Omron SCARA YRCX Series User Manual
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Omron SCARA YRCX Series User Manual

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  • Page 3: Table Of Contents

    CONTENTS Tracking System User’s Manual Introduction Safety cautions and marks 1. Warranty 1. Overview 1.1 Features and functions 1.2 System configuration 1.2.1 Tracking System configuration 1.2.2 Robot configuration when using the Tracking System 1.3 Component names and functions 1.4 Required items 2. Preparations for Tracking System use 3. Connections 3.1 Wiring 3.1.1 Wiring the AB phase input connector 3.1.2 Wiring the optional AB phase input cable (Type: KX0-M66AF-00)
  • Page 4 CONTENTS 7.3 Robot language command details 7.3.1 CADDIST 7.3.2 CADDQUE 7.3.3 CADDQUEV (Reserved) 7.3.4 CADDRSLT 7.3.5 CCHKQUE 7.3.6 CCLRRBT 7.3.7 CCOND 7.3.8 CGETPULS 7.3.9 CGETQUE 7.3.10 CGETRATE 7.3.11 CGETTAG 7.3.12 CGETVELX 7.3.13 CGETVELY 7.3.14 CQUECNT 7.3.15 CRMVQUE 7.3.16 CRSTPULS 7.3.17 CSETTAG 7.3.18 CTDRIVE 7.3.19 CTMOVE 7.3.20 CTRKEMGN...

  • Page 5: Introduction

    Introduction Thank you for purchasing the Tracking System OMRON Robot Controller. Please read this manual carefully before using the Tracking System in order to ensure correct and safe operation. Store this manual where it can be easily accessed for reference, and make sure that it is delivered to the end user.

  • Page 6: Safety Cautions And Marks

    Safety cautions and marks This manual uses the symbol marks shown below to indicate safety instructions which must be heeded, and to specify handling cautions, prohibitions, instructions, and important procedural points, etc. Please familiarize yourself with the meanings of these symbols before reading the manual. This indicates an immediately hazardous situation which, if not avoided, will result in death or DANGER serious injury.

  • Page 7: Warranty

    THE PRODUCTS, WETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR...

  • Page 9: Overview

    Over view Features and functions The OMRON robot controller "Tracking System" is a dedicated board that is installed in the YRCX robot controller to track the conveyor based on counter information obtained from the conveyor’s encoder. By using this system, the preliminary man-hours required for the robot to handle a workpiece can be greatly reduced.

  • Page 10: System Configuration

    System configuration 1.2.1 Tracking System configuration The Tracking System enables a system configuration like that shown below. System configuration illustration (Example) Programming box YRCX Tracking board Encoder Robot * Connections to the STD.DIO, ACIN, and SAFETY connectors are not shown in the above illustration.

  • Page 11: Robot Configuration When Using The Tracking System

    1.2.2 Robot configuration when using the Tracking System Robot configuration when using the Tracking System ■ The axis configuration of the robot using the Tracking System is limited. Although a robot purchased for use with a Tracking System can be used without modification, the robot axis configuration must be confirmed if adding a Tracking System to an existing robot.

  • Page 12: Required Items

    Required items The following items are required for conveyor tracking. YRCX tracking board The tracking board is used to add the conveyor tracking function to the YRCX robot controller. [Tracking board accessories] AB phase input cable connector Type: KX0-M657L-20 1 piece AB phase input cable connector case Set type: KX0-M657K-20 Type: KX0-M657M-20...

  • Page 13: Preparations For Tracking System Use

    Preparations for Tracking System use This section explains the basic preparation procedures from the point when the Tracking System is purchased, until it is operated. The preparation items are as shown in the illustration below. Refer to the relevant user’s manuals for information regarding robot operation and regarding subjects other than the installation, operation, and adjustment procedures inherent to the Tracking System.

  • Page 14: Connections

    Connections Wiring DANGER Always turn the power for the entire system off before starting wiring work. Failing to do so could result in electrical shocks. 3.1.1 Wiring the AB phase input connector Wire the AB phase input cable connector as shown in the following signal table. NOTE This step is not required when using the optional AB phase input cable.

  • Page 15: Wiring The Optional Ab Phase Input Cable (Type: Kx0-M66Af-00)

    3.1.2 Wiring the optional AB phase input cable (Type: KX0-M66AF-00) As shown in the illustration below, there is no connector at the end which connects to the encoder. This connector must be prepared by the user. Wiring preparation work is required ENC1 The cable core wires and their corresponding signals are shown in the table below.

  • Page 16: Disconnecting The Ab Phase Input Cable Connector

    3.2.2 Disconnecting the AB phase input cable connector To disconnect the AB phase input cable connector, press the cable connector's snap-on lock areas (see illustration below), then pull the connector straight out of the connector port. Snap-on lock areas Verifying the robot controller settings Mounting of the tracking board in the robot "OPTION"...

  • Page 17: Parameter

    Parameter Parameter list The following parameters are set for the tracking board. Default Name Identifier Setting range Units Restart setting Conveyor velocity coef. CVELCOE1 / CVELCOE2 0 to 10000 Not required (conveyor 1 / conveyor 2) Tracking Start Margin TRKSMGN1 / TRKSMGN2 0 to 10000 Not required (conveyor 1 / conveyor 2)

  • Page 18: Parameter Details

    Parameter details Conveyor velocity coefficient (conveyor 1 / conveyor 2) ‹CVELCOE1 / CVELCOE2› ■ If the robot’s follow-up of a workpiece on the conveyor is delayed, this parameter is used to compensate that delay. Set the coefficient for compensating the robot follow-up position in % units. The follow-up position compensation amount (distance) is as follows.
  • Page 19 [Setting example] To start follow-up operation 50 mm before entering the working area at conveyor speed of 100 [mm/sec] (0.1 [mm/ms]): Before setting After setting Tracking start margin 0 [ms] 500 [ms] Position judged as Upstream position 50 [mm] before upstream position follow-able Upstream Downstream...

  • Page 20: Conveyor Calibration

    Tracking position adjust (conveyor 1 / conveyor 2) ‹TRKPADJ1 / TRKPADJ2› ■ This parameter compensates delay of robot follow-up for the workpiece flowing on the conveyor. The compensation distance is specified in 0.001 mm units. The compensation amount is adjustment of tracking position in the conveyor flowing direction. Setting range is between -9999999 and 9999999.
  • Page 21 With conveyor calibration, the tip of the robot is moved to the fiducial marks arranged on the conveyer. Fiducial marks should be prepared so that the position in relation to the robot tip can be confirmed easily. For the robot tip, use items that can be easily recognized (robot tool tip or jig with distinct tip, etc.) when confirming the position in relation to the fiducial marks.

  • Page 22: Interactive Conveyor Calibration Setting Method

    Interactive conveyor calibration setting method Step 1 Open the "Calibration" screen. Step 1 "Calibration" screen Select "Edit" - "Calibration" from the main screen. Step 2 Press the F3 key (CNVWIZ). Step 3 Press the F2 key (NONE). Step 3 Selecting NONE (no camera)
  • Page 23 Step 4 Input the number of the robot to be Step 4 Inputting the robot number calibrated, and press the F4 key (NEXT). Step 5 Input the number of the conveyor Step 5 Inputting the conveyor number to calibrate, and press the F4 key (NEXT).
  • Page 24 Step 7 Run the conveyor and move the Moving the fiducial marks Step 7 fiducial mark to the upstream Working area position of the working area. (robot tracking area) Then, press the F4 key (NEXT). Run the conveyor (to move the fiducial marks) Conveyor flow direction Upstream position...
  • Page 25 Step 9 Run the conveyor and move the Moving the fiducial marks Step 9 fiducial mark to the downstream Working area position of the working area. (robot tracking area) Then, press the F4 key (NEXT). Run the conveyor (to move the fiducial marks) Conveyor flow direction Upstream position...
  • Page 26 Step 12 Input the number of the robot to Step 12 Inputting the robot number be calibrated, and press the F4 key (NEXT). Step 13 Run the conveyor and move the Step 13 fiducial mark to the upstream Moving the fiducial marks position of the working area.
  • Page 27 Step 16 Move the tip of the robot to be Step 16 Moving the robot to fiducial mark position calibrated to the fiducial mark position and press the F4 key (NEXT). WARNING • The robot will move when the jog keys are pressed.

  • Page 28: Editing Conveyor Calibration Data

    Editing conveyor calibration data The conveyor calibration data editing method is given below. NOTE The conveyor calibrated with Counter 1 is called "Conveyor 1", and the conveyor calibrated with Counter 2 is called "Conveyor 2". Step 1 Open the "Calibration" screen. Step 1 "Calibration"...

  • Page 29: Tracking Monitor

    Tracking Monitor The status of the conveyor tracking function can be confirmed. Select [Tracking Monitor] and press the Enter key in the monitor level to open the "Tracking Monitor" screen. "Tracking Monitor" screen ■ 1. Robot number 2. Coordinate system 3.

  • Page 30: Robot Language Commands

    Robot language commands This section explains the Tracking System's dedicated robot language commands. Always refer to the YRCX Programming Manual when performing programming operations. NOTE • The operand in the (shaded section) of the robot language explanation indicates that it can be omitted. •...

  • Page 31: Position Monitoring Queue And Queue Element

    Description Language Type Online command Format Deletes a queue element from the position monitoring queue. CRMVQUE Command CRMVQUE[robot number](counter number, queue element number) Resets the counter pulse value. CRSTPULS Command CRSTPULS counter number Changes the queue element tag of the position monitoring queue. CSETTAG Command CSETTAG[robot number](counter number, queue element number) = Tag...

  • Page 32: Adding Queue Elements

    The position data saved in the queue element is constantly monitored. It is updated according to the changes in the conveyor’s counter value. There is one position monitoring queue each for Conveyor 1 and Conveyor 2. Up to 80 queue elements can be stored in each position monitoring queue. 7.2.1 Adding queue elements The queue elements are added to the position monitoring queue with the "CADDQUE"...

  • Page 33: Deleting Robot Position Data From Queue Elements

    Target queue element Robot 1 Target queue element #1 of robot 1 position data Robot 1 Robot 2 Target queue element #0 of robot 1 and Queue elements position data position data target queue element #1 of robot 2 Robot 2 Target queue element #1 of robot 2 position data Position monitoring queue...

  • Page 34: Caddque

    Description This command changes the judgment area distance (unit: 0.001 mm) that is specified by the counter number. If this command is executed, the option parameter "Tracking CADDQUE Distance" value will be changed. Explanation <Counter number> Specifies the counter number of the conveyor for which the judgment area distance is to be changed. Either 1 or 2 can be specified.
  • Page 35 NOTE Use the "CADDQUEV" command to add an iVY2 search result as a queue element. CADDQUE Judgment area distance option Queue elements already registered in the position monitoring queue with CADDQUE <Judgment area distance> Point being newly registered in the position monitoring queue with CADDQUE Since the point, which has already been registered, is included in the judgment area, this point is judged as double-registration...

  • Page 36: Caddquev (Reserved)

    7.3.3 CADDQUEV (Reser ved) ● Command CADDQUEV[robot number](task number) counter number, coordinate data, D = Judgment area distance, CADDQUEV TG = Tag RFG = [target robot number,…] Adds a queue element of the iVY2 search results to the end of the position monitoring queue. Description This command adds the iVY2 search results as a queue element to the position monitoring queue.

  • Page 37: Caddrslt

    <Coordinate data> Specifies the position data saved in the queue element by using the coordinate data. Either a point number or a function using the point data as a return value (ex. VGETPOS) must be specified for the coordinate data. The data must be use a [mm] unit. <Judgment area distance>...

  • Page 38: Cchkque

    7.3.5 CCHKQUE l Function CCHKQUE CCHKQUE[robot number](counter number, queue element number) Confirms where a queue element in the position monitoring queue is located in relation to the working area. Description This function checks the status of a queue element in the position monitoring queue. A queue element in the position monitoring queue is specified using the robot number, counter number, and queue element number, and the position of the queue element relative to the working area is confirmed.

  • Page 39: Cclrrbt

    7.3.6 CCLRRBT l Command CCLRRBT CCLRRBT[robot number](counter number, queue element number) Clears the robot position data from the position monitoring queue elements. Description This command clears the robot position data from the position monitoring queue elements. The specified robot position data from the position monitoring queue elements specified by the robot number, counter number, or queue number is deleted.

  • Page 40: Cgetpuls

    l Function CCOND CCOND(counter number) Obtains the valid/invalid state of the counter. Description This function obtains the valid/invalid status of the tracking board counter. The counter status is obtained as 0: Invalid or 1: Valid. Explanation <Counter number> Specifies the counter number of the conveyor for which the counter status is to be obtained. Either 1 or 2 can be specified.

  • Page 41: Cgetrate

    7.3.10 CGETRATE l Function CGETRATE CGETRATE(counter number) Obtains the counter speed. Description This function obtains the specified counter speed (unit: pulse/10 ms). Explanation <Counter number> Specifies the counter number for the conveyor to obtain the speed. Either 1 or 2 can be specified. This can also be specified by a variable. 7.3.11 CGETTAG l Function...

  • Page 42: Cgetvely

    Resolving the conveyor speed in X and Y-direction on the robot Cartesian coordinates CGETVELX (Obtains the speed in X-direction) Conveyor flow direction X-direction on the robot Cartesian coordinates Conveyor speed Speed in X-direction obtained by "CGETVELX" Resolving the conveyor speed in X and Y-direction Y-direction on the robot on the robot Cartesian coordinates Cartesian coordinates...

  • Page 43: Cquecnt

    7.3.14 CQUECNT l Function CQUECNT CQUECNT(counter number) Obtains the quantity of queue elements in the position monitoring queue. Description This function obtains the number of queue elements added to the position monitoring queue. The number of queue elements added to the position monitoring queue specified with the counter number is obtained. Explanation <Counter number>...

  • Page 44: Crstpuls

    <Queue element number> Specifies the queue element number for the position monitoring queue. One value between 0 and (CQUECNT-1) can be specified. This can also be specified by a variable. The queue element numbers are counted in the order that they were added to the position monitoring queue. However, only the target queue elements (the queue elements including robot position data specified by the robot number among the position monitoring queue elements) are counted.
  • Page 45 Description This command changes the follow-up height of a robot in the conveyor follow-up state. The operation to change the position of the specified robot’s Z-axis to the follow-up height is executed. This command can be executed in a robot that is in the conveyor follow-up state with the CTMOVE command. Note that it cannot be executed for a robot that does not have a Z-axis.

  • Page 46: Ctmove

    7.3.19 CTMOVE l Command CTMOVE CTMOVE[robot number](counter number, queue element number), option, option,… Starts the conveyor follow-up operation. Description This command executes the robot conveyor follow-up operation. A queue element in the position monitoring queue is specified using the robot number, counter number, and queue element number, and the robot follow-up operation will take place to the position of that queue element.
  • Page 47 <Queue element number> Specifies the queue element number for the position monitoring queue. One value between 0 and (CQUECNT-1) can be specified. This can also be specified by a variable. Specifies the queue element number for the position monitoring queue. One value between 0 and (CQUECNT-1) can be specified.

  • Page 48: Ctrkemgn

    NOTE • The follow-up height and arch motion setting can be specified simultaneously. • If only the arch motion is set, the Z-axis will move to the same position as where CTMOVE was started in step 4 above. • If the follow-up height and arch motion setting are specified simultaneously, the Z-axis will move to the follow-up height specified in step 4 above.

  • Page 49: Ctrkpadj

    l Function CTRKEMGN CTRKEMGN[robot number](counter number) Obtains the tracking end margin. Description This function obtains the tracking end margin (unit: ms) specified by the robot number and counter number. Explanation <Robot number> Specifies the robot number for which the tracking end margin is obtained. This can also be specified by a variable.

  • Page 50: Ctrksmgn

    7.3.22 CTRKSMGN l Command CTRKSMGN CTRKSMGN[robot number](counter number) = setting value Changes the tracking start margin. Description This command changes the tracking start margin (unit: ms) specified by the robot number and counter number. When this command is executed, tracking start margin of the tracking parameter is changed. Explanation <Robot number>...

  • Page 51: Ctvision (Reserved)

    7.3.24 CTVISION (Reser ved) ● Command CTVISION CTVISION |ON/OFF|[task number](counter number) Switches whether or not to use iVY2 with conveyor tracking. Description This command switches whether or not to use iVY2 with conveyor tracking. When this command is executed, the queue element position data becomes data where the counter pulse variation amount is compensated from the iVY2 capture point to when the queue element is added.

  • Page 52: Sample Programs

    <Setting value> Specifies the conveyor velocity coefficient (unit: %). This can also be specified by a variable. l Function CVELCOEF CVELCOEF[robot number](counter number) Obtains the conveyor velocity coefficient. Description This function obtains the conveyor velocity coefficient (unit: %). specified by the robot number and counter number. Explanation <Robot number>...
  • Page 53 l Others • One robot (robot 1) is used. • The conveyor counter number is 1. • The workpieces are lined, have interval and flown in the same direction. • The main program and search task for tracking are written in separate program and operated by separate task. •...
  • Page 54 Sample program ■ Tracking operation main program Program name: TRK_MAIN ON ERROR GOTO *ERROR_CHECK1 CCOND ON(1) ..............Validate Counter 1 MOVE P, P13, Z=0.0 ............Perform arch motion movement to waiting position START <WORK_INSERT>,T2 ..........Start the workpiece detection task *CONVEYOR: ..............
  • Page 55 Workpiece detection task Program: WORK_INSERT *INSERT: ................Label definition (workpiece detection) WAIT DI(20) = 0 ............... Wait for the workpiece has passed (no workpiece is detected) WAIT DI(20) = 1 ............... Perform workpiece detection If workpiece is detected CADDQUE 1,P0 ..............Set the "Tracking CADDQUE Distance" parameter value to the judgment area distance and add to the position monitoring queue GOTO *INSERT ..............

  • Page 56: Troubleshooting

    Troubleshooting Alarm messages This section explains the Tracking System alarm messages. For details concerning other alarms, refer to the user's manual for the robot controller being used. If an alarm occurs, relevant alarm message appears on the screen of the programming box. For details about contents of each alarm message, see the list.
  • Page 57 Alarm occurrence location list ■ Task *… Task number Startup, memory check, generation Online command Remote command Sequence program Standard input Controller *… Controller number Option board C*O* *… Controller number, option slot number Robot, axis R*/R*A* *… Robot number, axis number Physical motor M*/C*M* *…...
  • Page 58 2.708 : System error (Tracking) Code : &H0002&H02C4 Meaning/Cause Error occurred in software. Action Contact your distributor. [ 9] Alarm related to the memor y 9.714 : Conveyor data destroyed Code : &H0009 &H02CA Meaning/Cause Error occurred in the conveyor calibration data. Action Initialize the conveyor calibration data.
  • Page 59 12.204 : Tracking counter number error Code : &H000C &H00CC Meaning/Cause The specified counter number was neither 1 nor 2. Action Specify the correct value. 12.205 : Tracking queue element number error Code : &H000C &H00CD The position monitor queue element number that is out of specifiable range was specified. Meaning/Cause Between 0 and 79 can be specified.

  • Page 60: When Trouble Occurs

    When trouble occurs Please contact your distributor with details of the problem that occurs. 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 example: R6YXG500 What happened •...

  • Page 61: Troubleshooting

    Troubleshooting If trouble occurs with the tracking board, check the following items and take appropriate actions. Symptom The encoder does not count. • The AB phase input cable is not connected correctly. Cause • The tracking board counter status is not set to ON. •...
  • Page 64 Revision histor y A manual revision code appears as a suffix to the catalog number on the front cover manual. Cat. No. I249E-EN-01 Revision code The following table outlines the changes made to the manual during each revision. Manual version Issue date Description August 2016...

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