Preparations For Tracking System Use - Omron SCARA YRCX Series User Manual

2.

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.
Install the controller.
• Connect the cables and connectors.
• Ground the controller.
• Create an emergency stop circuit.
Specify station number and baud rate settings, etc., which are
required when equipped with a serial I/O board.
(Settings vary according to the serial I/O board type used.)
Verify that the wiring and power supply voltage are correct, then turn the power on.
Verify no alarms have been activated after the power was turned on (operation check).
Verify the robot Verify that the robot type specified at the robot controller
type matches the type of robot actually being used.
Specify the following settings
to optimize robot operation.
• Tip weight
* For Multi robots and axes specified
Parameter
as additional, set the "Axis tip weight".
settings
• Soft limits
* A return-to-origin must first be
performed if the soft limit positions
are to be specified by jog movement.
* These parameters must always be specified when using the robot for the
first time. Afterward, set the parameters as necessary.
Return-to-origin Perform return-to-origin, and teach the origin position.
This must be performed at first use.
Subsequently, perform it in the following cases.
• For incremental axis: Before turning on the power and starting robot
operation, or if the origin point becomes indeterminate (origin incomplete).
• For absolute axis: When the origin point becomes indeterminate (origin incomplete).
Specify the standard coordinates (XY coordinate system with the X-axis rotation
center set as the origin).
Parameter Set the parameters according to
setting the operation conditions.
Point data
Create or edit the point data according to the robot operation.
editing
Create programs according to
Programming
the robot operation.
Verify that safety devices such as the emergency stop circuit, etc., are functioning properly.
Perform a trial run by step operation, etc., and
make any necessary adjustments.
Start operation.
Dedicated procedures required when using the Tracking System.
Standard procedures when using the YRCX controller.
(These procedures are required even when using the Tracking System.)
Basic procedures
Connect the cables and
connectors.
Robot controller connection
settings
Various parameter settings
Conveyor calibration
Create programs using
dedicated commands.
Use the monitor function.
Use the monitor function.
Refer to:
3.1 Wiring
3.3 Verifying the robot controller settings
4.2 Parameter settings
5. Conveyor calibration
* Perform for all the robots to be used
in conveyor tracking.
7. Robot language commands
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