Page 3: Table Of Contents
General Contents Safety Instructions 1. Safety Information 2. Signal words used in this manual 3. Warning labels Warning labels ……………………………………………………………………………… S-3 3.1.1 Warning label messages on robot and controller ……………………………………………………… S-3 3.1.2 Supplied warning labels ………………………………………………………………………………… S-6 Warning symbols …………………………………………………………………………… S-7 4.
Page 4 Introduction About this manual …………………………………………………………………………………… i Programming box display illustration shown in this manual ……………………………………… i Overview of the YRC series Before using the robot controller (Be sure to read the following notes) Chapter 1 Using the robot safely 1. Freeing a person caught by the robot 2.
Page 5 5. Mode coniguration 2-12 Basic modes ……………………………………………………………………………… 2-12 Other modes ……………………………………………………………………………… 2-13 Selecting mode hierarchy ……………………………………………………………… 2-13 6. MONITOR mode 2-19 Chapter 3 AUTO mode 1. AUTO mode 2. Automatic operation 3. Stopping the program 4. Resetting the program 5. Switching task display 6.
Page 6 Chapter 4 PROGRAM mode 1. PROGRAM mode 2. Scrolling a program listing 3. Program editing Cursor movement ………………………………………………………………………… 4-4 Insert/overwrite cursor switching ………………………………………………………… 4-5 Inserting a line ……………………………………………………………………………… 4-6 Deleting a character ……………………………………………………………………… 4-6 Deleting a line ……………………………………………………………………………… 4-6 User function key display ………………………………………………………………… 4-6 Quitting program editing …………………………………………………………………...
Page 7 Chapter 5 MANUAL mode 1. MANUAL mode 2. Manual movement Manual movement when return-to-origin has been completed ………………………… 5-4 When return-to-origin is not complete …………………………………………………… 5-7 3. Displaying and editing point data Point data input and editing …………………………………………………………… 5-11 Point data input by teaching …………………………………………………………… 5-13 Point data input by direct teaching ……………………………………………………...
Page 8 7. Displaying, editing and setting hand deinitions 5-41 7.1 Editing hand deinitions ………………………………………………………………… 5-43 7.2 Hand deinition setting for a hand attached to the 2nd arm ………………………… 5-44 8. Changing the display units 5-46 9. Return-to-origin 5-47 Return-to-origin operation ……………………………………………………………… 5-47 Return-to-origin procedure …………………………………………………………… 5-49 10. Absolute reset 5-50 10.1 Checking absolute reset ………………………………………………………………… 5-51 10.2 Absolute reset on each axis ……………………………………………………………… 5-53 10.2.1 When the mark method is used for return-to-origin ……………………………………………………5-53 10.2.2 When the stroke end or sensor method is used for return-to-origin ……………………………………5-56 10.3...
Page 9 3. Enabling/disabling the sequence execution lag 4. Arm type 5. Resetting the output ports 6. Execution level Changing the execution level ……………………………………………………………… 7-6 Displaying the help message ……………………………………………………………… 7-6 7. Access level (operation level) Changing the access level ………………………………………………………………… 7-7 Displaying the help message ……………………………………………………………… 7-8 Troubleshooting 1.
Page 11: Safety Instructions
Safety Instructions Contents Safety Information Signal words used in this manual Warning labels Warning labels 3.1.1 Warning label messages on robot and controller 3.1.2 Supplied warning labels Warning symbols Major precautions for each stage of use Precautions for using robots and controllers Design 4.2.1 Precautions for robots...
Page 13: Safety Information
Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure safe and correct use of OMRON industrial robots and controllers, carefully read and comply with the safety instructions and precautions in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the robot and controller, and also may cause personal injury (to installation personnel, robot operator or service personnel) including fatal accidents.
Page 14: Signal Words Used In This Manual
Signal words used in this manual This manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand the meaning of each symbol and signal word and then read this manual. DANGER ThIS INDICATES AN IMMEDIATEly hAzARDOUS SITUATION WhICh, IF NOT AvOIDED, WIll RESUlT IN DEATh OR SERIOUS INJURy.
Page 15: Warning Labels
Warning labels Warning labels shown below are attached to the robot body and controller to alert the operator to potential hazards. To ensure correct use, read the warning labels and comply with the instructions. Warning labels WARNING IF WARNINg lABElS ARE REMOvED OR DIFFICUlT TO SEE, ThEN ThE NECESSARy PRECAUTIONS MAy NOT BE TaKEn, rESUlTing in an aCidEnT.
Page 16 Warning label 3 (SCARA robots) WARNING IMPROPER INSTAllATION OR OPERATION MAy CAUSE SERIOUS INJURy. BEFORE INSTAllINg OR OPERATINg ThE ROBOT, READ ThE MANUAl AND INSTRUCTIONS ON ThE WARNINg lABElS AND UNDERSTAND ThE CONTENTS. Instructions on this label • be sure to read the warning label and this manual carefully to make you completely understand the contents before attempting installation and operation of the robot.
Page 17 "Read instruction manual" label (Controller)* * This label is attached to the front panel. CAUTION Refer to the manual. Instructions on this label This indicates important information that you must know and is described in the manual. Before using the controller, be sure to read the manual 取扱説明書参照...
Page 18: Supplied Warning Labels
3.1.2 Supplied warning labels Some warning labels are not affixed to robots but included in the packing box. These warning labels should be affixed to an easy-to-see location. Warning label is attached to the robot body. Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the safety enclosure.
Page 19: Warning Symbols
Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential hazards. To use the OMRON robot safely and correctly always follow the instructions and cautions indicated by the symbols. Electrical shock hazard symbol WARNING ToUChing ThE TErminal bloCK or ConnECTor may CaUSE ElECTriCal ShoCK, So USE CaUTion.
Page 20: Major Precautions For Each Stage Of Use
Precautions for using robots and controllers general precautions for using robots and controllers are described below. Applications where robots cannot be used OMRON robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the following applications. DANGER OMRON ROBOT CONTROllERS AND ROBOTS ARE DESIgNED AS gENERAl-PURPOSE INDUSTRIAl EqUIPMENT AND CANNOT BE USED FOR ThE FOllOWINg APPlICATIONS.
Page 21: Design
Design 4.2.1 Precautions for robots Restricting the robot moving speed WARNING RESTRICTION ON ThE ROBOT MOvINg SPEED IS NOT A SAFETy-RElATED FUNCTION. To rEdUCE ThE riSK oF ColliSion bETWEEn ThE roboT and WorKErS, ThE USEr mUST TaKE ThE nECESSary ProTECTivE mEaSUrES SUCh aS EnablE dEviCES aCCording To riSK aSSESSmEnT by ThE USEr. Restricting the movement range See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range. WARNING SOFT lIMIT FUNCTION IS NOT A SAFETy-RElATED FUNCTION INTENDED TO PROTECT ThE hUMAN BODy.
Page 22: Moving And Installation
DISChARgE OR RADIO FREqUENCy INTERFERENCE. ThE ROBOT MAy MAlFUNCTION IF USED IN SUCh lOCATIONS CREATINg hAzARDOUS SITUATIONS. Do not use in locations exposed to flammable gases WARNING • omron roboTS arE noT dESignEd To bE ExPloSion-ProoF. • do noT USE ThE roboTS in loCaTionS ExPoSEd To ExPloSivE or inFlammablE gaSES, dUST ParTiClES OR lIqUID. FAIlURE TO FOllOW ThIS INSTRUCTION MAy CAUSE SERIOUS ACCIDENTS INvOlvINg INJURy OR DEATh, OR lEAD TO FIRE.
Page 23: Precautions For Robot Controllers
Installation environment WARNING OMRON ROBOTS ARE NOT DESIgNED TO BE ExPlOSION-PROOF. DO NOT USE ThE ROBOTS AND CONTROllERS IN lOCATIONS ExPOSED TO ExPlOSIvE OR INFlAMMABlE gASES, DUST PARTIClES OR lIqUID SUCh AS gASOlINE AND SOlvENTS. FAIlURE TO FOllOW ThIS INSTRUCTION MAy CAUSE SERIOUS ACCIDENTS INvOlvINg INJURy OR DEATh, AND lEAD TO FIRE.
Page 24 ■ Wiring Connection to robot controller The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot and controller combination, and connect them in the correct combination. Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly to match the motor type used in the robot connected to the controller.
Page 25: Safety Measures
Safety measures 4.4.1 Safety measures Referring to warning labels and manual WARNING • bEForE STarTing inSTallaTion or oPEraTion oF ThE roboT, bE SUrE To rEad ThE Warning labElS AND ThIS MANUAl, AND COMPly WITh ThE INSTRUCTIONS. • nEvEr aTTEmPT any rEPair, ParTS rEPlaCEmEnT and modiFiCaTion UnlESS dESCribEd in ThiS manUal. ThESE TaSKS rEqUirE SPECializEd TEChniCal KnoWlEdgE and SKillS and may alSo involvE hAzARDS. PlEASE CONTACT yOUR DISTRIBUTOR FOR ADvICE. NOTE For details on warning labels, see "3. Warning labels" in "Safety instructions." Draw up "work instructions"...
Page 26: Installing A Safety Enclosure
WARNING • dUring STarTUP or mainTEnanCE TaSKS, diSPlay a Sign "WorK in ProgrESS" on ThE Programming box and oPEraTion PanEl in ordEr To PrEvEnT anyonE oThEr Than ThE PErSon For ThaT TaSK From miSTaKEnly oPEraTing ThE STarT or SElECTor SWiTCh. iF nEEdEd, TaKE oThEr mEaSUrES SUCh aS loCKing ThE CovEr on ThE oPEraTion PanEl. • alWayS ConnECT ThE roboT and roboT ConTrollEr in ThE CorrECT CombinaTion. USing ThEm in an inCorrECT CombinaTion may CaUSE FirE or brEaKdoWn. Install system When configuring an automated system using a robot, hazardous situations are more likely to occur from the automated system than the robot itself. So the system manufacturer should install the necessary safety measures required for the individual system. The system manufacturer should provide a proper manual for safe, correct operation and servicing of the system.
Page 27: Safety Measures
Operation When operating a robot, ignoring safety measures and checks may lead to serious accidents. Always take the following safety measures and checks to ensure safe operation. DANGER ChECK ThE FolloWing PoinTS bEForE STarTing roboT oPEraTion. • no onE iS WiThin ThE roboT SaFETy EnCloSUrE. • ThE Programming UniT iS in ThE SPECiFiEd loCaTion. • ThE roboT and PEriPhEral EqUiPmEnT arE in good CondiTion. 4.5.1 Trial operation After installing, adjusting, inspecting, maintaining or repairing the robot, perform trial operation using the following procedures.
Page 28 Working inside safety enclosures Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective function is operating correctly (see the previous section 2.3). DANGER NEvER ENTER WIThIN ThE MOvEMENT RANgE WhIlE WIThIN ThE SAFETy ENClOSURE. See “7.1 Movement range”...
Page 29: Automatic Operation
4.5.2 Automatic operation Check the following points when operating the robot in AUTO mode. Observe the instructions below in cases where an error occurs during automatic operation. Automatic operation described here includes all operations in AUTO mode. Checkpoints before starting automatic operation Check the following points before starting automatic operation DANGER • ChECK ThaT no onE iS WiThin ThE SaFETy EnCloSUrE.
Page 30 Use caution when releasing the Z-axis (vertical axis) brake WARNING ThE vErTiCal axiS Will SlidE doWnWard WhEn ThE braKE iS rElEaSEd, CaUSing a hazardoUS SiTUaTion. TaKE adEqUaTE SaFETy mEaSUrES in ConSidEraTion by TaKing ThE WEighT and ShaPE inTo ACCOUNT. • bEForE rElEaSing ThE braKE aFTEr PrESSing ThE EmErgEnCy SToP bUTTon, PlaCE a SUPPorT UndEr ThE vERTICAl AxIS SO ThAT IT WIll NOT SlIDE DOWN. • bE CarEFUl noT To lET yoUr body gET CaUghT bETWEEn ThE vErTiCal axiS and ThE inSTallaTion baSE WhEn PErForming TaSKS (dirECT TEaChing, ETC.) WiTh ThE braKE rElEaSEd. Be careful of Z-axis movement when the controller is turned off or emergency stop is triggered (air-driven Z-axis) WARNING ThE z-AxIS STARTS MOvINg UPWARD WhEN POWER TO ThE CONTROllER OR PlC IS TURNED OFF, ThE PROgRAM...
Page 31: Inspection And Maintenance
Allow a waiting time after power is shut off (Allow time for temperature and voltage to drop) WARNING • WhEn PErForming mainTEnanCE or inSPECTion oF ThE roboT ConTrollEr UndEr yoUr DISTRIBUTOR'S INSTRUCTIONS, WAIT AT lEAST 30 MINUTES FOR ThE yRC SERIES AFTER TURNINg ThE POWER OFF. SOME COMPONENTS IN ThE ROBOT CONTROllER ARE vERy hOT OR STIll RETAIN A hIgh vOlTAgE ShorTly aFTEr oPEraTion, So bUrnS or ElECTriCal ShoCK may oCCUr iF ThoSE ParTS arE ToUChEd.
Page 32: Precautions During Service Work
4.6.2 Precautions during service work Be careful when removing the Z-axis motor (SCARA robots) WARNING ThE z-AxIS WIll SlIDE DOWNWARD WhEN ThE z-AxIS MOTOR IS REMOvED, CAUSINg A hAzARDOUS SITUATION. • TUrn oFF ThE ConTrollEr and PlaCE a SUPPorT UndEr ThE z-axiS bEForE rEmoving ThE z-axiS MOTOR. • bE CarEFUl noT To lET yoUr body gET CaUghT by ThE driving UniT oF ThE z-axiS or bETWEEn ThE z-AxIS DRIvE UNIT AND ThE INSTAllATION BASE. Do not remove the Z-axis upper limit mechanical stopper CAUTION Warning label 4 is attached to each SCARA robot.
Page 33: Disposal
Disposal When disposing of robots and related items, handle them carefully as industrial wastes. Use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company. Disposal of lithium batteries When disposing of lithium batteries, use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company.
Page 34: Emergency Action When A Person Is Caught By Robot
Make a printout of the relevant page in the manual and post it a conspicuous location near the controller. Cautions regarding strong magnetic fields Some OMRON robots contain parts generating strong magnetic fields which may cause bodily injury, death, or device malfunction. Always comply with the following instructions.
Page 35: Using The Robot Safely
Using the robot safely Movement range When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and workpiece attached to the manipulator tip (Figure B).
Page 36: Robot Protective Functions
Robot protective functions Protective functions for OMRON robots are described below. Overload detection This function detects an overload applied to the motor and turns off the servo. If an overload error occurs, take the following measures to avoid such errors: 1.
Page 37: Residual Risk
Residual risk To ensure safe and correct use of OMRON robots and controllers, System integrators and/or end users implement machinery safety design that conforms to ISO12100. Residual risks for OMRON robots and controllers are described in the DANgER or WARNINg instructions provided in each chapter and section.
Page 39: Warranty
Warranty description ■ If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this OMRON robot and/or related product within the warranty period, then OMRON shall supply free of charge the necessary replacement/ repair parts.
Page 41 Important information before reading this manual Contents Introduction About this manual Programming box display illustration shown in this manual Overview of the YRC series Before using the robot controller (Be sure to read the following notes)
Page 43: Introduction
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 44: Overview Of The Yrc Series
The yRC series robot controller is designed to conform to machinery directives and EMC (Electromagnetic compatibility) directives as a OMRON robot series product. In this case, the robot controller is set to operate under SAFE mode. For CE marking compliance, refer to the CE marking supplement manual.
Page 45: 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 absolute reset for setting the origin position each time the power is turned on or may cause abnormal operation (vibration, noise).
Page 46 Important information before reading this manual...
Page 47 Chapter 1 Using the robot safely Contents Freeing a person caught by the robot Emergency stop Emergency stop reset Overload error reset Power-ON procedures Usage environments...
Page 49: Freeing A Person Caught By The Robot
Freeing a person caught by the 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 power to the robot.
Page 50: 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 to stop operation. CAUTION In addition to the emergency stop button on the programming box, the SAFETy connector has terminals for external dedicated input (emergency stop).
Page 51: Emergency Stop Reset
Emergency stop reset To return to normal operation after emergency stop, emergency stop must be reset. NOTE • Emergency stop can also be triggered by an emergency stop input from the SaFETy i/o interface. To cancel this emergency stop, refer to the user’s manual. • origin positions are retained even when emergency stop is triggered, so the robot can be restarted by canceling emergency stop without absolute reset or return-to-origin operation. Cancel the emergency stop button on the programming box. Turning the emergency stop button clockwise releases the emergency stop and turns off the alarm output.
Page 52: Overload Error Reset
Overload error reset To return to normal operation after the “17.4: Overload” error state, reset the error after removing the cause of the overload error. NOTE • if the overload error occurs, the robot enters the emergency stop state. • origin positions are retained even when emergency stop is triggered by the overload error, so the robot can be restarted by canceling emergency stop without absolute reset or return-to-origin operation. • The overload reset function is valid in software version ver. 1.65m or higher. if the overload error occurs in ver. 1.64m or earlier, it is necessary to power off the controller, and then power it on again.
Page 53: 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.
Page 54: Usage Environments
Usage environments Operating temperature Operating temperature 0°C to 40°C The ambient temperature should be maintained within a range of 0 to 40°C during operation. This is the range in which continuous operation of the robot controller is guaranteed according to the initial specifications. If the robot controller is installed in a narrow space, then heat generated from the controller itself and from peripheral equipment may drive the temperature above the allowable operating temperature range.
Page 55 Chapter 2 Overview Contents Operation overview The YRC robot controller Programming box Part names and functions Connection to the robot controller Changing the programming box screen settings Programming box screen Operation key Operation key layout Basic key operation Function keys Control keys 2-10 Data keys...
Page 57: Operation Overview
Operation overview 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 overview Programming box is used for Controller • robot operation...
Page 58: The Yrc Robot Controller
The YRC robot controller The illustration below shows the controller’s main display functions and connectors for connection to external devices. Controller front panel “PWR”lED “SRv”lED “ERR”lED MOTOR OP.1 OP.3 5. PB connector BATT 6. COM connector OP.2 OP.4 RGEN BATT STD.DIO SAFETY ACIN...
Page 59: Programming Box
Programming box The programming box connects to the controller and is used to edit and execute robot programs. Part names and functions Programming box 4. Selector switch 1. Display (liquid crystal screen) 3. Emergency stop button 2. Operation key Rear view 6.
Page 60 Selector switch This is a contact switch connected to the PB SEl connector on the controller. Connecting an external circuit to the PB SEl connector allows checking the selector switch status from the external device. Selector switch MOTOR OP.1 OP.3 PB connector BATT PB SEL connector...
Page 61: 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 connected to or disconnected from the controller while the controller power is on.
Page 62: Changing The Programming Box Screen Settings
Changing the programming box screen settings When needed, the programming box screen contrast and key-press volume can be changed as described below. Display the programming box setting Step 1 Programming box setting screen screen. ＡＤＪＵＳＴ Turn on the power while holding down on the programming box.
Page 63: Programming Box Screen
Programming box screen The screen of the programming box is composed of 4 areas as shown below. Programming box screen example ＰＲＯＧＲＡＭ＞ＥＤＩＴ＜ＴＥＳＴ１＞ ...1. System line 1st line ...2. Message line 2nd line １＊＊＊＊＊＊ＴＥＳＴ１ＰＲＯＧＲＡＭ＊＊＊＊＊ 3rd line ２ 4th line ３ＤＯ２（０）＝０ 5th line ４ＷＡＩＴＤＩ３（４，３，２）＝３...
Page 64: Operation Key
Operation key Operation key layout The operation keys are covered with a plastic sheet to prevent dust. There are 3 types of keys: function keys, control keys, and data keys. Operation key layout 1. Function key 3. Data key 2. Control key Basic key operation Each operation key has 3 different functions as shown below.
Page 65: Function Keys
Function keys To operate the programming box, select the menus by pressing the function keys. If there are 6 or more submenus, press shift key. The hidden menus are displayed as long as the shift key is pressed. The relation of the function keys to their menus in MANUAl mode is shown below. Function keys and menus ＭＡＮＵＡＬ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 66: Control Keys
Control keys There are 6 kinds of control keys: (1) Mode selection keys, (2) Extended function keys, (3) Cursor keys, (4) Page keys, (5) Edit keys, (6) Jog keys. The functions of each key are explained below. Mode selection keys : Displays the mode menu (highest hierarchy).
Page 67: Data Keys
: Moves axis 1 in the + direction or the robot in the +x direction on the xy coordinates. : Moves axis 1 in the – direction or the robot in the -x direction on the xy coordinates. : Moves axis 2 in the + direction or the robot in the +y direction on the xy coordinates. : Moves axis 2 in the - direction or the robot in the -y direction on the xy coordinates.
Page 68: Mode Configuration
Mode configuration The robot operation mode consists of the following modes. Mode configuration Basic modes SERvICE mode (*) PROgRAM mode AUTO mode UTIlITy mode MANUAl mode SySTEM mode * SERvICE mode can be used only when SAFE mode is enabled. The controller operates in the following 6 modes: 1.
Page 69: Other Modes
WARNING RESTRICTION ON ThE ROBOT MOvINg SPEED IS NOT A SAFETy-RElATED FUNCTION. To rEdUCE ThE riSK oF ColliSion bETWEEn ThE roboT and WorKErS, ThE USEr mUST TaKE ThE nECESSary ProTECTivE mEaSUrES SUCh aS EnablE dEviCES aCCording To riSK aSSESSmEnT by ThE USEr. CAUTION To select or set the functions in SERvICE mode, refer to the user’s manual. Other modes Other than the basic modes, UTIlITy mode is also available. Use UTIlITy mode to perform operations such as recovery from emergency stop and motor servo on/off switching.
Page 70 Pressing returns to the top of the hierarchical menu and the basic mode menus are displayed on the guideline. NOTE • When the data is being edited such as in EdiT mode, is inoperative. After pressing to return the mode hierarchy, press • From here in this user's manual the mode hierarchy status is stated in the order as shown below. First (highest) hierarchy>Second hierarchy>Third hierarchy>Fourth hierarchy Example: PROgRAM>DIR>ERASE (Program) from the irst hierarchy menu, The above example shows that the current mode is entered by selecting...
Page 71 ■ Mode hierarchy diagram AUTO ....RESET TaSK vEl+ vEl- POINT ......PTP/ARCh/lINEAR DIRECT ARChPOS (when is ARCh) JUMP vEl+ vEl- A.AxIS+ (when is ARCh) A.AxIS- (when is ARCh) UNITChg vEl++ vEl-- MODIFy F14 axiS← F15 axiS→ brEaK ......vEl++ CANCEl vEl-- SEARCh...
Page 72 MANUAl ..... POINT ......EDIT ..........UNDO TEACh JUMP JUMP vEl+ EDIT vEl- TEACh COPy JUMP ERASE vEl+ UNITChg vEl- vEl++ COPy vEl-- ERASE TRACE UNITChg COMMENT vEl++ ERR.RST vEl-- F14 axiS← FIND F15 axiS→ FIND+ FIND- PAllET ......EDIT ..........POINT ....
Page 73 SySTEM ....PARAM ......ROBOT ..........EDIT JUMP AxIS ..........EDIT JUMP OThER ..........EDIT OP. BRD JUMP PASSWRD CMU ....... EDIT JUMP OPTION ......POS.OUT ......... EDIT JUMP SERvICE ......... EDIT JUMP SAvE hElP SIO ........... EDIT W. CARRI JUMP DI.
Page 74 UTIlITy 1 ....... MOTOR ......D1=M1 SERvO braKE D2=M2 D3=M3 FREE D4=M4 D5=M5 D6=M6 Power SEqUENC ....... SCAN TIME SEqUENCE ........ENABlE DISABlE RST.DO ARMTyPE ......... at Present .......... RIghTy RST.DO lEFTy DSW.hlP DIO.hlP vISION ......MODE ..........CONTROllER hOST PC MONITOR UTIlITy 2 .......
Page 75: Monitor Mode
MONITOR mode MONITOR mode displays the I/O status regardless of the currently selected hierarchy level. The display in MONITOR mode is overlapped onto the screen during normal operation at each hierarchy level. So the controller can still be operated even with the monitor screen displayed. NOTE I/O ports that do not actually exist as hardware are also displayed.
Page 76 Press again to display other monitor screens. di monitor → do monitor → mo monitor → lo/To monitor → Si monitor → So monitor → SiW monitor → SoW monitor → variable monitor → Task monitor → Current monitor → normal screen display Pressing displays each monitor in the reverse sequence of the above. NOTE The screen display is updated at a constant time interval. Pressing exits MONITOR mode and returns to the normal display. Monitor screen display examples Example of bit information display ＭＡＮＵＡＬ＞ＰＯＩＮＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 77 Chapter 3 AUTO mode Contents AUTO mode Automatic operation Stopping the program Resetting the program Switching task display Switching the program Changing the automatic movement speed Executing the point trace PTP motion mode Arch motion 3-11 Linear interpolation motion 3-13 Direct command execution 3-15 10.
Page 79: Auto Mode
AUTO mode AUTO mode executes robot language programs and related tasks. When switched to AUTO mode, the initial screen appears as shown below. AUTO mode One-robot setting 3. Automatic movement speed 1. Mode hierarchy 2. Task display 4. Program name 6.
Page 80 NOTE Usually, return-to-origin must be completed before starting AUTO mode. If return-to-origin is not complete, the message "Origin incomplete" appears. In such a case, see "9. Return-to-origin" and "10. Absolute reset" in Chapter 5. however, the program can be executed depending on the command execution level even if return-to-origin has not been completed. For details, see "6. Execution level"...
Page 81: Automatic Operation
Automatic operation Program commands are executed continuously during automatic operation. Before starting automatic operation, make sure that return-to-origin, program debugging, I/O signal connections and point data teaching have already been completed. When the execution level is set to other than level 0, automatic operation is possible even if return-to-origin is incomplete.
Page 82: Stopping The Program
Stopping the program To temporarily stop the execution of a program, proceed as follows. To temporarily stop the program during execution, press To display the program listing, press The pointer indicates the command line that is to be executed next in the program. To resume the program execution, press CAUTION Do not turn off the robot controller during program execution.
Page 83 When the program "_SELECT" exists: Step 1 Program reset Press (RESET). ＡＵＴＯ［Ｔ１］５０％＜ＴＥＳＴ１＞ When "_SElECT" exists in the programs, a １＊ＳＴ： confirmation message appears as shown on the right. ２ＭＯＶＥＰ，Ｐ０３ＭＯＶＥＰ，Ｐ１４ＭＯＶＥＰ，Ｐ２ Select the program to reset. ５ＧＯＴＯ＊ＳＴ (yES) to change the program to "_ Press Ｃｈａｎｇｅｔｏ＿ＳＥＬＥＣＴＯＫ？ＹＥＳＮＯ SElECT" and reset it. To reset the currently selected program, press Step 3 Check whether to reset program (NO).
Page 84: Switching Task Display
Switching task display When a program is executing multiple tasks, the program listing for each task can be displayed. NOTE The program must be stopped to switch the task display. Step 2 Main task (T1) display Stop the program. Press to stop the program execution.
Page 85: Changing The Automatic Movement Speed
Changing the automatic movement speed Automatic movement speed for the selected robot group can be set within the range of 1 to 100%. • Press (vEl+) or (vEl-) in AUTO mode to change the speed in steps. (vEl-) is pressed, the speed changes in steps of 1← →5←→20← →50← Each time the (vEl+) or →100%.
Page 86 * The "[RIghTy]" message on the first line appears only when a SCARA robot is selected. * The "[lEFTy]" message on the 13th line appears only when a SCARA robot is selected and a hand system flag is set for the point data. (*1) * The [+ ] mark on the 13th line shows the x-arm rotation information and y-arm rotation information of the...
Page 87: Ptp Motion Mode
PTP motion mode WARNING ThE ROBOT MOvES WhEN POINT TRACE STARTS. TO AvOID DANgER, DO NOT ENTER ThE ROBOT MOvEMENT RANgE. When no auxiliary axis is specified: Step 1 Select PTP motion Select PTP motion. Press (PTP) to select PTP motion. ＡＵＴＯ＞ＰＯＩＮＴ［ＲＩＧＨＴＹ］５０／１００％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 88 When auxiliary axis is specified: Enter PTP mode. Step 1 Select PTP motion Press (PTP). ＡＵＴＯ＞ＰＯＩＮＴ［ＲＩＧＨＴＹ］５０／１００％［ＭＧ］［Ｓ０Ｈ０Ｊ］ The point values of the robot axes are highlighted. ｘｙｚｒＰ３＝１５０．５０６４．５３２１．７８ −４５．１４Ｐ４＝９６．６５ −２２４．８９４３．３１２８．７９ Select the point to be checked. Ｐ５＝ −６３４３２１９７３５６２４３２２６４２ Use the cursor ( ) keys to select the point ＣＯＭＮＴ：［ＬＥＦＴＹ...
Page 89: Arch Motion
Arch motion WARNING ThE ROBOT MOvES WhEN POINT TRACE STARTS. TO AvOID DANgER, DO NOT ENTER ThE ROBOT MOvEMENT RANgE. When no auxiliary axis is specified: Step 1 Select ARCH motion Select ARCH motion. On the AUTO>POINT mode screen, press ＡＵＴＯ＞ＰＯＩＮＴ［ＲＩＧＨＴＹ］５０／１００％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 90 When auxiliary axis is specified: Step 1 Select ARCH motion Select ARCH motion. On the AUTO>POINT mode screen, press ＡＵＴＯ＞ＰＯＩＮＴ［ＲＩＧＨＴＹ］５０／１００％［ＭＧ］［Ｓ０Ｈ０Ｊ］ (ARCh) to select ARCh motion. ｘｙｚｒＰ３＝１５０．５０６４．５３２１．７８ −４５．１４ When performing point trace using an auxiliary axis, Ｐ４＝９６．６５ −２２４．８９４３．３１２８．７９ skip steps 2 and 3. Ｐ５＝ −６３４３２１９７３５６２４３２２６４２...
Page 91: Linear Interpolation Motion
Linear interpolation motion WARNING ThE ROBOT MOvES WhEN POINT TRACE STARTS. TO AvOID DANgER, DO NOT ENTER ThE ROBOT MOvEMENT RANgE. When no auxiliary axis is specified: Step 1 Select linear interpolation motion Select linear interpolation motion. On the AUTO>POINT mode screen, press ＡＵＴＯ＞ＰＯＩＮＴ［ＲＩＧＨＴＹ］５０／１００％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 92 When auxiliary axis is specified: Step 1 Select linear interpolation motion Select linear interpolation motion. On the AUTO>POINT mode screen, press ＡＵＴＯ＞ＰＯＩＮＴ［ＲＩＧＨＴＹ］５０／１００％［ＭＧ］［Ｓ０Ｈ０Ｊ］ (lINEAR) to select linear interpolation motion. ｘｙｚｒＰ３＝１５０．５０６４．５３２１．７８ −４５．１４Ｐ４＝９６．６５ −２２４．８９４３．３１２８．７９ Select the point to be checked. Ｐ５＝ −６３４３２１９７３５６２４３２２６４２ Use the cursor ( ) keys to select the point ＣＯＭＮＴ：［ＬＥＦＴＹ...
Page 93: Direct Command Execution
Direct command execution One line of the command statement can be executed just after you have entered it. WARNING ThE ROBOT MAy START MOvINg WhEN A COMMAND SUCh AS A MOvEMENT COMMEND IS ExECUTED. TO AvOID DANgER, DO NOT ENTER ThE ROBOT MOvEMENT RANgE. Step 1 Enter DIRECT mode.
Page 94: 10. Breakpoint
10. Breakpoint An ongoing program can be stopped if a breakpoint is set in the program. The program execution pauses on the line just prior to a breakpoint. The program execution will restart from the breakpoint when is pressed. NOTE • Up to 4 break points can be set in one program. These 4 break points cannot set in different programs. however, when used with a "COMMON"...
Page 95: Setting Breakpoints
10.1 Setting breakpoints To set breakpoints in a program, follow the steps below. Select the line where you want to set Step 2 Breakpoint setting a breakpoint. (brEaK) to enter In AUTO mode, press ＡＵＴＯ＞ＢＲＥＡＫ［Ｔ１］１００％＜ＴＥＳＴ１＞ aUTo>brEaK mode. １＊＊＊＊＊ＴＥＳＴ１ＰＲＯＧＲＡＭ＊＊＊＊＊ Then, use the cursor keys to select the line number ２ＳＴＡＲＴ＊ＳＵＢＴＡＳＫ，Ｔ２...
Page 96: 11. Executing A Step
11. Executing a step WARNING ThE ROBOT MAy BEgIN TO MOvE WhEN STEP IS ExECUTED. TO AvOID DANgER, DO NOT ENTER ThE ROBOT MOvEMENT RANgE. In AUTO mode, pressing (STEP) executes the command statement of the line number indicated by the pointer and the pointer then moves to the next line.
Page 97 Chapter 4 PROGRAM mode Contents PROGRAM mode Scrolling a program listing Program editing Cursor movement Insert/overwrite cursor switching Inserting a line Deleting a character Deleting a line User function key display Quitting program editing Copying or cutting lines Backspace 3.10 Line jump 3.11 Searching a character string...
Page 99: Program Mode
PROGRAM mode Robot language programs can be edited, deleted and managed in PROgRAM mode. The initial PROgRAM mode screen is shown below. When PROgRAM mode is entered, the currently selected program appears on the screen. PROGRAM mode 1. Mode hierarchy 3.
Page 100: Scrolling A Program Listing
valid keys and submenu descriptions in PROgRAM mode are shown below. Valid keys Menu Function Selects a program, or scrolls up or down one line. Scrolls up or down one screen. EDIT Edits the program. Displays the program data. COMPIlE Compiles the program.
Page 101: Program Editing
Program editing Enter PROGRAM>EDIT mode. Step 1 Program editing In PROgRAM mode, press (EDIT) to enter ＰＲＯＧＲＡＭ＞ＥＤＩＴ＜ＴＥＳＴ２＞ PROgRAM>EDIT mode. １２３ A cursor appears on the top line of the program １＊＊＊＊＊ＴＥＳＴ２ＰＲＯＧＲＡＭ＊＊＊＊＊ listing, indicating that the program can be edited. ２ＧＯＳＵＢ＊ＳＵＢＰＲＯＧ...
Page 102: Cursor Movement
valid keys and submenu descriptions in PROgRAM>EDIT mode are shown below. Valid keys Menu Function Moves the cursor up or down, or scrolls up or down one line. Scroll up or down one screen. Switches between the insert and overwrite cursors. Inserts one blank line.
Page 103: Insert/Overwrite Cursor Switching
Insert/overwrite cursor switching Pressing alternately switches between the insert and overwrite cursors. in insert mode, the cursor changes from a black square (n) to a thin line ( _ ) and the input character is inserted just previous to the cursor position. Insert cursor ＰＲＯＧＲＡＭ＞ＥＤＩＴ＜ＴＥＳＴ２＞１２３３ＤＯ２（０）＝０４ＷＡＩＴＤＩ３（４，３，２）＝３５ＭＯＶＥＰ，Ｐ０６＿ＯＲＩＧＩＮ Insert cursor ７ＭＯＶＥＰ，Ｐ１ＳＥＬＥＣＴＣＯＰＹＣＵＴＰＡＳＴＥＢＳ in overwrite mode, the cursor changes from a thin line ( _ ) to a black square (n) and the input character replaces the character at the cursor position. Overwrite cursor ＰＲＯＧＲＡＭ＞ＥＤＩＴ＜ＴＥＳＴ２＞１２３ ...
Page 104: Inserting A Line
Inserting a line A blank line can be inserted into a program. Move the cursor to the position where you want to insert the line and press A blank line is inserted at the cursor position. Deleting a character Move the cursor to the character you want to delete and press One character at the cursor position is deleted.
Page 105: Quitting Program Editing
Quitting program editing Press to end program editing. Copying or cutting lines Specified lines can be copied or cut. Move the cursor to the line you want copy or cut. Use the cursor ( ) keys to move the cursor to the line you want to start a copy or cut.
Page 106: Backspace
Backspace Pressing (BS) deletes one character before the cursor. When the cursor is at the beginning of a line, it connects to the end of the previous line. however, any key operation is ignored if the number of characters on the connected line exceeds 75 characters. 3.10 Line jump The currently selected program can be displayed from a specified line.
Page 107: Directory
Directory When (DIR) is pressed in PROgRAM mode, information on each program appears as shown below. NOTE A maximum of 100 programs can be stored. Program information ＰＲＯＧＲＡＭ＞ＤＩＲ＜ＴＥＳＴ１＞Ｎｏ．ＮＡＭＥＬＩＮＥＢＹＴＥＲＷ／ＲＯ１ＴＥＳＴ１５５９５２ＲＷ２＊ＴＥＳＴ２５０９０７ＲＷ３ＰＡＲＴＳ１００３８８４３ＲＷ４ＴＥＳＴ１００１００１９６８ＲＷＮＥＷＩＮＦＯ Pressing displays the "DATE" and "TIME" data. To return to the previous display, press Program information Date and time display ＰＲＯＧＲＡＭ＞ＤＩＲ＜ＴＥＳＴ１＞...
Page 108 Contents of each item are shown below. Item Description Indicates the serial number of the program. The number of the program which is currently selected is highlighted (reversed background). Indicates the program name. The " " mark (reversed background) shows this program is compiled and the object Name program exists.
Page 109: Cursor Movement
Cursor movement To select a program, use the cursor ( ) keys. The pointer moves to the selected program number. The program name is displayed at the right end on the system line (1st line). Registering a new program name To create a new program, first register the program name.
Page 110: Directory Information Display
Directory information display Pressing (INFO) enters PROgRAM>DIR>INFO mode and displays the following directory information. Directory information ＰＲＯＧＲＡＭ＞ＤＩＲ＞ＩＮＦＯ＜ＴＥＳＴ１＞Ｓｏｕｒｃｅ（ｕｓｅ／ｓｕｍ）＝１３１６／３６４５８０ｂｙｔｅｓＯｂｊｅｃｔ（ｕｓｅ／ｓｕｍ）＝５２８／９８３０４ｂｙｔｅｓＳｅｑｕｅｎｃｅ（ｕｓｅ／ｓｕｍ）＝０／４０９６ｂｙｔｅｓＮｕｍｂｅｒｏｆｐｒｏｇｒａｍ＝５Ｎｕｍｂｅｒｏｆｐｏｉｎｔｓ＝１２４ Item Description Source (use/sum) Displays a count of used bytes and bytes available for source program and point data. Object (use/sum) Displays a count of used bytes and bytes available for object program.
Page 111: Copying A Program
Copying a program Programs in the directory can be copied under different program names. Select the program you want to copy. Use the cursor ( ) keys to select the program you want to copy. Step 2 Copying a program Enter a new program name.
Page 112: Renaming A Program
Renaming a program The names of programs in the directory can be changed. Select the program you want to rename. Use the cursor ( ) keys to select the program you want to rename. Step 2 Renaming a program Enter a new program name. ＰＲＯＧＲＡＭ＞ＤＩＲ＜ＴＥＳＴ１＞...
Page 113: Changing The Program Attribute
Changing the program attribute Editing and erasing the programs can be prohibited by specifying the program attribute in PROgRAM>DIR mode. There are the following two program attributes. RW (read or write) Program contents can be edited and erased. This is automatically specified as a default when a program name is registered. RO (read only) Program contents cannot be edited or erased.
Page 114: Creating A Sample Program Automatically
Creating a sample program automatically This section explains the procedure of automatically creating a sample program for defining user function keys which can be used in MANUAl and PROgRAM modes. NOTE Use caution when creating a sample program automatically, since previously dei ned user function data will be rewritten. Step 1 Check whether to create a sample program Enter PROGRAM>DIR>EXAMPLE mode.
Page 115 [Sample program listing] *** <FUNCTION> SAMPlE PROgRAM **** '*you can change any statements '*as you like. '*<FUNCTION> will help you in '*MANUAl and PROgRAM mode. '* ***************************************** *m_F1:'do(20)alTErnaTE DO(20)=˜DO(20) *m_F2:'do(21)alTErnaTE DO(21)=˜DO(21) *m_F3:'do(22)alTErnaTE DO(22)=˜DO(22) *m_F4:'do(23)alTErnaTE DO(23)=˜DO(23) *m_F5:'do(24)alTErnaTE DO(24)=˜DO(24) *m_F6:'do(25)momEnTary DO(25)=1 DO(25)=0 *m_F7:'do(26)momEnTary DO(26)=1 DO(26)=0...
Page 116: Compiling
Compiling To compile the program and create an executable object program, follow the procedure below. The object program allows you to check input errors or bugs after program editing. Select the program you want to compile. In PROgRAM>DIR mode, use the cursor ( ) keys to select the program.
Page 117: Registering User Function Keys
Registering user function keys To register the user function keys which are used in PROgRAM and MANUAl modes, make a program named "FUNCTION" and enter the command statements for registering the user function keys. NOTE The controller recognizes a program named "FUNCTION" as a special program for registering the user function keys. Therefore, do not use this name for normal programs.
Page 118 ■ Command statement formats 1. When registering function keys for editing in PROGRAM mode *P_F<n>:’<character string> <n>........ Function key number to be registered (n=1 to15) <character string> ..Character string to be assigned to the function key (displayed on the screen). Example) *P_F2:'movE, P ..Character string "MOvE, P" is assigned to *P_F8:'dElay Character string "dElay" is assigned to 2.
Page 119 Example) *m_F2:'momEnT ..Character string "MOMENT" is assigned to DO (20) =1....DO (20) is turned ON when is pressed. DO (20) =0....DO (20) is turned OFF when is released. *m_F14:'alTEr ..Character string "AlTER" is displayed on DO (20) =~DO (20) ..DO (20) is highlighted when is pressed.
Page 120: Resetting An Error
Resetting an error If an error "9.1 : Program destroyed" occurs in the selected program, reset the error. The program can be edited after resetting the error. CAUTION If a checksum error occurs, the program may have a problem. The following operation resets an error but does not restore the program dataprogram, so check and correct the program in PROgRAM>EDIT mode.
Page 121: Manual Mode
Chapter 5 MANUAL mode Contents MANUAL mode Manual movement Manual movement when return-to-origin has been completed When return-to-origin is not complete Displaying and editing point data Point data input and editing 5-11 Point data input by teaching 5-13 Point data input by direct teaching 5-15 Point jump display 5-16...
Page 122 Displaying, editing and setting hand definitions 5-41 Editing hand definitions 5-43 Hand definition setting for a hand attached to the 2nd arm 5-44 Changing the display units 5-46 Return-to-origin 5-47 Return-to-origin operation 5-47 Return-to-origin procedure 5-49 10. Absolute reset 5-50 10.1 Checking absolute reset 5-51...
Page 123 MANUAL mode Point data and shift data coordinates can be defined and edited in MANUAl mode. The initial MANUAl mode screen is shown below. MANUAL mode (One-robot setting) 1. Mode hierarchy 2. Manual movement 4. ShIFT/hAND speed /coordinate units 3. Robot group 7.
Page 124 Mode hierarchy Shows the current mode hierarchy. When the highest mode is not highlighted it means the servomotor power is off. When highlighted it means the servomotor power is on. Manual movement speed Shows the robot movement speed selected for manual operation. Robot group This shows the robot group currently selected for manual movement.
Page 125 valid keys and submenu descriptions in MANUAl mode are shown below. Valid keys Menu Function Moves the robot manually. POINT Switches to the point data screen. PAllET Switches to the pallet data screen. ORIgIN Performs return-to-origin. Increases manual movement speed for the selected robot group in steps. vEl+ (1→5→20→50→100 %) Decreases manual movement speed for the selected robot group in steps.
Page 126: Manual Movement
Manual movement In MANUAl mode, you can manually move the robot with the Jog keys as explained below. WARNING ThE roboT STarTS To movE WhEn a Jog KEy iS PrESSEd. To avoid dangEr, do noT EnTEr ThE roboT MOvEMENT RANgE. NOTE • For details on the soft limits, refer to the user’s manual. • When the current position is displayed in "pulse" units, the robot can be moved manually along the axes whose servos are on, even if the servos of the other axes are off. • When the current position is displayed in "mm" units, the robot can be moved manually only when the servos of all axes are on. • The maximum jog movement time for one movement command is 300 seconds. So if the movement time exceeds 300 seconds at the speciied speed, the robot movement will stop in 300 seconds. To move the robot further, use jog movement once again. Manual movement when return-to-origin has been completed • When the current position is displayed in "pulse" units: A letter "J"...
Page 127 • When the current position is displayed in "mm" units: A letter "x" is displayed on the upper right of the programming screen. If tool coordinates are selected, a letter "T" is displayed. Example shown in “mm” units (X) ＭＡＮＵＡＬ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ “mm” units (x) Ｃｕｒｒｅｎｔｐｏｓｉｔｉｏｎ＊Ｍｘ＝１５１．０５＊Ｍｙ＝ −３５．２７＊Ｍｚ＝４９．２３ＰＯＩＮＴＰＡＬＬＥＴＶＥＬ＋ＶＥＬ− [R6yxTW500] ＭＡＮＵＡＬ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］［...
Page 128 When the following hand definition is made, the robot moves with Jog keys as illustrated below. Robot movement in "Tool coordinate" mode (example) Hand definition ＭＡＮＵＡＬ＞ＨＡＮＤ５０％［ＭＧ］［Ｓ０Ｈ１Ｔ］１２３４Ｈ０＝０．００１５０．０００．００ＲＨ１＝ −９０．００１００．０００．００ＲＨ２＝００．０００．００Ｈ３＝００．０００．００ -90.00 degrees 100.00mm hAND 1 Movement with Jog keys Robot movement with keys Robot movement with...
Page 129: When Return-To-Origin Is Not Complete
When return-to-origin is not complete CAUTION When return-to-origin is incomplete, the robot does not stop even if soft limits are exceeded. When the current position is displayed in "pulse" units: Robot movement with the Jog keys is possible the same as when return-to-origin is complete. however, the message "0.1: Origin incomplete"...
Page 130: Displaying And Editing Point Data
Displaying and editing point data When in MANUAl mode, pressing (POINT) displays the data screen. One point is made up of data from 6 axes (x, y, z, r, a, b). The hand system flag, x-arm rotation information, and y-arm rotation information can be set as extension settings for the point data set with the Cartesian coordinates ("mm"...
Page 131 Point numbers can be specified in the range of 0 to 9999. The axis data for 10 points is displayed on the screen along with a point comment on the selected point number. To see the other data, scroll the screen with the cursor keys or page keys. Scrolls up or down one line at a time.
Page 132 Arm rotation information The x-arm rotation information and y-arm rotation information of the current position are displayed. This arm rotation information is displayed only when the robot is R6yxTW500. The meanings of the data are the same as those described in 2. This display occurs only when a "return-to-origin complete"...
Page 133: Point Data Input And Editing
Point data input and editing Select the point to enter or edit. Use the cursor ( ) keys to select the point to enter or edit. Step 2 Editing point data Open the point edit screen. Press (EDIT), and an edit cursor appears at the ＭＡＮＵＡＬ＞ＰＯＩＮＴ＞ＥＤＩＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 134 Finish the point data input. Press , cursor up/down ( ) keys or page up/down ( ) keys to finish the point data input. Press if you want to cancel the point data input. valid keys and submenu descriptions in MANUAl>POINT>EDIT mode are shown below. Valid keys Menu Function...
Page 135: Point Data Input By Teaching
Point data input by teaching The current position of the robot can be obtained as point data by teaching. WARNING ThE ROBOT MOvES DURINg TEAChINg. TO AvOID DANgER, DO NOT ENTER ThE ROBOT MOvEMENT RANgE. CAUTION "[Mg]" indicates the main robot group is selected. NOTE • Point data teaching cannot be performed when return-to-origin is incomplete. Perform point teaching after performing absolute reset or return-to-origin.
Page 136 When an auxiliary axis is used: Select the point. Step 1 Select the point Use the cursor ( ) keys to select the point When an auxiliary axis is used: number you want to input. ＭＡＮＵＡＬ＞ＰＯＩＮＴ１００％［ＭＧ］［Ｓ０Ｈ０Ｘ］ｘｙｚｒ Select the axis to perform teaching. Ｐ７＝１００．００２５０．００１５．００３０．００...
Page 137: Point Data Input By Direct Teaching
Perform teaching. Step 4 Teach the point data When the axis reaches the target point, press When point data exists: (TEACh). ＭＡＮＵＡＬ＞ＰＯＩＮＴ＞ＴＥＡＣＨ１００％［ＭＧ］［Ｓ０Ｈ０Ｘ］ Teaching is performed so that the current robot ｘｙｚｒ position data is allotted to the currently selected Ｐ７＝１００．００２５０．００１５．００３０．００ point.
Page 138: Point Jump Display
Point jump display Point data can be displayed from the point number you specify. Press (JUMP), and the message "Enter point no.>" appears on the guideline. Enter the point number to jump to, and press Point data is then displayed from the point number you specified. Point number input ＭＡＮＵＡＬ＞ＰＯＩＮＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］...
Page 139: Erasing Point Data
Copy the point data. Step 3 Confirm copy Press and a confirmation message appears ＭＡＮＵＡＬ＞ＰＯＩＮＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ｘｙｚｒ on the guideline, then press (yES) to make a Ｐ３０＝１００．００２５０．００１５．００３０．００ copy. The point data in the selected range is copied Ｐ３１＝５０．００１００．００５．００１０．００ onto the data lines starting from the specified copy Ｐ３２＝１２２．６２ −２４．５４１２．３５ −２３．１１ ...
Page 140: Point Data Trace
Point data trace Positions of point data you have entered can be checked by actually moving the robot. To execute point trace, enter AUTO>POINT mode by pressing (TRACE) in MANUAl>POINT mode. Then use the point trace function to execute point trace. See "8.
Page 141: Entering Or Editing Point Comments
3.8.1 Entering or editing point comments Point comments can be entered and edited as needed. NOTE For point comments, it is advisable to enter a character string that is easy to understand. A point comment can be up to 15 characters. For point data teaching methods, see "3.2 Point data input by teaching"...
Page 142: Copying A Point Comment
3.8.3 Copying a point comment Point comments can be copied to other point numbers. Open the comment copy screen. Step 1 Copying a point comment Press (COPy) to open the comment copy ＭＡＮＵＡＬ＞ＰＯＩＮＴ＞ＣＯＭＭＥＮＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ screen that shows the message "Copy (####- ｘｙｚｒ...
Page 143: Point Comment Search
Delete the point comments. Step 3 Confirm deletion Press and a confirmation message appears ＭＡＮＵＡＬ＞ＰＯＩＮＴ＞ＣＯＭＭＥＮＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ｘｙｚｒ on the guideline, then press (yES). The point Ｐ７＝１００．００２５０．００１５．００３０．００ comments in the selected range are deleted. Ｐ８＝Ｐ９＝１２２．６２ −２４．５４１２．３５ −２３．１１ Pressing (NO) cancels the deletion. ＣＯＭＮＴ：［］［ＰＯＳ］５０．００１００．００５．００１０．００...
Page 144: Point Data Error Reset
Point data error reset If an error "9.2:Point data destroyed" occurs in point data, reset the error as described below. CAUTION If an error occurs in point data, the point data may have a problem. The following operation resets the error, but does not restore the point data.
Page 145: Displaying, Editing And Setting Pallet Definitions
Displaying, editing and setting pallet definitions In MANUAl mode, press (PAllET) to open the pallet data screen. This screen allows you to display, edit and set pallet definitions. however, the standard coordinates must be set when a SCARA robot is used. See "11. Setting the standard coordinates" in this chapter for details. A total of 20 pallets (definition numbers 0 to 19) can be defined to assign point data areas (P3901 to P4000) to each pallet.
Page 146 Pallet definition screen ＭＡＮＵＡＬ＞ＰＡＬＬＥＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ＰＬ０＝ＳＥＴＰＬ１＝ＰＬ２＝ＳＥＴＰＬ３＝［ＰＯＳ］４００．０００．０００．０００．００ＥＤＩＴＭＥＴＨＯＤＶＥＬ＋ＶＥＬ− Pallet definition numbers marked "SET" mean that their data have already been defined. valid keys and submenu descriptions in MANUAl>PAllET mode are shown below. Valid keys Menu Function Specifies the pallet definition number. Scrolls up or down one screen.
Page 147: Editing Pallet Deinitions
Editing pallet definitions Select the pallet you want to edit its definition. Use the cursor ( ) keys to select the pallet number and press (EDIT) to enter MANUAl>PAllET>EDIT mode. Step 2 Edit the pallet definition Enter the pallet definition. ＭＡＮＵＡＬ＞ＰＡＬＬＥＴ＞ＥＤＩＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］...
Page 148: Point Setting In Pallet Deinition
Point setting in pallet definition In MANUAl>PAllET>EDIT mode for setting points, a screen like that shown below appears. Point editing in pallet definition ＭＡＮＵＡＬ＞ＰＡＬＬＥＴ＞ＥＤＩＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ｘｙｚｒＰＯＩＮＴ＝Ｐ［１］（Ｐ３９９６）−Ｐ［５］（Ｐ４０００）Ｐ［１］＝９８．８７ −２４．５４１２．３５ −２３．１１Ｐ［２］＝１２２．６２ −２４．５４１２．３５ −２３．１１Ｐ［３］＝９８．６２ −９４．５４１２．３５ −２３．１１［ＰＯＳ］０．０００．０００．０００．００ＥＤＩＴＴＥＡＣＨＶＥＬ＋ＶＥＬ− The first line shows the point numbers and point data in the pallet definition. NOTE • There are 5 point data in pallet deinition.
Page 149: Editing The Point In Pallet Definition
4.2.1 Editing the point in pallet definition NOTE • Each pallet is generated (outlined) with 5 points, so always specify these 5 points for pallet deinition. • Point data in the pallet deinition must be entered in "mm" units. • The points in pallet deinition have the speciic order. See "4. displaying, editing and setting pallet deinitions" in this chapter. Open the pallet point edit screen. Step 1 Open the pallet point edit screen Press (EDIT) to open the pallet point edit ＭＡＮＵＡＬ＞ＰＡＬＬＥＴ＞ＥＤＩＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ screen. ｘｙｚｒＰＯＩＮＴ＝Ｐ［１］（Ｐ３９９６）−Ｐ［５］（Ｐ４０００） Enter the point data.
Page 150: Pallet Deinition By Teaching
Pallet definition by teaching NOTE Pallets cannot be deined by teaching if return-to-origin is incomplete. Perform teaching after performing absolute reset or return-to- origin. Open the pallet definition screen. Step 1 Open the pallet definition screen Use the cursor ( ) keys to select the pallet ＭＡＮＵＡＬ＞ＰＡＬＬＥＴ＞ＭＥＴＨＯＤ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ number and press (METhOD) to enter ＰＡＬＬＥＴＮＯ．＝ＰＬ０［ＸＹ］ MANUAl>PAllET>METhOD mode. Ｓｅｌｅｃｔｄｉｍｅｎｓｉｏｎｏｆｔｈｉｓｐａｌｌｅｔ Select the pallet to define.
Page 151 NOTE • Each pallet is generated with 5 points for pallet deinition. • The points in pallet deinition have the speciic order. See "4. displaying, editing and setting pallet deinitions" in this chapter. valid keys and submenu descriptions in MANUAl>PAllET>METhOD mode are shown below. Valid keys Menu Function Increases manual movement speed for the selected robot group in steps. vEl+ (1→5→20→50→100 %) Decreases manual movement speed for the selected robot group in steps. vEl−...
Page 152: Copying A Pallet Deinition
Copying a pallet definition Pallet definitions can be copied to other pallets. Select the pallet number. Use the cursor ( ) keys to select the pallet number. Step 2 Enter the copy destination pallet number Enter the pallet number where you want to copy the currently selected ＭＡＮＵＡＬ＞ＰＡＬＬＥＴ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］...
Page 153: Changing The Manual Movement Speed
Changing the manual movement speed Manual movement speed of the selected robot group can be set anywhere within the range from 1 to 100%. Movement speed in MANUAl mode differs from the AUTO mode movement speed. 1/5th of the maximum speed in AUTO mode is equal to the maximum movement speed in MANUAl mode.
Page 154: Displaying, Editing And Setting Shift Coordinates
Displaying, editing and setting shift coordinates In MANUAl mode, press (ShIFT) to enter MANUAl>ShIFT mode. This mode allows you to display, edit and set shift coordinates. however, the standard coordinates must be set when a SCARA robot is used. Refer to "11. Setting the standard coordinates" in this chapter for details. The robot work position specified by point data on the Cartesian coordinates ("mm"...
Page 155 When MANUAl>ShIFT mode is entered, a screen like that shown below appears. The currently selected shift coordinate number is highlighted. Shift coordinate screen One-robot setting ＭＡＮＵＡＬ＞ＳＨＩＦＴ５０％［ＭＧ］［Ｓ１Ｈ０Ｘ］ｘｙｚｒＳ０＝０．０００．０００．０００．００Ｓ１＝３００．０００．０００．０００．００Ｓ２＝３００．００ −３００．００１００．０００．００Ｓ３＝０．０００．０００．００１８０．００［ＰＯＳ］６００．０００．０００．０００．００ＥＤＩＴＲＡＮＧＥＶＥＬ＋ＶＥＬ− valid keys and submenu descriptions in MANUAl>ShIFT mode are shown below. Valid keys Menu Function...
Page 156: Editing Shift Coordinates
Editing shift coordinates Select the shift coordinate number. Step 1 Select the shift coordinate number Use the cursor ( ) keys to select the shift ＭＡＮＵＡＬ＞ＳＨＩＦＴ＞ＥＤＩＴ５０％［ＭＧ］［Ｓ１Ｈ０Ｘ］ｘｙｚｒ coordinate and press (EDIT) to enter Ｓ０＝０．０００．０００．０００．００ MANUAl>ShIFT>EDIT mode. Ｓ１＝３００．０００．００１００．００１８０．＿Ｓ２＝３００．００ −３００．００１００．０００．００ Enter the shift coordinate data. Ｓ３＝０．０００．０００．００１８０．００ ...
Page 157: Editing The Shift Coordinate Range
Editing the shift coordinate range The robot movement range in each shift coordinated can be restricted to by setting the shift coordinate range. Moreover, setting the soft limit parameters allows you to specify the robot movement range more precisely. ■ Shift coordinate range data format • Plus side SPn=...
Page 158 NOTE Enter all shift data for x, y, z and r. If omitted, "0" will be automatically entered for that axis. Shift data should be entered in Cartesian coordinates (millimeter units) Finish the point data input. Press , cursor up/down ( ) keys or page up/down ( ) keys to...
Page 159: Shift Coordinate Setting Method 1
Shift coordinate setting method 1 This method sets the shift coordinate data by performing teaching at 2 points and then entering the plus/minus direction of those 2 points. The first teach point 1 (1st P) becomes the shift coordinate origin. The z-axis value of the taught point 1 is the z-axis value of the shift coordinate.
Page 160 Set the teach point 2. Set the teach point 2 in the same way as for point 1. Step 5 Set the coordinate direction Select the coordinate direction of point 1 towards point 2. ＭＡＮＵＡＬ＞ＳＨＩＦＴ＞ＭＥＴＨＯＤ１５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ Press (+x), (-x), (+y), or ｘｙｚｒ...
Page 161: Shift Coordinate Setting Method 2
Shift coordinate setting method 2 This method sets the shift coordinate data by performing teaching at 2 points and then entering the coordinate values of those 2 points. The z-axis value of the taught point 1 becomes the z-axis value of the shift coordinate. WARNING ThE roboT STarTS To movE WhEn a Jog KEy iS PrESSEd. To avoid dangEr, do noT EnTEr ThE roboT MOvEMENT RANgE.
Page 162 Enter the value of point 1. Step 4 Teach the shift coordinates Press and an edit cursor appears at the head ＭＡＮＵＡＬ＞ＳＨＩＦＴ＞ＭＥＴＨＯＤ１５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］ｘｙｚｒ of the "1st P= " line. Use ＭｏｖｅａｒｍｔｏＰ［２］ａｎｄｐｒｅｓｓＥＮＴＥＲｋｅｙ１ｓｔＰ＝２１４．４５ −１５．０１２０．３２ to enter the point data (x, y, z), and ２ｎｄＰ＝...
Page 163: Displaying, Editing And Setting Hand Deinitions
Displaying, editing and setting hand definitions Pressing (hAND) enters MANUAl>hAND mode. This mode allows you to display, edit and set hand definitions. however, the standard coordinates must be set when a SCARA robot is used. See "11. Setting the standard coordinates" for details.
Page 164 SCARA robots 1. hand attached to 2nd arm a. Robot movement • imaginary 2nd arm of hand "n" moves to a specified point as if it were the actual 2nd arm. • imaginary 2nd arm of hand "n" determines whether the robot is in a right-handed system or left-handed system. b. Parameter descriptions Setting units for each parameter are shown in parentheses. <1st parameter>: Specify with an integer, the difference between the number of offset pulses of the standard 2nd arm and the number of offset pulses of the imaginary 2nd arm of hand "n".
Page 165: Editing Hand Deinitions
Editing hand definitions Open the hand definition edit screen. Press (EDIT). Step 2 Select the hand definition to edit Select the hand definition you want to edit. ＭＡＮＵＡＬ＞ＨＡＮＤ＞ＥＤＩＴ５０％［ＭＧ］［Ｓ０Ｈ１Ｘ］ Use the cursor ( ) keys to select the hand １２３４Ｈ０＝００．０００．００ definition.
Page 166: Hand Definition Setting For A Hand Attached To The 2Nd Arm
Hand definition setting for a hand attached to the 2nd arm Set hand definitions by teaching as described below. WARNING ThE roboT STarTS To movE WhEn a Jog KEy iS PrESSEd. To avoid dangEr, do noT EnTEr ThE roboT MOvEMENT RANgE. CAUTION "[Mg]" indicates the main robot group. NOTE • SCara robots use mutually different methods for making settings. Set hand deinition data by teaching the same point to the tool tip in both right-hand system and left-hand system. To perform teaching at point 1, always move in the right-hand system. To perform teaching at point 2, always move in the left-handed system.
Page 167 valid keys and submenu descriptions in MANUAl>hAND>METhOD1 mode are shown below. Valid keys Menu Function Increases manual movement speed for the selected robot group in steps. vEl+ (1→5→20→50→100 %) Decreases manual movement speed for the selected robot group in steps. vEl−...
Page 168: Changing The Display Units
Changing the display units The units used to indicate the current position on the programming box screen can be switched to either "pulses" and "mm". If hand data for the R-axis is selected (hand definition is made), then the tool coordinates can also be selected. • in manUal mode, pressing (UNITChg) switches the units used to indicate the current position.
Page 169: Return-To-Origin
Return-to-origin After the power to the controller is turned on, return-to-origin must be performed before starting robot operation. When return-to-origin is performed, each axis of the robot moves to its mechanical origin position and the position data in the controller is reset. Return-to-origin must be performed on incremental type axes.
Page 170 Return-to-origin operation using the stroke end detection method Return-to-origin operation using the stroke end detection method Return-to-origin direction Return-to-origin start position Stroke end 1. In the stroke end detection method, return-to-origin can start from any position. 2. Upon starting return-to-origin, the robot starts moving in the return-to-origin direction. 3.
Page 171: Return-To-Origin Procedure
Return-to-origin procedure The robot must be at servo-on to perform return-to-origin operation. WARNING ThE ROBOT STARTS MOvINg AS SOON AS RETURN-TO-ORIgIN IS PERFORMED. TO AvOID hAzARDOUS SITUATIONS, DO NOT ENTER ThE ROBOT MOvEMENT RANgE. CAUTION Before performing return-to-origin, check that incremental type axes are in positions that allow return-to-origin operation. Emergency stop might be triggered if return-to-origin or absolute search is simultaneously performed on three or more axes whose return- to-origin method is the stroke end detection method.
Page 172: 10. Absolute Reset
10. Absolute reset Absolute reset is an operation to find the origin position, when the position detector in the motor cannot identify the origin position (called "origin incomplete" from now on). Movement commands in robot language cannot be executed if the origin is incomplete. Always perform absolute reset if the origin is incomplete.
Page 173: Checking Absolute Reset
10.1 Checking absolute reset To check the absolute reset status of each axis on the controller, press (RST.ABS) in MANUAl mode. The MANUAl>RST.ABS mode screen appears as shown below. Check the absolute reset status of each axis. When all axes are absolute type axes: Checking absolute reset status When all axes are absolute type axes ＭＡＮＵＡＬ＞ＲＳＴ．ＡＢＳ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 174 When both absolute and incremental type axes exist: Checking absolute reset status When both absolute and incremental type axes exist ＭＡＮＵＡＬ＞ＲＳＴ．ＡＢＳ１００％［ＭＧ］［Ｓ０Ｈ０Ｊ］ −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− ＰｒｅｓｓＦ．ｋｅｙｔｏｇｅｔａｘｉｓｆｏｒＡＢＳＲＳＴＭ１＝ＮＧ／ＭａｒｋＭ２＝ＮＧ／ＭａｒｋＭ３＝ｎｏｔＡＢＳＭ４＝ｎｏａｘｉｓＭ１Ｍ２Ｍ３Ｍ４ Axis Absolute reset status "Origin method" of Axis Parameter Axis 1 Origin incomplete Mark method Axis 2...
Page 175: Absolute Reset On Each Axis
10.2 Absolute reset on each axis This section explains how to perform absolute reset of each axis using the robot controller. The absolute reset operation differs depending on the return-to-origin method (mark method or stroke end / sensor method) of each axis. NOTE When the mark method is used as the origin detection method, absolute reset is impossible unless the machine reference is between 44 to 56%.
Page 176 ■ Absolute reset position and "0" pulse position When absolute reset is performed at position A, position B (machine reference 38%) is reset as the "0" pulse position. This means that the robot will move to the "0" pulse position after performing absolute reset with the servo turned on. WARNING ThE ROBOT STARTS TO MOvE SlIghTly WhEN ABSOlUTE RESET IS PERFORMED WhIlE ThE SERvO IS ON.
Page 177 ■ When in servo-off Press the emergency stop button on the programming box to activate emergency stop. Move the axis by hand to a position where absolute reset can be performed. At this point, make sure the machine reference is within a range of 44 to 56%.
Page 178: 10.2.2 When The Stroke End Or Sensor Method Is Used For Return-To-Origin
10.2.2 When the stroke end or sensor method is used for return-to-origin To perform return-to-origin on an axis that uses the stroke end (torque detection) or sensor method for return-to-origin. WARNING ThE ROBOT STARTS TO MOvE WhEN ABSOlUTE RESET IS PERFORMED. TO AvOID DANgER, DO NOT ENTER ThE ROBOT MOvEMENT RANgE.
Page 179: Absolute Reset On All Axes
10.3 Absolute reset on all axes This section explains how to perform absolute reset on all axes of the robot controller. The sequence for performing absolute reset of the axes is given below. 1. First, perform absolute reset on all axes that use the mark method. 2.
Page 180 Select all axes to perform absolute Step 1 Absolute reset of all axes reset. ＭＡＮＵＡＬ＞ＲＳＴ．ＡＢＳ＞ＡＬＬ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］ Press (All). −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− All axes are selected for absolute reset and the mark ＡｌｉｇｎａｘｅｓｗｉｔｈＭＡＲＫ，＆ＰｒｅｓｓＥＮＴＥＲ method axes are highlighted. Ｍ１＝ＮＧ／６％Ｍ５＝ｎｏａｘｉｓＭ２＝ＮＧ／４９％Ｍ６＝ｎｏａｘｉｓ Move all mark-method axes to Ｍ３＝ＮＧ／ＴＯＲＱＵＥ...
Page 181 Perform absolute reset on stroke end Step 4 Perform absolute reset on all axes method and sensor method axes. Check whether to perform reset After absolute reset on all mark-method axes is ＭＡＮＵＡＬ＞ＲＳＴ．ＡＢＳ＞ＡＬＬ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］ finished correctly, a confirmation message appears −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−...
Page 182: 11. Setting The Standard Coordinates
11. Setting the standard coordinates The standard coordinates for SCARA robots are treated as Cartesian coordinates using the x-arm rotating center as the coordinate origin. The following operations and functions are enabled on SCARA robots by setting the standard coordinates. • moving the robot arm tip in the direction of the Cartesian coordinates.
Page 183 The following parameters are automatically set when the standard coordinates are entered. CAUTION When setting the standard coordinates, note the following points. • always perform teaching with the same hand system carefully and accurately. • Set the teach points as near as possible to the center of actual work area and also separate them from each other as much as possible. • The plane formed by the robot x and y axis movement must be parallel to the actual working plane. • Perform point teaching at the rotation center of the r-axis. • The standard coordinate setting accuracy greatly affects the Cartesian coordinate precision. 1) "Arm length [mm]" M1= ###.## x-axis arm length (distance from the x-axis rotation center to the y-axis rotation center) M2= ###.## y-axis arm length (distance from the y-axis rotation center to the R-axis rotation center) 2) "Offset pulse"...
Page 184 Setting the standard coordinates Selecting the setting method ＭＡＮＵＡＬ＞ＣＯＯＲＤＩ５０％［ＭＧ］［Ｊ］ｘｙｚｒＨｏｗｍａｎｙｐｏｉｎｔｓｍｅｔｈｏｄａｒｅｕｓｅｄ？Ｆ１：４ｐｏｉｎｔｓｔｅａｃｈｍｅｔｈｏｄＦ２：３ｐｏｉｎｔｓｔｅａｃｈｍｅｔｈｏｄＦ５：Ｓｉｍｐｌｅｍｅｔｈｏｄ４ＰＯＩＮＴＳ３ＰＯＩＮＴＳＳＩＭＰＬＥ valid keys and submenu descriptions in MANUAl>COORDI mode are as shown below. Valid keys Menu Function 4POINTS Sets standard coordinates by 4-point teaching. 3POINTS Sets standard coordinates by 3-point teaching. SIMPlE Sets standard coordinates by simple teaching.
Page 185: Setting The Standard Coordinates By 4-Point Teaching
11.1 Setting the standard coordinates by 4-point teaching NOTE • Separate the points from each other as much as possible. • if the length of one side is inadequate, setting might be impossible due to an error. Setting the standard coordinates by 4-point teaching P[3 ] P[4] P[2] P[1 ] 4-point teaching Precondition: Relative coordinate values made for P[2], P[3] and P[4] must be accurate when P[1] is set as the origin.
Page 186: Setting The Standard Coordinate By 3-Point Teaching
Determine points P[3] and P[4]. Use the same procedure as in steps 3 and 4. Step 6 Check and set the standard coordinates Set the standard coordinates. A message for checking the arm length and offset ＭＡＮＵＡＬ＞ＣＯＯＲＤＩ＞４ＰＯＩＮＴＳ５０％［ＭＧ］［Ｊ］ｘｙｚｒ pulse value appears on the guideline. Press Ａｒｍｌｅｎｇｔｈ［ｍｍ］...
Page 187 NOTE Step 2 Set standard coordinates by 3-point teaching Perform teaching carefully to obtain accurate points. Precise standard coordinates cannot be set if a point is inaccurate. ＭＡＮＵＡＬ＞ＣＯＯＲＤＩ＞３ＰＯＩＮＴＳ５０％［ＭＧ］［Ｊ］ｘｙｚｒＭｏｖｅａｒｍｔｏＰ［２］ａｎｄｐｒｅｓｓＥＮＴＥＲｋｅｙ Determine points P[2] and P[3]. Ｐ［１］＝ −４３２０２４７１５８ Use the same procedure as in step 2. Ｐ［２］＝...
Page 188: Setting The Standard Coordinates By Simple Teaching
11.3 Setting the standard coordinates by simple teaching NOTE Position the xy arms and R-axis so that their rotation centers are aligned in a straight line as much as possible. Setting the standard coordinates by simple teaching +y direction +x direction Select the simple teaching mode to set Step 1 the standard coordinates...
Page 189: 12. Executing The User Function Keys
12. Executing the user function keys User function keys allow you to perform various tasks easily when needed. For example, assigning operation of an air-driven unit connected to an output port to a function key will prove useful when performing point teaching in MANUAl mode.
Page 190: 13. Initializing The Flash Rom
13. Initializing the flash ROM The data stored in the controller’s internal flash ROM can be initialized as needed. NOTE if the data in the internal memory is destroyed for any reason, it can be restored by loading the backup data from the internal lash rom. We recommend backing up the data in the internal lash rom before starting the robot system. For instructions on how to save the data in the internal lash rom and how to restore it, refer to the user’s manual. in SySTEm>baCKUP>From mode, press (INIT). A confirmation message appears on the guideline, and press (yES) to initialize the flash ROM. The message "0.5: Accessing"...
Page 191: Service Mode
Chapter 6 SERVICE mode Contents SERVICE mode Operation device Prohibition of AUTO mode operation Hold-to-Run function Limits on robot moving speed...
Page 193: Operation Device
SERVICE mode The SERvICE mode function is intended to prohibit running commands from any operation device other than the programming box when, for example, operating the robot system from within the safety enclosure. The SERvICE mode function is enabled only in SAFE mode. This function is selected by setting DI02 (SERvICE mode input) to OFF.
Page 194: Limits On Robot Moving Speed
Limits on robot moving speed Robot operation from within the safety enclosure of the robot system is mainly for teaching and maintenance for the robot. Therefore, robot moving speed in SERvICE mode is limited to 3% of the maximum speed so that the robot will move at a speed no faster than 250mm/sec.
Page 195 Chapter 7 UTILITY mode Contents UTILITY mode Canceling emergency stop; Motor power and servo on/off 2.1. Canceling the emergency stop flag Motor power and servo on/off Enabling/disabling the sequence execution flag Arm type Resetting the output ports Execution level Changing the execution level Displaying the help message Access level (operation level) Changing the access level...
Page 197: Utility Mode
UTILITY mode The UTIlITy mode can be entered from any other mode except edit mode regardless of the mode level. Pressing enters UTIlITy mode and the following screen is displayed. NOTE The current internal controller temperature is displayed to the right of the date and time display. UTILITY mode (1) ＵＴＩＬＩＴＹ...
Page 198: Canceling Emergency Stop; Motor Power And Servo On/Off
Canceling emergency stop; Motor power and servo on/off 2.1. Canceling the emergency stop flag Enter UTILITY mode. Step 1 Check whether to cancel emergency stop Press ＵＴＩＬＩＴＹ The UTIlITy mode screen opens and a confirmation message appears on the guideline. Ｄａｔｅ，Ｔｉｍｅ：０８／０６／２０，１８：５９：３７（３６°Ｃ）...
Page 199 Follow these steps to turn the motor power and servo on or off. Enter UTILITY>MOTOR mode. In UTIlITy mode, press (MOTOR). Step 2 Turn the motor power and servo on or Servo on/off off. ＵＴＩＬＩＴＹ＞ＭＯＴＯＲ Press (On) to turn on the servo. ｍｏｔｏｒｐｏｗｅｒ：Ｏｆｆ...
Page 200: Enabling/Disabling The Sequence Execution Flag
Enabling/disabling the sequence execution flag To enable or disable execution of sequence programs, follow the procedure below. NOTE Sequence programs can be executed when all of the following conditions are met. 1. An object program is created for sequence execution. 2.
Page 201: Resetting The Output Ports
Resetting the output ports This resets the general-purpose output ports DO2() to DO27()/MO2() to MO27()/lO0()/TO0()/SO2() to SO27()/ SOW(2) to SOW(15). Press (RST.DO) in UTIlITy mode, and a confirmation message appears on the guideline. To reset the general-purpose outputs, press (yES). To cancel the reset, press (NO).
Page 202: Changing The Execution Level
Changing the execution level To change the execution level, follow these steps. Enter UTILITY>EXECUTE mode. Step 1 Changing the execution level Press twice to enter UTIlITy>ExECUTE ＵＴＩＬＩＴＹ＞ＥＸＥＣＵＴＥ mode and press (ExECUTE). Ｅｘｅｃｕｔｌｅｖｅｌ：ＬＥＶＥＬ７ Set the execution level. Press a key from (lEvEl0) to (lEvEl8) to set the execution level.
Page 203: Access Level (Operation Level)
Access level (operation level) Changing a program or point data incorrectly may cause the robot and/or controller to break down or malfunction. To prevent such problems, the controller can be set to operating levels that permit or prohibit changing programs and point data.
Page 204: Displaying The Help Message
Displaying the help message To display the help message for access levels, press (hElP) in UTIlITy>ACCESS mode. Press (NExT P.) or cursor ( ) key to refer to the next page or press (PREv. P.) or cursor ( ) key to refer to the previous page.
Page 205: Troubleshooting
Troubleshooting Contents Error messages Robot controller error messages [ 0] Warnings and messages [ 1] Warnings (error history entry) [ 2] Robot operating area errors [ 3] Program file operating errors A-10 [ 4] Data entry and edit errors A-12 [ 5] Robot language syntax (compiling) errors A-13 [ 6] Robot language execution errors...
Page 207: Error Messages
Error messages Robot controller error messages When an error occurs, an error message appears on the message line of the programming box. The error messages and their explanations are given below. [Error message display format] Error messages display at the top of the screen. Error group number Error number Error category number...
Page 208 Error group number Error messages are classified by content into groups [0] to [22]. Contents of each error group are shown below. Group No. Contents [ 0] Warnings and messages [ 1] Warnings (error history entry) [ 2] Robot operating area errors [ 3] Program file operating errors [ 4]...
Page 209 Dedicated output status Dedicated output status items described below in *1 to *3 show the following contents. *1... CPU stop • Turn the power on again to reset. do01a (CPU oK) =oFF DO02a (SERvO ON) =OFF DO03a (AlARM) *2 ... Driver stop • Turn the power on again to reset. do01a (CPU oK) DO02a (SERvO ON) =OFF DO03a (AlARM)
Page 210: 0] Warnings And Messages
[ 0] Warnings and messages : Undefined error Code : &H0000 Undefined system error. Meaning/Cause Action Contact your distributor with details of the problem. : Origin incomplete * If the cause of the origin incomplete error can be pinpointed, an error code will be attached in parentheses at the end. Code : &H0001 a.
Page 211 : Turn on power again Code : &H0007 a. System generation was performed due to a robot change, etc. b. Parameter was changed by data transfer. Meaning/Cause c. System generation data was destroyed. d. Error occurred when servo was turned ON. Action Turn the controller on again.
Page 212: 1] Warnings (Error History Entry
0.17 : Can't edit while STD.DIO DC24V on Code : &H0011 Setting to disable the 24vDC monitoring function of STD.DIO was attempted even though 24vDC was Meaning/Cause being supplied at STD.DIO connector. (Monitor function cannot be disabled while 24vDC is being supplied to STD. DIO.) Action To disable the monitor function, change the parameter after first stopping the 24vDC supply.
Page 213 : Std. coord. doesn't exist Code : &H0202 Meaning/Cause Setting of standard coordinates is incomplete. 1. Set the standard coordinates. Action 2. Set the parameter arm length and offset pulse. : Coordinate cal. failed Code : &H0203 a. Preset calculation for setting standard coordinates is not functioning. Meaning/Cause b.
Page 214 2.11 : ? exceeded shift coord. range Code : &H020B Shift coordinate range ? value was exceeded. Meaning/Cause 1. Change the operating position of ? value to within the shift coordinates range. Action 2. Change shift coordinates range ? value. 2.17 : Arch condition bad Code : &H0211 Arch motion cannot be performed on the x and y axes if the arch position is specified in "mm" units. Meaning/Cause Arch motion cannot be performed on the x and y axes if the target position is specified in "mm"...
Page 215 2.25 : Cannot use TOOL coord. Code : &H0219 Meaning/Cause Failed to select tool coordinates could because no hand data has been entered. Action Set the hand data. CAUTION An R-axis unit must be installed. Set the hand data while a hand or gripper is attached to the tip of the R-axis. 2.26 : Collision in W.carrier Code...
Page 216: 3] Program File Operating Errors
[ 3] Program file operating errors : Too mamy programs Code : &H0301 Meaning/Cause Making of a new program was attempted after number of programs exceeded 100. Action Make a new program after deleting an unnecessary program. (Make a backup if necessary.) : Program already exists Code : &H0302...
Page 217 3.10 : Object program doesn't exist Code : &H030A Meaning/Cause The object program name is not registered. Action Make an object program. 3.11 : Cannot use function Code : &H030B Meaning/Cause Unable to execute or unneeded hierarchy was selected. − − − Action 3.12 : Cannot overwrite...
Page 218: 4] Data Entry And Edit Errors
3.18 : Duplicated Breakpoint Code : &H0312 Meaning/Cause Setting of breakpoint was attempted on line already set with breakpoints. Action To set the breakpoint, specify a line where breakpoints have not yet been set. [ 4] Data entry and edit errors : Point number error Code : &H0401...
Page 219: 5] Robot Language Syntax (Compiling) Errors
[ 5] Robot language syntax (compiling) errors : Syntax error Code : &H0501 Meaning/Cause Syntax error found in program. Change to the correct syntax. Action : Data error Code : &H0502 Meaning/Cause Data entered in wrong format. Action Input the data in the correct format. : Number error Code : &H0503...
Page 220 : Illegal order Code : &H0508 Meaning/Cause Wrong bit specified for input/output port. Action Change to ascending order starting from right. 5.10 : Too many characters Code : &H050A a. Character string was defined in excess of 75 characters. Meaning/Cause b.
Page 221 5.18 : NEXT without FOR Code : &H0512 a. There is no FOR statement corresponding to NExT statement. Meaning/Cause b. NExT command was executed without executing FOR command. 1. Delete the NExT statement. Action 2. Add a FOR statement corresponding to the NExT statement. 3.
Page 222 5.26 : Duplicated variable Code : &H051A Meaning/Cause Two or more array variables were defined for the same name. Delete a definition statement for the array variables with the same name. Action 5.27 : Duplicated identifier Code : &H051B Meaning/Cause Two or more identifiers were defined for the same name.
Page 223 5.36 : Argument mismatch Code : &H0524 Meaning/Cause The number of SUB statement arguments does not correspond to the CAll statement. Action Make the number of SUB statements correspond to the CAll statement. 5.37 : Specification mismatch Code : &H0525 Meaning/Cause Cannot execute command under present robot specifications.
Page 224 5.44 : Cannot use external label Code : &H052C Meaning/Cause Command cannot use an external label. 1. Change to an internal label. Action 2. Change execution command. 5.45 : Illegal program name Code : &H052D a. When transmitting a program file by SEND command, the NAME statement was not defined on beginning line of the program data.
Page 225: 6] Robot Language Execution Errors
5.52 : Command doesn't exist Code : &H0534 Meaning/Cause line does not have a command statement. 1. Add a command statement. Action 2. Delete the line that does not have a command statement. 5.53 : Compile failure Code : &H0535 Meaning/Cause Error occurred in software.
Page 226 : Coordinate type error Code : &H0605 a. Arithmetic operations of joint coordinate point data and Cartesian coordinate point data were attempted. Meaning/Cause b. Joint coordinate system and Cartesian coordinate system were mixed together within the MOvE C, command point data. c.
Page 227 6.13 : RESTART without SUSPEND Code : &H060D Meaning/Cause RESTART command was executed for a task not executed by SUSPEND command. Confirm execution of SUSPEND command. Action 6.14 : Task number error Code : &H060E a. Task number is outside the range 2 to 8. Meaning/Cause b.
Page 228 6.21 : Same point exists Code : &H0615 a. Same points exist for 1 of 3 points of an MOvE C command. Meaning/Cause b. Same points are consecutively on the path of PATh motion. 1. Change the MOvE C command to 3 different points. Action 2.
Page 229 6.29 : No PATH data Code : &H061D Meaning/Cause No path is set for PATh motion. Set a path with PATh l and PATh C. The previously set path will be lost in the following cases: • When PaTh SET is executed. • When program is changed. Action • When program is reset.
Page 230: 9] Memory Errors
[ 9] Memory errors : Program destroyed Code : &H0901 a. Part or all of the program data has been destroyed. Meaning/Cause b. This error message is sometimes issued due to a major error or the power being turned off during rewrite of program data.
Page 231 : Pallet data destroyed Code : &H0909 Meaning/Cause Part or all of the pallet definition data was destroyed. Action Initialize the pallet definition data. 9.31 : Memory full Code : &H091F Meaning/Cause No available space in the program/point data area. Action Delete unnecessary programs/points.
Page 232: [10] System Setting Or Hardware Errors
9.39 : Sequence object destroyed Code : &H0927 Meaning/Cause Part or all of the sequence object program has been destroyed. Action Make the sequence object program again. 9.40 : Cannot found sequence object Code : &H0928 Meaning/Cause No sequence object program. Make the sequence object program.
Page 233 10.7 : CPU.unit version mismatch Code : &H0A07 Meaning/Cause CPU unit version does not match the CPU. Action Make sure the CPU unit and driver unit versions match each other. 10.8 : Cannot set auxiliary axis Code : &H0A08 Setting of axis that cannot be set as an auxiliary axis was attempted. Meaning/Cause The following axes cannot be set as an auxiliary axis.
Page 234: [12] I/O And Option Board Errors
10.17 : Cannot set Gripper Code : &H0A11 a. It was attempted to set the gripper for the yC-link set axis. Meaning/Cause b. It was attempted to set the gripper for the dual drive set axis. c. It was attempted to set the gripper for an axis number exceeding the number of boards installed. 1.
Page 235 12.2 : Interlock on Code : &H0C02 a. Program was executed or moving of axis attempted while interlock signal was still input. b. Interlock signal turned ON during execution of program or axis movement. Meaning/Cause c. 24vDC not supplied to STD.DIO connector. d.
Page 236 12.19 : DeviceNet link error(Explicit) Code : &H0C13 The DeviceNet board was reset by an Explicit message request (Reset request to Identity Obj) from the Meaning/Cause client (master PlC). Action 12.21 : PROFIBUS link error Code : &H0C15 a. Error in cable for PROFIBUS system. b.
Page 237 12.34 : POS.OUT Point not exist Code : &H0C22 Meaning/Cause Comparison point data does not exist. Action Set comparison point data correctly. 12.35 : POS.OUT Point unit error Code : &H0C23 Comparison points 1 and 2 do not use the same unit system. Meaning/Cause Action Change them to the same unit system.
Page 238: [13] Programming Box Errors
12.80 : Incorrect Indiv. Origin setting Code : &H0C50 a. 2 or more axes were specified for the "Axes selection port (DI & SI)" parameter. Meaning/Cause b. No axis was specified for the "Axes selection port (DI & SI)" parameter. c.
Page 239 14.2 : Parity error Code : &H0E02 Meaning/Cause During external communication via the RS-232C, an error occurred. Action Check the communication parameter settings. 14.11 : Receive buffer overflow Code : &H0E0B Communication receive buffer exceeded permissible capacity. Meaning/Cause 1. Delay the communication parameter speed (baud rate). Action 2.
Page 240: [15] Memory Card Errors
14.25 : Illegal command in this mode Code : &H0E19 Meaning/Cause Cannot execute the specified online command in the current mode. 1. Stop the online command. Action 2. Change the mode. 14.26 : Illegal command,SERVICE mode Code : &H0E1A Meaning/Cause Unable to execute since operation is in SERvICE mode.
Page 241 15.12 : Disk full Code : &H0F0C Meaning/Cause Write failed. No space is available on memory card. (File contents cannot be guaranteed.) 1. Use a new memory card. Action 2. Delete unnecessary files. 15.13 : Unformatted media Code : &H0F0D a.
Page 242: [17] Motor Control Errors
15.27 : Data read error Code : &H0F1B Meaning/Cause Failed to load file. 1. Try to reload the file. Action 2. Replace the memory card. 3. Replace the controller. 15.28 : Data write error Code : &H0F1C Failed to write file. Meaning/Cause 1.
Page 243 17.4 : Over load Code : &H1104 Dedicated output : *2 a. Robot drive section mechanically locked. b. Motor current exceeded its rated value due to a motor overload. c. Motor acceleration is excessive. d. System generation setting is wrong. Meaning/Cause e.
Page 244 17.10 : Feedback error 1 Code : &H110A Dedicated output : *2 Wiring of motor cable or ROB I/O cable is incorrect. Meaning/Cause 1. Rewire the motor cable or ROB I/O cable correctly. Action 2. Replace the motor cable or ROB I/O cable. 17.11 : Feedback error 2 Code : &H110B...
Page 245 17.21 : Bad origin sensor Code : &H1115 a. Origin sensor is defective. Meaning/Cause b. Origin sensor wiring is broken. 1. Replace the origin sensor. Action 2. Replace the ROB I/O cable. 17.22 : Bad PZ Code : &H1116 a. Motor is defective. Meaning/Cause b.
Page 246 17.39 : Servo off failed Code : &H1127 Dedicated output : *2 Servo OFF processing failed because the drive unit had been stopped. Meaning/Cause Action Turn the power off and then on again. 17.40 : Torque mode now Code : &H1128 Manual movement attempted while in torque mode.
Page 247 17.83 : Backup position data error 1 Code : &H1153 Backup position information did not match the resolver angle information when robot position Meaning/Cause information was recalculated at controller startup. Action Perform absolute reset. 17.84 : Over velocity 2 Code : &H1154 Meaning/Cause Movement speed is too high during power-off of the controller.
Page 248: [19] Yc-Link Related Error
17.94 : ABS.battery low voltage Code : &H115E Dedicated output : When the absolute battery voltage becomes low, DO03a (Alarm) and the port set by the "Battery alarm output port (DO & SO)" parameter turn on. Meaning/Cause Battery for retaining absolute data is low or not installed. 1.
Page 249 19.3 : OVER HEAT Code : &H1303 a. Ambient temperature around the controller is above 40°C. b. Excessive load on motor. Meaning/Cause c. Cooling fan stopped working. d. Thermal sensor failed. 1. Correct the ambient conditions so that temperature is below 40°C. Action 2.
Page 250 19.13 : BAD PZ Code : &H130D a. Position detector failure. Meaning/Cause b. Phase z detection error. 1. Replace the motor or robot. Action 2. Connect the ROB I/O cable correctly. 3. Replace the ROB I/O cable. 19.14 : FEEDBACK ERROR 1 Code : &H130E a.
Page 251 19.19 : SYSTEM FAULT 3 Code : &H1313 a. External noise has disrupted software program. Meaning/Cause b. CPU failure or malfunction. 1. Check the environment for noise. Action 2. Replace the controller. 19.21 : BAD NETWORK Code : &H1315 a. Poor connection of communication cable. Meaning/Cause b.
Page 252 19.28 : COORD.VAL. ERROR Code : &H131C a. Poor connection of communication cable. Meaning/Cause b. Open-circuit fault of communication cable. c. Data destruction due to external noise. 1. Connect the communication cable securely. Action 2. Replace the communication cable. 3. Check the ambient conditions. 19.29 : NET DATA ERROR Code : &H131D...
Page 253: [20] Ivy System Errors
19.41 : ABS.RO ERROR Code : &H1329 Meaning/Cause ROB I/O cable broke during power-off. − − − Action 19.42 : ABS.RE ERROR Code : &H132A ROB I/O cable broke during power-on. Meaning/Cause − − − Action 19.43 : ABS.OF ERROR Code : &H132B −...
Page 254 20.3 : Vision camera disconnected Code : &H1403 Meaning/Cause Camera recognition problem. 1. Check the camera cable connection. 2. Check the camera channel. Action 3. Check for severed/disconnected camera cable. 4. Check power supply wiring for the ivy board. 20.4 : Vision undefined error Code : &H1404...
Page 255 20.12 : Vision calib. data destroyed Code : &H140C Meaning/Cause Calibration data error occurred. Action Contact your distributor with details of the problem. 20.13 : Vision no pattern data Code : &H140D No model has been registered for the specified model number. Meaning/Cause 1.
Page 256 20.52 : V_Plus counter wire breakage Code : &H1434 Meaning/Cause Disconnected encoder input cable detected. Set unused encoder input channels to "INvAlID". Action verify that the cable connector is not disconnected or severed. Check to see if the encoder is operating normally. 20.53 : V_Plus Tracking error Code : &H1435...
Page 257: [21] Major Software Errors
[21] Major software errors 21.1 : System error (JOG) Code : &H1501 Meaning/Cause Software error occurred. Action Contact your distributor with details of this problem. 21.2 : System error (srvmod) Code : &H1502 Meaning/Cause Software error occurred. Action Contact your distributor with details of this problem. 21.3 : System error (TaskID) Code...
Page 258: [22] Major Hardware Errors
21.12 : System error (RTOS) Code : &H150C Meaning/Cause Software error occurred. Action Contact your distributor with details of this problem. 21.13 : System error (CRFPOS) Code : &H150D Current position of driver does not match the instructed position. Meaning/Cause 1.
Page 259 22.3 : DC24V power low Code : &H1603 Dedicated output : *1 a. 24vDC power supply malfunctioned and the voltage dropped. b. Electromagnetic brake for vertical axis is defective. Meaning/Cause c. Wiring for electromagnetic brake of vertical axis is shorted. d.
Page 260 22.14 : Abnormal DRIVER unit error Code : &H160E Dedicated output : *1 Error occurred in hardware. Meaning/Cause Action Contact your distributor with details of the problem. 22.20 : DRIVER unit disconnected Code : &H1614 Dedicated output : *1 a. CPU unit could not recognize driver unit. Meaning/Cause b.
Page 261 22.44 : OPT.4 interface overtime Code : &H162C Dedicated output : *1 Failed to acquire access privilege for interface with option board connected to option slot 4. Meaning/Cause 1. Replace the option board connected to option slot 4. Action 2. Replace the controller. 22.45 : DRIVER interface overtime Code : &H162D...
Page 262 22.55 : YC-Link network error Code : &H1637 The secondary station failed to reply. a. The communication cable is disconnected. Meaning/Cause b. The communication is malfunctioning due to noise. c. A serious failure has occurred at the secondary station controller. 1.
Page 263: Alarm Messages Occurred In Electric Gripper Main Body (Fatal Error
[26] Alarm messages occurred in electric gripper main body (Fatal error) 26.1 : Gripper Over load Code : &H1A01 The motor overload occurred. a. The motor was faulty. Meaning/Cause b. The parameter was faulty. c. The capacity of the power line was insufficient. d.
Page 264 26.7 : Gripper Internal fault Code : &H1A07 Meaning/Cause Error occurred inside the gripper control board. Action Contact your distributor with details of this problem. 26.8 : Gripper 24V Power off Code : &H1A08 a. 24vDC power cable was not connected. Meaning/Cause b.
Page 265: [27] Error Messages Occurred In Electric Gripper Main Body
[27] Error messages occurred in electric gripper main body 27.32 : Gripper Soft limit over Code : &H1B20 Meaning/Cause The operation position exceeded the software limit set by the parameter. 1. Change the operation position to put it within a software limit area. Action 2.
Page 266: Programming Box Error Messages
Programming box error messages When a hardware error or a software error occurs in the programming box, the following messages are highlighted (shown with reversed background) on the guideline of the lowest line of the screen. PB TRAP !! Contents : Undefined operation code was executed. Cause : A hardware error occurred.
Page 267 PB Device Not Ready!! (Time Out Error) Contents : Cannot control the controller. : a. The cable is broken or disconnected. Cause b. handshake with controller is defective due to problem with controller. Action : 1. Replace PB cable. 2. Replace the programming box. 3.
Page 268: Troubleshooting
Troubleshooting 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 no. example:yRC + regenerative unit • robot model name + serial no. What happened example:R6yxgl250 • Controller version no. example:v10.01 R1001 • date of purchase example:June 2008...
Page 269: Acquiring Error Information
Acquiring error information Error history (log) information is stored inside the robot controller. The following 2 methods are available for checking this information. 2.2.1 Acquiring information from the programming box Enter DIAGNOS mode. Press the (DIAgNOS) key in SySTEM mode. Check the error status or error history.
Page 270: Troubleshooting Checkpoints
Troubleshooting checkpoints Installation and power supply Symptom Possible cause Check items Corrective action • Power not supplied. • Check power input terminal • Connect power input terminal Controller won't turn on even with power supplied. connection (l/N/l1/N1). correctly. • Check power input terminal • Supply rated power supply voltage (l/N/l1/N1). voltage. • Check if "PWr" lEd on front panel is lit. • Problem in controller internal • replace the controller.
Page 271 Robot operation Symptom Possible cause Check items Corrective action • interlock signal. • Check standard i/o interface • Connect the standard i/o Controller turns on but can't execute program and connector (for interlock signal) interface connector for manual movement. and check if 24vDC is supplied. interlock signal. • Connect the 24vdC power • Check the di11 (interlock) supply.
Page 272 I/O operation Symptom Possible cause Check items Corrective action • no 24vdC supply. • Check that 24vdC is supplied • Supply 24vdC. Won't operate even when dedicated input signal is from standard I/O interface supplied. connector. • Check di04 on programming box screen. • Problem in signal connection. • Check wiring on standard i/o • make the correct wiring on interface connector. standard I/O interface connector.
Page 273 Index...
Page 275 Error messages ................A-1 Index Execution level ................7-5 Changing the execution level ............. 7-6 Flash ROM Absolute battery ................iii initializing the lash rom ..............5-68 Absolute reset ................5-50 FUNCTION ................4-19 Checking absolute reset ..............5-51 Function keys ................2-9 Absolute reset on all axes ............5-57 Absolute reset on each axis ............5-53 grid position ................5-49 Absolute search ................5-47...
Page 276 Point comment Return-to-origin operation ............5-47 Copying a point comment ..............5-20 Sensor method .................. 5-47 Deleting point comments ..............5-20 Torque (stroke end) detection method ..........5-48 Entering or editing point comments ..........5-19 Return-to-origin procedure ............5-49 Jump to a point comment ..............5-19 Point comment input and editing ............
Page 278: Revision History
Revision history a manual revision code appears as a sufix to the catalog number on the front cover manual. Cat. No. I138E-EN-02 Revision code The following table outlines the changes made to the manual during each revision. Revision code Date Description January 2013 Original production January 2014 Parameters related to R6yxTW500 model were added, troubleshooting items were added, system error section was updated and text errors were corrected...
Page 280 Authorized Distributor: Note: Speciications subject to change without notice. Cat. No. I138E-EN-02 Printed in Europe...

Omron YRC Series Operation Manual

General Contents

Safety Instructions

Important Information before Reading this Manual

Chapter 1 Using the Robot Safely

Chapter 2 Overview

Chapter 3 Auto Mode

Chapter 4 Program Mode

Chapter 5 Manual Mode

Chapter 7 Utility Mode

Troubleshooting

Quick Links

Chapters

Troubleshooting

Need help?

Questions and answers

Related Manuals for Omron YRC Series

Summary of Contents for Omron YRC Series