus (+) soft limit] and lower limit value [minus (-) soft limit]. When this parameter is initialized, the value unique to the model is set. When performing point teaching or automatic operation, check that the specified point data is within the soft limit range.
  • Page 139 Tolerance ‹TOLE› ■ This parameter sets the positioning completion range to the target position when the robot moves. When this parameter is initialized, the value unique to the model is set. When the current position of the robot enters the specified range, this is judged to the positioning completion. NOTE Input the tolerance value with the 0 to 9 keys, "."...
  • Page 140 NOTE Input the OUT valid position with the 0 to 9 keys, "." key, and "-" key. When the value input with the keys is a real number (numeric value including a period), the unit is converted into the pulse value. Arch pulse 1 ‹ARCHP1›...
  • Page 141 Push judge speed ‹PSHJGSP› ■ The pushing time counting starts when the current axis movement speed lowers the rate specified in this parameter against command movement speed. When "0" is set, the judgement is invalid. When this parameter is initialized, "0" is set. Push method ‹PSHMTD›...
  • Page 142 Origin shift ‹ORGSFT› ■ This parameter is used to correct the deviation amount of each axis if the work position deviates after the motor has been replaced and an impact has been applied. When this parameter is initialized, "0" is set. Set the electrical deviation origin position amount to the mechanical origin position of the robot.
  • Page 143 Motor direction ‹MOTDIR› ■ This parameter sets the direction, in which the robot moves. When this parameter is initialized, the value unique to the model is set. 0: CW … The motor CW direction is the minus (-) direction of the axis. 1: CCW …...

  • Page 144: I/O Parameters

    7.4.4 I/O parameters DO at emergency stop ‹EMGCDO› ■ This parameter sets the DO/MO/LO/TO/SO port outputs to RESET/HOLD when the emergency stop is input. When this parameter is initialized, "1: IO_HOLD" is set. Setting Meaning 0: IO_RESET Turns the DO/MO/LO/TO/SO port outputs OFF when the emergency stop is input to the controller. 1: IO_HOLD Holds the DO/MO/LO/TO/SO port outputs when the emergency stop is input to the controller.
  • Page 145 DO output at program reset ‹RESCDO› ■ This parameter sets the DO/MO/LO/TO/SO port outputs to RESET/HOLD when all programs are reset or the HALT ALL statement is executed. When this parameter is initialized, "0: IO_RESET" is set. Setting Meaning The DO/MO/LO/TO/SO port outputs are reset when executing any of the following operations. •...

  • Page 146: Option Board Related Parameters

    Done output port (DO & SO) ‹IOORGOUT› ■ This parameter sets ports to output the return-to-origin status of each axis. When the number of axes exceeds 8, the next port is used to specify 16 axes maximum. When this parameter is initialized, "0" is set. The return-to-origin status is not output when "0"...
  • Page 147 Parallel IO ID ‹DIOID› ■ This parameter sets allocate order to DIO in numeric value when several parallel I/O boards are inserted. When this parameter is initialized, "1234" is set. The numbers 1 to 4 correspond to the inserted parallel I/O board ID in the option board number order. The board corresponded the number allocates ID to DIO in order from the left.
  • Page 148 Gripper origin sequence ‹GORGORD› ■ This parameter sets the order of return-to-origin for the gripper to decide the motor position. When this parameter is initialized, "1234" is set, and each number is corresponding to the gripper numbers. Return-to-origin operations of the grippers are performed from the left end of the return-to-origin order setting in order. The grippers without setting perform return-to-origin simultaneously at last.
  • Page 149 EtherNet/IP IP address ‹EIPADD› ■ This parameter sets the IP address. When this parameter is initialized, "0.0.0.0" is set. EtherNet/IP subnet mask ‹EIPSUB› ■ This parameter sets the subnet mask. When this parameter is initialized, "0.0.0.0" is set. EtherNet/IP default gateway ‹EIPDEF› ■...

  • Page 150: Prm Skip

    PRM skip This function sets skipping the undefined data of parameter files to load the controller (parameters that the controller is not corresponded) or not. Undefined data in the file will be skipped when the parameter files are loaded with this function “VALID”. This function is not included in the parameter file.

  • Page 151: Area Check Output

    Area check output This performs the area check of the current robot position by defining the point data to the area check output parameter, then the result will be output to the specified port. When the comparison point is set shown as ● below, if the robot tip moves between , output is off in ⇔...

  • Page 152: Initializing Area Check Output

    Valid keys Menu Function Moves the cursor. (Only on EDIT screen) Creates new area check output. Switches between the "insert" and "overwrite" modes alternately. Deletes one character immediately before the cursor position. Deletes one character at the cursor position. Returns to the previous screen. Step 1 Selecting the area check output Step 1...

  • Page 153: Parameter List

    Parameter list There are six parameters for the area check output. ROBOT ■ Select the robot to perform the area check. Setting Meaning INVALID: The area check output is not performed. 1 to 4 Perform the area check output for the robot 1 to 4. PORT TYPE ■...

  • Page 154: Standard Coordinates

    Comparison number 1 <PINT1> ■ Comparison number 2 <PINT2> ■ Sets the points to define the area. Setting range 0 to 29999 Possible point number range to use is P0 to P29999. All the specified axes are the target of the area. When the R-axis is specified, make sure that the R-axis data of comparison point is specified.
  • Page 155 Setting the standard coordinates ■ D i s t a n c e > 1 0 0 m m P [ 2 ] P [ 3 ] P [ 2 ] P [ 1 ] P [ 1 ] P [ 1 ] P [ 2 ] Simple teaching 3-point teaching...

  • Page 156: Setting The Standard Coordinates By Simple Teaching

    Setting the standard coordinates Selecting standard coordinate setting method ■ ■ X-axis offset pulse X-axis arm length Y-axis arm length R-axis offset pulse Y-axis offset pulse Valid keys Menu Function SIMPLE Moves to the screen that allows you to set the standard coordinates by simple teaching. 3POINT Moves to the screen that allows you to set the standard coordinates by 3-point teaching.
  • Page 157 Step 2 Align the first arm and second arm Step 2 Setting the inch amount on the line. Move the first arm and second arm using the Jog key operation or Jog operation in the servo off status to the position where they are aligned, and then press the F4 key (NEXT).

  • Page 158: Setting The Standard Coordinate By 3-Point Teaching

    Setting the standard coordinate by 3-point teaching NOTE Separate the teach points from each other as much as possible. Setting the standard coordinate by 3-point teaching ■ Precondition: All 3 points P[1], P[2] and P[3] must be aligned, with P[2] set at the P [ 2 ] P [ 3 ] P [ 1 ]...

  • Page 159: Setting The Standard Coordinate By 4-Point Teaching

    Step 4 Step 4 Determine the direction from P1 to P3. Inputting the direction from P1 to P3 Use the F1 key (+X) to F4 key (-Y) to determine the direction from P1 to P3. Step 5 Step 5 Input the length from P1 to P3. Inputting the length from P1 to P3 Use 0 to 9 keys and "."...
  • Page 160 Step 1 Setting the standard coordinate Press the F3 key (4POINT) on the Step 1 by 4-point teaching "STD COORD" screen (Edit Standard Coordinates). Step 2 Determine the point P1. Step 2 Setting the inch distance Use the Jog key to move the robot tip to the point P1 and press the F4 key (NEXT) to set the position.

  • Page 161: Setting The Standard Coordinate By Both Handed System Teaching

    Setting the standard coordinate by both handed system teaching NOTE The both handed system teaching is available in the version below. •Host controller (indispensable) : V1.71 or later •Programming box (required for the standard coordinates setting with operating the pendant; PBEX) : V1.16 or later •SCARA-YRCX Studio (required for the standard coordinates setting with operating the support software) : V1.4.2 or later Setting the standard coordinates by both...
  • Page 162 Step 4 Teach the point P1 in the opposite Teach the point P1 in the opposite Step 4 hand system hand system. In the opposite hand system (left <--> right) of the one at Step3, move the robot tip to the point P1' (the same position at Step3), and then press the F4 key (NEXT) to teach the position.

  • Page 163: 10. General Ethernet Por T (Gep) Setting

    NOTE To optimize the precision, be sure to fulfill the following conditions. •The distance between P1 and P2 should be more than 100 mm. •P1 and P2 should not be within a 50 mm radius from rotation center of the first axis of SCARA robot. •Keep 20 mm or more (10 mm or more for the tiny SCARA) between P1/P2 and the working envelope of robot.
  • Page 165 Chapter 5 Controller system settings 1. Overview 2. History 3. Check 4. Property Robot information Option information Clock Version Configuration 5. USB memory operation Saving the data Loading the data 6. Execution level Changing access level 7. Safety setting 8. Initialize Initializing data Setting the clock 9.

  • Page 167: Overview

    Over view To operate the robot, various settings corresponding to the customer's operation are needed. This Chapter describes how to make the various controller settings and display the information. Additionally, system settings other than the robot operation settings are also described. Item Description History...

  • Page 168: Check

    Check When selecting [System] - [Check] from the initial "CHECK" screen ■ screen, the "CHECK" screen will appear. The controller is diagnosed. If an error is detected, relevant message will appear. NOTE Even when the 24 V DC power is not supplied to the option DIO, the alarm always occurs. Proper ty When selecting [System] - [Property] from the initial screen, the property screen will appear.

  • Page 169: Option Information

    Option information "OPTION" screen When pressing the F2 key (OPTION), the "OPTION" ■ screen displays the type and version of the option boards connected to the option slot of the controller. Display Unit name Displays that the option DIO with the NPN DIO_Nm* specifications is installed.

  • Page 170: Configuration

    • If an abnormal process, such as power shutdown occurs while the data is being saved or loaded, the data is not guaranteed. Saving the data The internal data of the controller is saved into the USB memory. The data will be saved into the "OMRON" folder immediately beneath the USB memory. Step 1...

  • Page 171: Loading The Data

    Loading the data The data saved in the USB memory is restored to the internal memory of the controller. It is required to the data to have been saved into the "OMRON" folder immediately beneath the USB memory. Step 1...

  • Page 172: Execution Level

    Execution level The controller can be set to operating levels that permit or prohibit changing programs and point data. Access level Description All operations can be performed. Level 0: Maintainer level To move to this level, a password is required. Only the manual operation and automatic operation can be performed.

  • Page 173: Safety Setting

    Safety setting The safety parameters are set to safely perform the work with the programming box within the movement range (the safety enclosure) of the system using the robot. WARNING • In "Safety setting", changing the settings from their default values is likely to increase hazards to the robot operator during maintenance or operation.

  • Page 174: Initialize

    Initialize When selecting [System] - [Initialize] from the initial "INITIALIZE" screen ■ screen, the "Initialize" screen will appear. On this screen, you can initialize the data managed by the controller. Use the F1 key (ALL DATA) to F11 (CLOCK) to select the item to initialize. Valid keys and submenu descriptions on the "INITIALIZE"...

  • Page 175: Setting The Clock

    Valid keys and submenu descriptions on the "INITIALIZE" screen are shown below. Valid keys Menu Function Initializes all data. Deletes the program data. Deletes the point data. Deletes the point name data. Deletes the shift coordinate data. Deletes the hand definition data. Initializes the parameter data.

  • Page 176: Generation

    • If the system generation is changed by mistake, this may adversely affect the robot operation or cause serious hazard to the operator. When the system generation needs to be changed, contact your distributor. • If the system generation is changed without consulting your distributor, OMRON shall not be held responsible for any trouble arising from this change.

  • Page 177: Chapter 6 Monitor

    Chapter 6 Monitor 1. Overview of function 2. Current position display 3. I/O status display I/O monitor list I/O monitor detail Changing output status 4. Task driving state 5. Current monitor...

  • Page 179: Overview Of Function

    Over view of function This monitor function allows you to display or check the robot current position information, controller I/O status, and task driving state. Use the cursor keys to select [Monitor] from the initial screen, and then press the ENTER key. The monitor hierarchy menu will appear.

  • Page 180: I/O Status Display

    I/O status display The I/O status of the controller is displayed. NOTE Input and output ports that do not exist as hardware are also displayed. I/O status display examples are shown below. ■ Example of bit I/O list display Example of bit I/O detail display Example of word data display * Values are displayed in hexadecimal notation.

  • Page 181: I/O Monitor List

    Valid keys and submenu descriptions on the I/O status display are shown below. Valid keys Menu Function LIST/DETAIL Switches between the I/O list and detail displays. Displays the DI motor. Displays the DO motor. Displays the MO motor. Displays the LO motor. Displays the TO motor.

  • Page 182: I/O Monitor Detail

    I/O monitor detail When pressing the F1 key (DETAIL), the details of the displayed I/O are displayed. The "DETAIL" screen displays the point names registered by the support software. * SIW and SOW detail displays are not available. Input status detail ■...

  • Page 183: Task Driving State

    Task driving state The task driving state can be checked. In the monitor hierarchy, select [Task Driving State] and press the ENTER key to display the task driving state. "TASK STATE" screen ■ 6. Program name 2. Robot setting status 1.

  • Page 184: Current Monitor

    Program name Displays the selected program name. Priority Displays the priority of the selected program. Step Displays the line number at which the program stops. Guide line Displays the contents assigned to the function keys. Message Displays the output of "PRINT" command in the program. Current monitor The current torque to each axis rated torque of the selected robot is displayed.

  • Page 185: Troubleshooting

    Troubleshooting 1. When trouble occurs 2. Acquiring the alarm information Checking the alarm occurrence status Checking the alarm history 3. Troubleshooting checkpoints Installation and power supply Robot operation 4. Alarm messages [ 0] Operation messages [ 1] System events A-10 [ 2] Alarm related to the robot operation A-12 [ 3] Alarm related to the program file operation A-19 [ 4] Alarm related to the data input A-21 [ 5] Alarm related to the syntax of the robot language (compile) A-23 [ 6] Alarm related to the robot language execution...

  • Page 187: When Trouble Occurs

    When trouble occurs Please contact your distributor and report the following items in as much detail as possible. Item Description • Controller model name and serial number example: YRCX • Robot model name and serial number What happened example: R6YXG500 •...

  • Page 188: Acquiring The Alarm Information

    Acquiring the alarm information The controller stores the alarm information in its inside. You can check the current controller error status and past alarm history data. Checking the alarm occurrence status Checking the alarm with the programming box ■ Checking the alarm occurrence status Select [System] - [Check] from the initial screen.

  • Page 189: Troubleshooting Checkpoints

    Troubleshooting checkpoints Installation and power supply Symptom Possible cause Check items Corrective action The controller was not • Power is not supplied. • Check power input terminal • Connect the power input turned on even though • Problem occurred in the connection (L/N/L1/N1).

  • Page 190: Robot Operation

    Robot operation Symptom Possible cause Check items Corrective action Although the controller • Stop signal is in the open • Check the I/O interface • Connect the power input connector stop signal and terminal correctly. turns on, program and status. 24V-power supply •...

  • Page 191: I/O

    Symptom Possible cause Check items Corrective action The command does not • No 24 V DC is supplied. • Check the I/O interface • Supply 24 V DC. work even when the connector stop signal and dedicated input signal is 24V-power supply supplied.

  • Page 192: Alarm Messages

    Alarm messages When an alarm occurs, an alarm code (alarm group number, alarm classification number and occurrence location) and an alarm message) is displayed on the programming box screen. The 7-segment LED on the front of the controller alternately displays "...

  • Page 193: 0] Operation Messages

    Alarm group number list The alarm message is classified into groups [0] to [30] according to the alarm contents. The contents of each group are shown below. Group number Contents [ 0] Operation messages [ 1] System events [ 2] Alarm related to the robot movement range [ 3] Alarm related to the program file operation...
  • Page 194 Alarm classification number list Axis operation Alarm code Type History Reset method Example in case of error display Correct HALT, HOLD, Break point, 1 to 99 Key release Message Restart operation displayed 100 to 199 CPU start Individual Restart 200 to 399 No point Operation operation stop...

  • Page 195: 0] Operation Messages

    [Display format] Group number Alarm code Classification number Alarm message 12.600 : Emergency stop on The group number and classification number of the alarm are expressed in hexadecimal notation. Meaning/Cause Action Shows the measures to reset or avoid the alarm. Shows the alarm meaning and the cause of the alarm occurrence.

  • Page 196: [ 1] System Events

    0.20 : Illegal command in this mode Code : &H0000 &H0014 Meaning/Cause The specified online command cannot be executed in the current mode. Action Change the mode. 0.21 : No control right Code : &H0000 &H0015 Meaning/Cause The operation cannot be executed because of the control setting. Action Change the control setting properly with the programming box.
  • Page 197 : Program ended by "HALT" Code : &H0001 &H0005 Meaning/Cause The program execution was terminated by the "HALT" command. Action − − − : Program stopped by "HOLDALL" Code : &H0001 &H0006 Meaning/Cause The program execution was stopped by the "HOLDALL" command. The stop status is canceled by pressing the RUN key and the program execution restarts from Action the next command.

  • Page 198: 2] Alarm Related To The Robot Operation

    1.100 : CPU normal start Code : &H0001 &H0064 Meaning/Cause Start-up checks and initialization ended and controller operation started normally. Action − − − 1.101 : First Boot Code : &H0001 &H0065 Meaning/Cause SRAM has been initialized during the first boot of controller. Action −...
  • Page 199 2.306 : Movable range cal. failed Code : &H0002 &H0132 a. Preset calculation for the movement path setting is not functioning. Meaning/Cause b. The current position is not within the movement range. a. Change to the correct movement point. Action b.
  • Page 200 2.319 : Cannot move (RIGHTY to LEFTY) Code : &H0002 &H013F The interpolation movement to the target point whose hand system is set to "LEFT" was Meaning/Cause attempted when the hand system is set to "RIGHT" on the SCARA type robots. Action Check the current hand system and hand system flag of the point data.
  • Page 201 2.331 : Circular arc radius too small Code : &H0002 &H014B Meaning/Cause The "MOVE C" command radius is less than 0.1 mm. Action Change the "MOVE C" command to 0.1 mm or more for circular arc radius. 2.332 : Circular arc radius too large Code : &H0002 &H014C Meaning/Cause...
  • Page 202 2.339 : Start position changed by other task Code : &H0002 &H0153 Meaning/Cause The start position was changed by other tasks. Action Check the start position of the target task and change the position as needed. 2.340 : Target position changed by other task Code : &H0002 &H0154 Meaning/Cause...
  • Page 203 2.348 : Over tracking area Code : &H0002 &H015C • The robot cannot be operated since the elements of position monitoring queue specified by Meaning/Cause "CTMOVE" command was out of the work area. • The elements of position monitoring queue in following moved out of the work area. •...
  • Page 204 2.703 : System error (Axis No) Code : &H0002&H02BF Meaning/Cause Error occurred in software. Action Contact your distributor. 2.704 : System error (Arm Type) Code : &H0002&H02C0 Meaning/Cause Error occurred in software. Action Contact your distributor. 2.705 : System error (OPTION) Code : &H0002&H02C1 Meaning/Cause...

  • Page 205: 3] Alarm Related To The Program File Operation

    2.711 : W.carrier collision deadlock Code : &H0002&H02C7 Meaning/Cause Double-carrier became a deadlock state. Action Change the program so that carriers do not wait the partner's movement each other. 2.712 : W.carrier overstroke Code : &H0002&H02C8 Meaning/Cause The target position of Double-carrier exceeds the range of Double-carrier stroke. Change the target position of each carrier so that the target position is smaller than Action Doublecarrier stroke.
  • Page 206 3.203 : Program doesn't exist Code : &H0003 &H00CB Meaning/Cause A registered program of the specified name does not exist. Action Input a program name that is registered. 3.204 : Writing prohibited Code : &H0003 &H00CC Meaning/Cause The specified program is write-protected. Action Make the program not write-protected.

  • Page 207: [ 4] Alarm Related To The Data Input

    3.221 : Reading prohibited Code : &H0003 &H00DD Meaning/Cause The program with the hidden attribute was browsed. Action Make the relevant program readable. 3.237 : Program has been already loaded Code : &H0003 &H00ED Meaning/Cause The program that is already in the executable status was loaded. Action −...
  • Page 208 4.206 : Invalid input number Code : &H0004 &H00CE a. Invalid data was input. Meaning/Cause b. Invalid data was input in the area check output port number. Action Input a port number that can be used 4.208 : Parameter range error Code : &H0004 &H00D0 Meaning/Cause...

  • Page 209: 5] Alarm Related To The Syntax Of The Robot Language (Compile

    4.215 : Real time output number error Code : &H0004 &H00D7 Meaning/Cause Specified real time output number is out of range. Action Input a correct real time output number. [ 5] Alarm related to the syntax of the robot language (compile) 5.201 : Syntax error Code : &H0005 &H00C9...
  • Page 210 5.212 : Stack overflow Code : &H0005 &H00D4 Meaning/Cause The stack area for execution overflowed. • Shorten the expression (for example, by dividing). Action • Reduce nesting of "GOSUB", "CALL" and "FOR to NEXT" statement. • Reduce argument of "CALL" statement. 5.213 : Illegal variable Code : &H0005 &H00D5...
  • Page 211 5.220 : ENDIF without IF Code : &H0005 &H00DC Meaning/Cause There is no "IF" statement corresponding to the "ENDIF" statement. • Delete the "ENDIF" statement. Action • Add IF statement corresponding to the "ENDIF" statement. 5.221 : ELSE without IF Code : &H0005 &H00DD Meaning/Cause...
  • Page 212 5.228 : Duplicated label Code : &H0005 &H00E4 Meaning/Cause The labels were defined with the same name. Action Define the labels with different name. 5.229 : Undefined array Code : &H0005 &H00E5 Meaning/Cause Assignment/reference was made for an undeclared array. Action Declare the array.
  • Page 213 5.236 : Argument mismatch Code : &H0005 &H00EC The number of "SUB" statement arguments does not correspond to that of "CALL" statement Meaning/Cause arguments. Action Make the number of "SUB" statements correspond to that of "CALL" statements. 5.238 : Illegal option Code : &H0005 &H00EE Meaning/Cause...
  • Page 214 5.245 : Illegal program name Code : &H0005 &H00F5 a. When transmitting a program file by "SEND" command, the "NAME" statement was not defined on beginning line of the program data. Meaning/Cause b. Characters other than alphanumeric and " _ " (underscore) were used in the program name. c.
  • Page 215 5.253 : Compile failure Code : &H0005 &H00FD Meaning/Cause An error occurred in software. Action Contact your distributor. 5.254 : ELSEIF without IF Code : &H0005 &H00FE Meaning/Cause There is no "IF" statement corresponding to the "ELSEIF" statement. • Delete the "ELSEIF" statement. Action •...

  • Page 216: 6] Alarm Related To The Robot Language Execution

    [ 6] Alarm related to the robot language execution 6.201 : Illegal command Code : &H0006 &H00C9 Meaning/Cause Non-supported or non-executable command was executed. Action Change to a command that can be executed. 6.202 : Illegal function call Code : &H0006 &H00CA The <expression>...
  • Page 217 6.209 : EXIT SUB without CALL Code : &H0006 &H00D1 Meaning/Cause The "EXIT SUB" command was executed without executing the "CALL" command. Action Confirm the execution of "SUB" command. 6.210 : SUSPEND without START Code : &H0006 &H00D2 Meaning/Cause The "SUSPEND" command was executed for a task not executed by the "START" command. Action Confirm the execution of "START"...
  • Page 218 6.217 : Illegal command in error routine Code : &H0006 &H00D9 Meaning/Cause The command could not be executed within an error processing routine. Action Delete the command. 6.218 : EXIT FOR without FOR Code : &H0006 &H00DA Meaning/Cause The "EXIT FOR" command was executed without executing the "FOR" command. Action Confirm the execution of "FOR"...
  • Page 219 6.229 : Too many PATH data Code : &H0006 &H00E5 Meaning/Cause The number of PATH motion paths exceeded 1000. Reduce the number of PATH motion paths to 1000 or less in total of the "PATH L" and "PATH C" Action commands.
  • Page 220 6.238 : Too many point data Code : &H0006 &H00EE Meaning/Cause More than 32 values of point data are specified for movement command. Action Specify 32 or less values of point data for one movement command line. 6.239 : Illegal PATH task no Code : &H0006 &H00EF The "PATH L", "PATH C", or "PATH END"...
  • Page 221 6.257 : Illegal axis no Code : &H0006 &H0101 Meaning/Cause The specified axis number is out of the range; between 1 and 6. Action Specify an axis number between 1 and 6. 6.258 : Illegal robot no Code : &H0006 &H0102 Meaning/Cause The specified robot number is out of the range;...
  • Page 222 6.265 : Timeout Code : &H0006 &H0109 a. Servo off/free of the axis has not completed. Meaning/Cause b. Mark setting has not completed. c. Servo on/off of the gripper has not completed. a. Check the axis connection. Action b. Check the mark axis connection. c.
  • Page 223 6.282 : Illegal command Moving Code : &H0006 &H011A Meaning/Cause The non-executable online command was executed during axis operation. Action After stopping the axis operation, execute the online system command. 6.283 : Illegal work no Code : &H0006 &H011B Meaning/Cause The specified work number is out of the range;...
  • Page 224 6.312 : ABS. reset position incomplete Code : &H0006 &H0138 Meaning/Cause Absolute reset was executed at a position where the absolute reset cannot be performed. Action Move to a position where the absolute reset can be performed. 6.313 : MRK. motor disconnected Code : &H0006 &H0139 Meaning/Cause...

  • Page 225: [ 9] Alarm Related To The Memor Y

    6.322 : Illegal calibration no Code : &H0006 &H0142 Meaning/Cause The specified calibration number is out of the range; between 0 and 31. Action Specify a calibration number between 0 and 31. 6.323 : Illegal real time output no Code : &H0006 &H0143 Meaning/Cause The specified calibration number is out of the range;...
  • Page 226 9.702 : Point data destroyed Code : &H0009 &H02BE • Part or all of the point data has been destroyed. Meaning/Cause • This error message is sometimes issued due to a major error or the power being turned off during rewriting point data. Action Initialize the point data.
  • Page 227 9.713 : Calibration data destroyed Code : &H0009 &H02C9 Meaning/Cause Part or all of the calibration output has been destroyed. Action Initialize the calibration. 9.714 : Conveyor data destroyed Code : &H0009 &H02CA Meaning/Cause Error occurred in the conveyor calibration data. Action Initialize the conveyor calibration data.
  • Page 228 9.724 : Robot status data destroyed Code : &H0009 &H02D4 Meaning/Cause Part or all of the robot status data has been destroyed. • Initialize the robot status. Action • Reset the standard coordinates in the case of SCARA type robots. 9.725 : Axis status data destroyed Code : &H0009 &H02D5...

  • Page 229: [10] Alarm Related To The Environment And General Hardware

    9.733 : Real time output setting destroyed Code : &H0009 &H02DD Meaning/Cause Part or all of the real time output setting has been destroyed. Action Initialize the real time output setting. 9.734 : Sys. accumulated data destroyed Code : &H0009 &H02DE Meaning/Cause Part or all of the system accumulated data has been destroyed Action...
  • Page 230 10.209 : Cannot set no axis Code : &H000A &H00D1 Meaning/Cause " N o a x i s " w a s s e t o n a n a x i s w h i c h c a n n o t a c c e p t " n o a x i s " s e t t i n g . •...

  • Page 231: [12] Alarm Related To The Option Board

    10.232 : Can't release driver-assign by using Code : &H000A &H00E8 Meaning/Cause The driver registration to release is in use. Action Release the driver registration after deleting the robot setting. 10.233 : Illegal robot configuration Code : &H000A &H00E9 Meaning/Cause The robot configuration is specified incorrect.
  • Page 232 12.100 : EtherNet/IP DHCP enabled Code : &H000C &H0064 Meaning/Cause The DHCP setting of the communication parameter was changed from "INVALID" to "VALID". Action − − − 12.200 : Tracking disabled Code : &H000C &H00C8 a. No tracking board is connected to the option slot. Meaning/Cause b.
  • Page 233 12.207 : Tracking queue element being used Code : &H000C &H00CF Meaning/Cause The "CRMVQUE" command was executed during tracking operation. Action Execute the command after tracking operation has completed. 12.208 : Tracking queue element over run Code : &H000C &H00D0 Meaning/Cause The queue element registered on the position monitoring queue exceeded the monitoring range.
  • Page 234 12.520 : PIO DC24V low voltage Code : &H000C &H0208 a. 24V power is not supplied to the PIO board. Meaning/Cause b. The power voltage supplying to the PIO board has dropped. a. Supply 24V power. Action b. Check if any device with over voltage source capacity is connected or how power supply state is.
  • Page 235 12.552 : EtherNet/IP overtime error Code : &H000C &H0228 a. Communication error occurred by noise, etc. in the EtherNet/IP system. Meaning/Cause b. The master module power is turned off or has stopped operating. c. The cable is broken or unconnected. a.
  • Page 236 12.582 : Counter2 wire breakage Code : &H000C &H0246 The encoder cable connected to the counter 2 is broken. The break detection is available when Meaning/Cause the counter 2 is set to "VALID". • Set the counter status to "INVALID" if the encoder is not connected to the counter 2. Action •...
  • Page 237 12.706 : PIO board I/O stop Code : &H000C &H02C2 a. PIO board power is turned off or has stopped operation. Meaning/Cause b. The PIO board is broken. a. Check if power for the PIO board is supplied normally. Action b.
  • Page 238 12.764 : PROFIBUS initialize error Code : &H000C &H02FC Meaning/Cause Initializing the PROFIBUS option board failed. Action Contact your distributor. 12.765 : PROFINET initialize error Code : &H000C &H02FD Meaning/Cause Initializing the PROFINET option board failed. Action Contact your distributor. 12.900 : Incorrect option setting Code : &H000C &H0384...

  • Page 239: [14] Alarm Related To The Communication

    12.906 : Undefined option board Code : &H000C &H038A Meaning/Cause The installed option board inapplicable. Action Contact your distributor. [14] Alarm related to the communication 14.201 : Communication error Code : &H000E &H00C9 a. Error occurred in the external communication. Meaning/Cause b.
  • Page 240 14.228 : Illegal port type Code : &H000E &H00E4 Meaning/Cause The communication port is not specified. Action Contact your distributor. 14.229 : Command stop timeout Code : &H000E &H00E5 Meaning/Cause Timeout occurred during sending/receiving through the communication port. • Check the communication port settings. Action •...

  • Page 241: [17] Alarm Related To The Motor Control

    14.500 : Data send error Code : &H000E &H0190 Meaning/Cause Error occurred on the external communication by RS-232C during sending. Action Check the communication parameter settings. 14.501 : Data receive error Code : &H000E &H01F5 Meaning/Cause Error occurred on the external communication by RS-232C during receiving. Action Check the communication parameter settings.
  • Page 242 17.401 : Pole search error Code : &H0011 &H0191 The motor magnetic pole was not detected when the servo was turned on. a. The servo wire is broken or incorrectly connected. Meaning/Cause b. The position sensor cable is incorrectly wired. c.
  • Page 243 17.412 : ABS. count error Code : &H0011 &H019C Meaning/Cause The movement speed is too high during the controller power-off. Action Perform absolute reset. 17.413 : ABS. overflow error Code : &H0011 &H019D Meaning/Cause The number of motor rotation exceeded 4096 during the controller power-off. •...
  • Page 244 17.801 : Driver overload Code : &H0011 &H0321 a. The robot drive section mechanically locked. b. The motor current exceeded its rated value due to a motor overload. c. The motor acceleration is excessive. d. The system generation setting is incorrect. Meaning/Cause e.
  • Page 245 17.905 : Resolver wire breakage Code : &H0011 &H0389 a. The resolver signal wire is broken. Meaning/Cause b. The motor malfunction occurred. c. The controller malfunction occurred. a. Replace the ROB I/O cable. Action b. Replace the motor. c. Replace the controller. 17.906 : ABS.
  • Page 246 17.913 : Dual position deviation error Code : &H0011 &H0391 On a dual-drive axis, the position differential between the main axis and sub axis is too large. Meaning/Cause a. Friction in the robot drive section is too large. b. The motor brake wiring is broken. a.
  • Page 247 17.922 : Command error Code : &H0011 &H039A a. The driver unit malfunctioned by external noise. Meaning/Cause b. The controller is defective. a. Turn the power off and then on again. Action b. Contact your distributor. 17.923 : Parameter data error Code : &H0011 &H039B a.

  • Page 248: [19] Alarm Related To The Yc-Link/E

    17.996 : Mode error 1 Code : &H0011 &H03E4 Meaning/Cause Error occurred in software for driver unit. Action Contact your distributor. 17.997 : Mode error 2 Code : &H0011 &H03E5 Meaning/Cause Error occurred in software for driver unit. Action Contact your distributor. 17.999 : Undefined Code : &H0011 &H03E7...
  • Page 249 19.800 : YC/E send data checksum error Code : &H0013 &H0320 Meaning/Cause The checksum error occurred in the data sent from the YC-Link/E master. • Check the cable connection. • Replace the cable. Action • Take noise preventive measures. • Replace the controller. 19.801 : YC/E receive data checksum error Code : &H0013 &H0321...
  • Page 250 19.903 : YC/E master data receive fail Code : &H0013 &H0387 The return of the data packet sent from the master board of the YC-Link/E could not be Meaning/Cause received for a certain period of time. • Check the LAN cable for disconnection. Action •...

  • Page 251: [21] Serious Alarm Related To Software

    19.920 : YC/E master slave loose connection Code : &H0013 &H0398 Meaning/Cause The connection between the master and slave of the YC-Link/E has broken. • Check the cable connection. • Replace the cable. Action • Take noise preventive measures. • Replace the controller. 19.993 : YC/E master fatal error Code : &H0013 &H03E1...

  • Page 252: [22] Serious Alarm Related To Hardware

    [22] Serious alarm related to hardware 22.504 : Abnormal drop in voltage Code : &H0016 &H01F8 a. Output voltage for motor power supply dropped below 140V. b. Power supply has insufficient capacity. Meaning/Cause c. The vertical axes electromagnetic brake is defective. d.
  • Page 253 22.516 : Controller over heat Code : &H0016 &H0204 Meaning/Cause The environmental temperature inside the controller increased to approximately 60 °C or more. • Improve the installation environment. Action • Check that the cooling fan operates correctly. • Replace the controller. 22.600 : Motor power off Code : &H0016 &H0258...

  • Page 254: [26] Alarm Related To The Gripper

    22.901 : CT type mismatch Code : &H0016 &H0385 Meaning/Cause The correct current sensor controller is not used for the set robot. Action Replace the current sensor controller with a correct one. 22.902 : Position sensor type mismatch Code : &H0016 &H0386 Meaning/Cause The correct position sensor is not set for the set robot correctly.
  • Page 255 26.98 : Gripper overlap assign Code : &H001A &H0062 a. A different gripper in an option slot for which generation settings were already made was registered. Meaning/Cause b. A different option slot to a gripper for which generation settings were already made was assigned.
  • Page 256 26.396 : Gripper cannot get error Code : &H001A &H018C Meaning/Cause Obtaining an error generated by the gripper itself failed. Action Contact your distributor. 26.397 : Gripper disconnected Code : &H001A &H018D a. The specified gripper is not connected. Meaning/Cause b.
  • Page 257 26.612 : Gripper over voltage Code : &H001A &H0264 The 24 V DC power supply voltage is greater than 130% of the rated value. Meaning/Cause a. Power supply voltage increased due to regeneration b. The DC24V power supply voltage is incorrect. a.

  • Page 258: [28] Alarm Related To The Driver I/F

    26.807 : Gripper internal fault Code : &H001A &H0327 Meaning/Cause Error occurred within the gripper control board. Action Contact your distributor. 26.809 : Gripper watchdog error Code : &H001A &H0329 Meaning/Cause The software input a runaway state due to external noise. Action Contact your distributor.
  • Page 259 28.902 : DMA transfer timeout Code : &H001C &H0386 Meaning/Cause Time-out occurred in the communication process between the CPU unit and driver unit. Action Contact your distributor. 28.903 : Driver interrupt timeout Code : &H001C &H0387 Meaning/Cause Time-out occurred in the communication process between the CPU unit and driver unit. Action Contact your distributor.

  • Page 260: Warning Number

    Warning number The 7-segment LED on the front of the controller displays “ ” for 2 seconds when a warning + warning number occurs. After that, warning numbers and normal display are displayed alternately at 1-second intervals. Warning Axis operation Type History Reset method...
  • Page 261 : Driver overload Meaning/Cause The driver was overloaded. Alarm might occur. Action Reduce the load to the driver. : Motor over current Meaning/Cause The motor drew excessive current. Alarm might occur. Action Reduce the load to the motor. : Absolute batter y low voltage Meaning/Cause The ABS battery voltage was 3.1 V or less.

  • Page 262: Alarm Messages Related To The Programming Box

    Alarm messages related to the programming box If a hardware or software error occurs in the programming box, relevant message appears on the screen. NO PANEL DATA Meaning/Cause : Screen data could not be downloaded during upgrading. Action : Perform the upgrading again. Receiving Error.
  • Page 263 Revision histor y A manual revision code appears as a suffix to the catalog number on the front cover manual. Cat. No. I233E-EN-03 Revision code The following table outlines the changes made to the manual during each revision. Revision code Date Description June 2016...

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