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Yamaha RCX240 User Manual

4-axis robot controller
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Table of Contents
240
RCX
EUR6127206
Ver. 2.06
E107

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Table of Contents
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  Summary of Contents for Yamaha RCX240

  • Page 1 EUR6127206 Ver. 2.06 E107...
  • Page 3 Our sincere thanks for your purchase of this YAMAHA robot controller. This manual explains how to install and operate the YAMAHA robot controller. Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA robot controller safely and correctly.
  • Page 4: 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 5 CAUTION Continuous operation while the ball screw is resonating may cause the ball screw to wear out prematurely. [5] Duty To achieve maximum service life for the single-axis robots, the robot must be operated within the allowable duty (50%). The duty is calculated as follows: Operation time Duty (%) = ×100...
  • Page 6 5. CE marking * As a YAMAHA robot series product, the RCX series robot controller is designed to conform to machinery directives, low-voltage directives and EMC (Electromagnetic compatibility) directives. In this case, the robot controller is set to operate under "SAFE" mode. (* For CE marking compliance, see the CE marking supplement manual.)
  • Page 7 General contents General contents Introduction Before using the robot controller (Be sure to read the following notes) 2 Overview of the RCX series General contents Chapter 1 USING THE ROBOT SAFELY Safety information Particularly important cautions System design safety points Installation safety points Wiring safety points Start-up and maintenance safety points...
  • Page 8 Main system configuration Axis definition for the RCX240 External view and control system RCX240 external view Controller system Optional devices RPB programming box Expansion I/O board Regenerative unit Basic sequence from installation to operation 2-6 When using absolute type axes only...
  • Page 9: Table Of Contents

    Connecting the absolute battery 3-19 10. Replacing the absolute battery 3-21 11. Connecting a regenerative unit 3-22 12. Precautions for cable routing and installation 3-23 12.1 Wiring methods 3-23 12.2 Precautions for installation 3-25 12.3 Methods of preventing malfunctions 3-25 13.
  • Page 10 Other operation modes 4-22 Mode hierarchy 4-23 "SERVICE" mode 4-28 Operation device 4-28 Prohibition of "AUTO" mode operation 4-28 Hold-to-Run function 4-28 Limitations on robot operating speed 4-29 "AUTO" mode 4-30 Automatic operation 4-33 Stopping the program 4-34 Resetting the program 4-35 Switching task display 4-37...
  • Page 11 10.3.5 Erasing a program 4-75 10.3.6 Renaming a program 4-76 10.3.7 Changing the program attribute 4-76 10.3.8 Displaying object program information 4-77 10.3.9 Creating a sample program automatically 4-78 10.4 Compiling 4-80 10.5 Line jump and character string search 4-81 10.6 Registering user function keys 4-81 10.7 Resetting an error in the selected program...
  • Page 12 11.7 Changing the display units 4-149 11.8 Return-to-origin 4-150 11.8.1 Return-to-origin operation 4-150 11.8.2 Semi-absolute 4-152 11.8.3 Return-to-origin procedure 4-154 11.9 Absolute reset 4-156 11.9.1 Checking absolute reset 4-157 11.9.2 Absolute reset on each axis 4-159 11.9.3 Absolute reset on all axes 4-165 11.10 Setting the standard coordinates 4-171...
  • Page 13 12.5.4 Displaying the total operation time 4-299 12.5.5 System error details display 4-300 12.6 Backup processes 4-301 12.6.1 Internal flash ROM 4-302 12.6.1.1 Loading files 4-303 12.6.1.2 Saving files 4-305 12.6.1.3 Initializing the files 4-306 13. "MONITOR" mode 4-307 14. "UTILITY" mode 4-310 14.1 Canceling emergency stop;...
  • Page 14 2.2.8 Absolute reset 5-26 2.2.8.1 Checking absolute reset status 5-26 2.2.8.2 Absolute reset on each axis (mark method) 5-27 2.2.8.3 Absolute reset on each axis (stroke end method / sensor method) 5-29 2.2.8.4 Absolute reset on all axes 5-31 "SYSTEM" mode 5-34 2.3.1 "SYSTEM"...
  • Page 15 2.7.1 General-purpose input signals 6-26 2.7.2 General-purpose output signals 6-26 2.7.3 General-purpose output signal reset (off) 6-27 Ratings 6-28 Caution items 6-29 Chapter 7 SAFETY I/O INTERFACE SAFETY I/O interface overview Power Connector I/O signals Connector terminal numbers Emergency stop input signal connections Dedicated input signal connections Input signal description Dedicated output signal connections...
  • Page 16 Chapter 10 SPECIFICATIONS Controller basic specifications 10-1 RCX240 basic specifications 10-1 Controller basic functions 10-3 Robot controller external view 10-4 RCX240 external view 10-4 RPB basic specifications and external view 10-7 TROUBLESHOOTING Error messages Robot controller error messages [ 0] Warnings and messages...
  • Page 17: Chapter 1 Using The Robot Safely

    Chapter 1 USING THE ROBOT SAFELY Contents Safety information Particularly important cautions System design safety points Installation safety points Wiring safety points Start-up and maintenance safety points Safety precautions during robot operation Precautions for disposal Safety measures for robots Safety measures for SCARA type robots Safety measures for single-axis robots, Cartesian robots, and pick &...
  • Page 19: Safety Information

    1. Safety information 1. Safety information Before using the YAMAHA robot controller, be sure to read this manual and related manuals, and follow their instructions to use the robot controller safely and correctly. Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure safety of the user's final system that includes YAMAHA robots and controllers, please take appropriate safety measures as required by the user's individual system.
  • Page 20: Particularly Important Cautions

    System design safety points DANGER • YAMAHA robot controllers And robots Are designed And MAnufActured FOR GENERAL-PURPOSE INDUSTRIAL EqUIPMENT. THEY SHOULD NOT BE USED IN THE FOLLOWING APPLICATIONS: • MedicAl equipMent or sYsteMs wHicH will Affect HuMAn life •...
  • Page 21: Installation Safety Points

    INSTALLATION OR WIRING WORk. FAILURE TO SHUT OFF ALL PHASES MAY CAUSE ELECTRICAL SHOCk OR PRODUCT DAMAGE. • YAMAHA robots And robot controllers Are not designed to be EXPLOSION-PROOF. DO NOT USE THEM IN LOCATIONS EXPOSED TO INFLAMMABLE GASES, GASOLINE OR SOLVENT THAT COULD CAUSE EXPLOSION OR FIRE. FAILURE TO OBSERVE THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INjURY OR DEATH, OR LEAD TO FIRE.
  • Page 22: Wiring Safety Points

    2. Particularly important cautions Wiring safety points WARNING • AlwAYs sHut off All pHAses of tHe power supplY externAllY before stArting INSTALLATION OR WIRING WORk. FAILURE TO SHUT OFF ALL PHASES MAY CAUSE ELECTRICAL SHOCk OR PRODUCT DAMAGE. CAUTION • Make sure that no foreign matter such as cutting chips or wire scraps enter the robot controller.
  • Page 23: Start-Up And Maintenance Safety Points

    2. Particularly important cautions Start-up and maintenance safety points DANGER • never enter tHe robot's working envelope wHile tHe robot is operAting OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INjURY OR DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCk WITH AN AREA SENSOR TO kEEP ALL PERSONS AWAY FROM THE ROBOT'S WORkING ENVELOPE.
  • Page 24 INjURY, OR FIRE. • if A coMponent used in tHe robot or controller needs to be replAced or REPAIRED, ALWAYS FOLLOW THE INSTRUCTIONS FROM YAMAHA. INSPECTION AND MAINTENANCE OF THE CONTROLLER OR ROBOT BY ANY PERSON WHO DOES NOT HAVE THE REqUIRED kNOWLEDGE AND EXPERTISE IS DANGEROUS AND MUST BE AVOIDED.
  • Page 25: Safety Precautions During Robot Operation

    2. Particularly important cautions Safety precautions during robot operation DANGER • never enter tHe robot's working envelope wHile tHe robot is operAting OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INjURY OR DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCk WITH AN AREA SENSOR TO kEEP ALL PERSONS AWAY FROM THE ROBOT'S WORkING ENVELOPE.
  • Page 26: Safety Measures For Robots

    5. Warning labels and marks Warning labels The warning labels shown below are affixed to the controller. To use the YAMAHA robot and controller safely and correctly, be sure to observe the instructions and caution on the labels. (1) "Read Instruction Manual" label...
  • Page 27: Warning Marks

    6. Industrial robot operating and maintenance personnel Warning marks The following warning marks are shown on the controller. To use the YAMAHA robot and controller safely and correctly, be sure to observe the instructions and caution of the marks. (1) "Electric Hazard" mark This mark indicates that a high voltage is present.
  • Page 28: Freeing A Person Caught By The Robot

    8. Freeing a person caught by the robot 8. 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. (1) For axis not equipped with a brake Put the robot into the emergency stop status to shut off the power to the robot.
  • Page 29 8. Freeing a person caught by the robot Use the cursor keys ( ) to select the axis for the target brake. Selecting axis Press ) (FREE) to release the brake. Make sure to prop up the vertical axis with a support stand before releasing the brake since the vertical axis will slide down when the brake is released.
  • Page 30: Warranty

    Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual; Usage that exceeded the specifications or standard performance shown in the YAMAHA manual; Product usage other than intended by YAMAHA;...
  • Page 31: Operating Environment

    10. Operating environment 10. Operating environment 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.
  • Page 32 10. Operating environment 4) Environments containing corrosive gases or substances such as acid or alkali. 5) Environments containing mist such as cutting fluids or grinding fluids. If using the controller in locations where dust particles of gases may generate, it is recommended to install the controller in a box with a cooling unit.
  • Page 33 Chapter 2 SYSTEM OVERVIEW Contents System overview Main system configuration Axis definition for the RCX240 External view and control system RCX240 external view Controller system Optional devices RPB programming box Expansion I/O board Regenerative unit Basic sequence from installation to operation 2-6...
  • Page 35: System Overview

    : System for controlling one robot Example : YK500XG All the axes on the robot controller are used as the main robot axes. System for controlling one robot RPB or RPB-E YAMAHA robot External unit (PLC etc.) Chapter 2 SYSTEM OVERVIEW...
  • Page 36 Axes 1 and 2 on the robot controller are used as the main robot axes and axes 3 and 4 are used as the Sub robot axes. System for controlling two robot RPB or RPB-E YAMAHA robot (double-carrier type) External unit (PLC etc.)
  • Page 37: Axis Definition For The Rcx240

    1. System over view Axis definition for the RCX240 Axis definitions for the YAMAHA RCX240 robot controller are shown below. Main group (MG) Main robot (MR) Main robot axis (M?) Robot controller (RC) Main robot auxiliary axis (m?) Subgroup (SG)
  • Page 38: External View And Control System

    2. External view and control system 2. External view and control system The RCX240 external view and the control system basic diagram are shown below. RCX240 external view RCX240 external view RCX240 MOTOR OP.1 OP.3 BATT OP.2 OP.4 RGEN BATT STD.DIO...
  • Page 39: Optional Devices

    3. Optional devices 3. Optional devices RPB programming box The RPB is a hand-held device used to perform all robot operations, including manual operations, program input and editing, teaching and parameter settings. RPB programming box • RPB • RPB-E Selector switch Emergency stop Emergency stop button...
  • Page 40: Basic Sequence From Installation To Operation

    4. Basic sequence from installation to operation The basic sequence from installation to actual operation is shown below. Refer to this sequence to use the RCX240 safely, correctly and effectively. Before beginning the work, read this user's manual thoroughly. When using absolute type axes only...
  • Page 41: When Using Incremental Type Axes Only

    4. Basic sequence from installation to operation When using incremental type axes only Basic procedure Refer to: Chapter 3 1. Unpacking Install the controller. 12. Precautions for cable routing and installation • Make cable and connector connections. • Ground the controller. PARALLEL I/O INTERFACE Chapter 6 •...
  • Page 42: When Using Both Absolute And Incremental Type Axes

    4. Basic sequence from installation to operation When using both absolute and incremental type axes Basic procedure Refer to: 1. Unpacking Chapter 3 Install the controller. 12. Precautions for cable routing and installation • Make cable and connector connections. • Ground the controller. Chapter 6 PARALLEL I/O INTERFACE •...
  • Page 43: Chapter 3 Installation

    Chapter 3 INSTALLATION Contents Unpacking Packing box Unpacking Installing the robot controller Installation conditions Installation methods Connector names Connecting to the power Power supply connection example Power supply and ground terminals AC power connector wiring Considering power capacity and generated heat amount 3-10 Installing an external leakage breaker 3-12...
  • Page 44 12.3 Methods of preventing malfunctions 3-25 13. Checking the robot controller operation 3-26 13.1 Cable connection 3-26 13.2 Emergency stop input signal connection 3-27 13.3 Operation check 3-28...
  • Page 45: Unpacking

    The robot controller is high precision equipment and is carefully packed in a cardboard box to avoid shocks and vibrations. If there is any serious damage or dents on the packing box, please notify your YAMAHA sales dealer without unpacking the box. Unpacking The robot controller is packed with accessories as shown below, according to the order specifications.
  • Page 46: Installing The Robot Controller

    Always provide a clearance of at least 30mm from the rear panel so that the fan works properly. Installation clearance 30mm or more 50mm or more RCX240 MOTOR OP.1 OP.3 When installing the robot controller, BATT follow the precautions below.
  • Page 47: Installation Methods

    2. Installing the robot controller Installation methods There are 4 methods for installing the robot controller as explained below. 1) Using the rubber feet (attached as standard parts) Using the rubber feet 2) Attaching the L-type brackets (supplied as standard accessories) to the front CAUTION The L-type brackets have mounting holes in two different position.
  • Page 48 2. Installing the robot controller 3) Attaching the L-type brackets (supplied as standard accessories) to the rear CAUTION • provide a clearance of at least 30 mm from the rear panel of the controller. • the l-type brackets have mounting holes in two different position. use the holes that best match the equipment layout.
  • Page 49 2. Installing the robot controller 4) Attaching the L-type brackets (option) to the side Attaching the L-type brackets to the side L-type bracket part No. (single item) Standard (for front and rear) KX0-M410H-003 Option (for side) KX0-M410H-102 When installing the controller with L-type brackets, use two same brackets for one controller. Chapter 3 INSTALLATION...
  • Page 50: Connector Names

    3. Connector names 3. Connector names Connector names, locations and functions are shown below. Connector names rRPB uOP.1 uOP.3 RCX240 MOTOR OP.1 OP.3 wROB I/O XY BATT oRPB SEL iBATT XY tCOM wROB I/O ZR OP.2 OP.4 RGEN BATT STD.DIO...
  • Page 51: Connecting To The Power

    Attach the power connector to the power cable and insert it into the "AC IN" connector on the front panel of the controller as shown below. Power supply connection example Connection example See 4.5. See 4.8. See 4.6. See 4.7. RCX240 Single phase AC 200V Leakage Noise Circuit Electro- breaker...
  • Page 52: Power Supply And Ground Terminals

    4. Connecting to the power Power supply and ground terminals CAUTION Before connecting the power cable, be sure to check that the power supply voltage matches the power specifications of your controller. Symbol Wiring Remarks 200 to 230V Live Main power supply Wire cross-section (for motor power) 2.0 sq mm or more...
  • Page 53: Ac Power Connector Wiring

    4. Connecting to the power AC power connector wiring Strip the wire to expose 8 to 9 mm of bare lead. 8 to 9 mm Lever (1) Attach the lever to the (2) Insert the wire lead all the (3) Release the lever to make upper slot as shown and way into the opening the wiring connection.
  • Page 54: Considering Power Capacity And Generated Heat Amount

    Use the following tables as a guide to prepare a power supply and to determine the control panel size, controller installation method, and cooling means. Controller: RCX240 (1) When connected to SCARA robot Robot model Generated...
  • Page 55 4. Connecting to the power (3) When connected to 3 axes (Cartesian robot and/or multi-axis robot) Axis current sensor value Generated Power capacity (VA) heat amount X-axis Y-axis Z-axis 1200 1000 1300 1600 1200 1500 1800 2000 (4) When connected to 4 axes (Cartesian robot and/or multi-axis robot) Generated Axis current sensor value Power capacity (VA)
  • Page 56: Installing An External Leakage Breaker

    4. Stray capacitance between the cable and FG may vary depending on the cable installation condition, causing the leakage current to fluctuate. Leakage current RCX240 control power supply (L1, N1) 4mA(MAX) RCX240 main power supply (L, N) Installing a circuit protector An inrush current, which might be from several to nearly 20 times higher than the rated current, flows at the instant that the controller is turned on or the robot motors start to operate.
  • Page 57: Installing An Electromagnetic Contactor

    4. Connecting to the power Installing an electromagnetic contactor When controlling the power on/off operation of the robot controller using an external unit such as a PLC, an electromagnetic contactor should be installed on the AC power supply line for the controller.
  • Page 58: Installing A Surge Absorber

    4. Connecting to the power Installing a surge absorber The controller contains a protection circuit to protect the internal components from surge noise that may be generated by lightning. The controller therefore conforms to CE marking without using an external surge absorber. To further enhance the surge immunity, install an external surge absorber.
  • Page 59: Connecting The Robot Cables

    Also make sure that the robot is properly grounded. For details on the grounding method, refer to the robot user's manual. Robot cable connection to controller Connected to YAMAHA robot 3-15 Chapter 3 INSTALLATION...
  • Page 60: Connecting The Rpb Programming Box

    Connecting in the wrong direction may cause faulty operation or breakdowns. RPB programming box connection RPB programming box l Connecting a terminator If not connecting the RPB, plug the terminator (supplied) into the RPB connector. Connecting a terminator RCX240 MOTOR OP.1 OP.3 BATT OP.2 OP.4...
  • Page 61: I/O Connections

    7. I/O connections 7. I/O connections The various input/output (I/O) signals from peripheral equipment can be connected to the robot controller. Each I/O is set with a number, and the I/O connector to be used depends on that number. For more detailed information on inputs and outputs, see Chapter 6, "PARALLEL I/O INTERFACE" or see Chapter 7, "SAFETY I/O INTERFACE".
  • Page 62: Connecting A Host Computer

    232C port of the computer using a communication cable. For more detailed information on the RS-232C interface, see "RS-232C INTERFACE" in Chapter 8. NOTE D-SUB 9P (female) connector is for RS-232C interface. Host computer connection RCX240 MOTOR OP.1 OP.3 Straight serial conversion adapter (option)
  • Page 63: Connecting The Absolute Battery

    9. Connecting the absolute batter y 9. Connecting the absolute batter y The absolute batteries shipped with the controller are unused, and the battery connectors are left disconnected to prevent discharge. After installing the controller, always be sure to connect the absolute batteries before connecting the robot cable.
  • Page 64 9. Connecting the absolute batter y NOTE • Return-to-origin is incomplete if an absolute battery connector is unplugged from the BATT connector while the controller power is turned off. When shipped to the customer, the absolute batteries are not connected to the controller, so an error message is always issued when the power is first turned on.
  • Page 65: Replacing The Absolute Battery

    10. Replacing the absolute batter y 10. Replacing the absolute batter y The absolute battery will wear down and must be replaced as needed. For example, when problems with backing up data occur, replace the battery since the battery has reached the end of the service life.
  • Page 66: Connecting A Regenerative Unit

    RGEN connector on the regenerative unit, by using the cable that comes with the regenerative unit. NOTE • The RCX240 may require a regenerative unit depending on the robot type to be connected. • Check the cable and connectors for bent pins, kinks, and other damage before connecting.
  • Page 67: Precautions For Cable Routing And Installation

    12. Precautions for cable routing and installation 12. Precautions for cable routing and installation 12.1 Wiring methods Various cables are used to connect the robot controller to peripheral devices. Follow the precautions below when making cable routing and connections to avoid malfunctions due to noise. CAUTION As a general guide keep the specified cables separated at least 100mm from each other.
  • Page 68 12. Precautions for cable routing and installation Refer to the drawing below when making the cable connections. Cable connection DIO cable RCX240 MOTOR OP.1 OP.3 BATT OP.2 OP.4 RGEN BATT STD.DIO SAFETY ACIN EXT.E-STOP 13 14 SAFETY cable DIO cable...
  • Page 69: Precautions For Installation

    12. Precautions for cable routing and installation 12.2 Precautions for installation This robot controller is not designed with an explosion-proof, dust-proof or drip-proof structure. Do not install it in the following locations or environments (1) where exposed to flammable gases or liquids. (2) where conductive debris such as metal cutting chips are spread.
  • Page 70: Checking The Robot Controller Operation

    • SAFETY connector (supplied) (Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector.) 13.1 Cable connection Cable connection RPB or RPB-E YAMAHA robot SAFETY connector (supplied) 3-26 Chapter 3 INSTALLATION...
  • Page 71: Emergency Stop Input Signal Connection

    A 24 V supply is required to operate MP READY. Supply a 24 V to pins 47 to 50 of the STD.DIO. As long as the 24 V is supplied to those pins, the "Watch on STD.DIO DC24V" parameter cannot be set to "INVALID". Emergency stop input signal connection RCX240 Emergency stop button RPB connector SAFETY...
  • Page 72: Operation Check

    13. Checking the robot controller operation 13.3 Operation check After connecting the robot and special connector (supplied) to the controller, turn on the power to the controller and check the following points. NOTE An interlock signal always appears because no connection is made to the STD. DIO. This can be cancelled using a software parameter.
  • Page 73 Chapter 4 OPERATION Contents Operation overview The RCX robot controller Part names Main functions RPB programming box Part names Main functions Connection to the robot controller Changing the RPB screen settings Turning power on and off Operation keys RPB screen Operation key layout 4-11 Basic key operation...
  • Page 74 "AUTO" mode 4-30 Automatic operation 4-33 Stopping the program 4-34 Resetting the program 4-35 Switching task display 4-37 Switching the program 4-38 Changing the automatic movement speed 4-39 Executing the point trace 4-40 9.7.1 PTP motion mode 4-42 9.7.2 ARCH motion mode 4-45 9.7.3 Linear interpolation motion mode...
  • Page 75 10.3.7 Changing the program attribute 4-76 10.3.8 Displaying object program information 4-77 10.3.9 Creating a sample program automatically 4-78 10.4 Compiling 4-80 10.5 Line jump and character string search 4-81 10.6 Registering user function keys 4-81 10.7 Resetting an error in the selected program 4-84 11.
  • Page 76 11.5.4 Shift coordinate setting method 2 4-135 11.6 Displaying, editing and setting hand definitions 4-138 11.6.1 Editing hand definitions 4-145 11.6.1.1 Restoring hand definitions 4-146 11.6.2 Hand definition setting method 1 4-147 11.7 Changing the display units 4-149 11.8 Return-to-origin 4-150 11.8.1 Return-to-origin operation...
  • Page 77 12.3.5.1 Individual axis return-to-origin function 4-277 12.3.5.2 Setting the individual axis return-to-origin 4-279 12.3.5.3 Timing chart of individual axis return-to-origin by general-purpose DI/SI 4-285 12.4 Initialization 4-289 12.4.1 Initializing the parameters 4-290 12.4.2 Initializing the memory 4-291 12.4.3 Initializing the communication parameters 4-292 12.4.4 Clock setting...
  • Page 79: Operation Overview

    1. Operation over view 1. Operation over view The controller configuration and main functions are shown below. Set up the equipment as needed according to the operation to be performed. CAUTION The external circuit connected to the robot controller should be prepared by the user.
  • Page 80: The Rcx Robot Controller

    2. The RCX robot controller 2. The RCX robot controller Part names l Controller front panel Part names and layout RCX240 MOTOR OP.1 OP.3 “PWR”LED “SRV”LED RPB connector “ERR”LED BATT COM connector OP.2 OP.4 RGEN BATT STD.DIO SAFETY ACIN AC IN terminal EXT.E-STOP...
  • Page 81: Rpb Programming Box

    3. RPB programming box 3. RPB programming box The RPB programming box connects to the robot controller and is used to edit and execute robot programs. Part names RPB programming box rSelector switch qDisplay (liquid crystal screen) (RPB-E only) eEmergency stop button wSheet key Rear view yRPB connector...
  • Page 82 This switch can be used as needed by wiring to the RPB SEL connector by the user. The switch ON/OFF function is disabled if not wired correctly. Selector switch RPB-E Selector switch RCX240 RCX240 MOTOR OP.1 OP.3 RPB connector RPB connector...
  • Page 83: Connection To The Robot Controller

    Emergency stop is triggered when the RPB is connected to or disconnected from the robot controller while the power is on. If this happens, emergency stop must be cancelled to continue operation. Robot controller connection RPB programming box RCX240 MOTOR OP.1 OP.3 RPB connector BATT OP.2...
  • Page 84: Changing The Rpb Screen Settings

    3. RPB programming box Changing the RPB screen settings The RPB screen contrast can be adjusted, and the key-press volume can be changed as needed. Turn on the power while holding down on the RPB. The RPB setting screen ("ADJUST" mode) appears. "ADJUST"...
  • Page 85: Turning Power On And Off

    4. Turning power on and off 4. Turning power on and off This section explains how to turn power on and off, assuming that the external emergency stop circuit and other necessary units are connected according to the instructions in Chapter 3, "INSTALLATION", and also that the robot controller operates correctly.
  • Page 86 4. Turning power on and off Check that return-to-origin has been completed. If return-to-origin is incomplete, eliminate the problem and perform absolute reset or return-to-origin, or perform both operations when absolute type axes and incremental type axes exist. Then start the robot operation. (Refer to "11.9 Absolute reset" in this chapter for how to perform absolute reset and refer to "11.8 Return-to-origin"...
  • Page 87: Operation Keys

    5. Operation keys 5. Operation keys RPB screen The RPB screen display is composed of 4 areas as shown below. RPB screen example ...System line 1st line ...Message line 2nd line 3rd line 4th line 5th line 6th line 7th line 8th line ...Data area 9th line...
  • Page 88 5. Operation keys 3) Data area (3rd to 14th lines) Various types of data and editing information are displayed on the 3rd to 14th lines. These lines scroll to the right and left to show up to 80 characters per line. 4) Guideline (Bottom line) The bottom line (15th line) mainly shows the contents assigned to function keys in highlighted display.
  • Page 89: Operation Key Layout

    5. Operation keys Operation key layout The operation keys are covered with a plastic sheet to prevent dust. There are 3 main kinds of keys. 1) Function keys 2) Control keys 3) Data keys Sheet key layout Function key Data key Control key 4-11 Chapter 4 OPERATION...
  • Page 90: Basic Key Operation

    5. Operation keys Basic key operation 1) Each operation key has 3 different functions as shown below. as needed to enable various functions. Key configuration Shift 1 Shift 1 Shift 2 Shift 2 Shift 3 Shift 3 2) There are 3 ways (shift 1 to shift 3) to use each operation key. Shift Example of key input Input data...
  • Page 91: Function Keys

    5. Operation keys Function keys To operate the RPB, select the menus by pressing the function keys. The relation of the function keys to their menus in "MANUAL" mode is shown below. Function key Selected menu (F1) POINT (F2) PALLET (F4) VEL + (F5)
  • Page 92 5. Operation keys Relation of function keys to menus Function keys and menus ↓ ↓ ↓ ↓ ↓ [F1] [F2] [F3] [F4] [F5] Indicates held down. ↓ ↓ ↓ ↓ ↓ When [F6] [F7] [F8] [F9] [F10]… held down Indicates held down.
  • Page 93: Control Keys

    5. Operation keys Control keys There are 6 kinds of control keys: (1) Mode selection keys, (2) Extended function keys, (3) Cursor keys, (4) Page keys, (5) Edit keys, (6) Jog keys. The functions of each key are explained below. (1) Mode selection keys : Displays the mode menu (highest hierarchy).
  • Page 94 5. Operation keys (5) Edit keys These keys are enabled when the editing cursor is displayed. : Toggles between "Insert" and "Overwrite" modes. The cursor "_" appears in "Overwrite" mode and " ■ " appears in "Insert" mode. : Deletes one character at the cursor position. : Inserts one line at the cursor position.
  • Page 95: Data Keys

    5. Operation keys Data keys The data keys are used for data input, programming and data editing. There are 2 kinds of data keys. (1) Alphanumeric keys : Enters numbers. : Enters alphabetic characters. : Inserts spaces. (2) Symbol keys Other keys (1) Enter key Pressing this key executes a direct command when in "AUTO>DIRECT"...
  • Page 96: Emergency Stop

    6. Emergency stop 6. Emergency stop If for some reason you want to stop the robot immediately during operation, press the emergency stop button on the RPB. Pressing the emergency stop button cuts off power to the robot to stop operation.
  • Page 97: Emergency Stop Reset

    6. Emergency stop Emergency stop reset To return to normal operation after emergency stop, emergency stop must be reset. NOTE • Emergency stop can also be triggered by an emergency stop input from the SAFETY I/O interface. To cancel this emergency stop, refer to Chapter 7. •...
  • Page 98 6. Emergency stop Press (MOTOR). The following screen appears. "UTILITY>MOTOR" mode (1) Press (On) to turn on the motor power. At the same time, the servomotor sets to HOLD status. The mode name "UTILITY" on the system line (1st line) is highlighted. NOTE If the motor power is turned off due to a serious error, the motor power will not turn on with "UTILITY>MOTOR"...
  • Page 99: Mode Configuration

    7. Mode configuration 7. Mode configuration The robot operation mode consists of the following modes. Basic operation modes "SERVICE" mode "DI/DO "AUTO" "MANUAL" "PROGRAM" "SYSTEM" "UTILITY" monitor" mode mode mode mode mode mode "SERVICE" mode can be used only when "SAFE" mode is enabled. Basic operation modes Robot operation is classified into 5 basic modes as follows.
  • Page 100: Other Operation Modes

    • "AUTO" mode may be selected depending on the execution level when the robot controller is turned on (5) "SYSTEM" mode Select this mode to perform maintenance and adjustment of the YAMAHA robots such as robot parameter and axis parameter settings. Other operation modes Other than the basic operation modes the following two modes are also available.
  • Page 101: Mode Hierarchy

    7. Mode configuration Mode hierarchy Robot operation is mainly performed by selecting the desired mode from the hierarchy menu. (Refer to the "Mode hierarchy diagram" described later.) To select a menu, press the corresponding function key. Pressing displays the 4 basic modes on the guideline (bottom line) of the screen as shown below.
  • Page 102 7. Mode configuration When there are 6 or more submenus, press the shift key. The menu display changes while the shift key is pressed. Shift keys Function switching ↓ ↓ ↓ ↓ ↓ [F1] [F2] [F3] [F4] [F5] ↓ ↓ ↓...
  • Page 103 7. Mode configuration 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.
  • Page 104: Chapter 4 Operation

    7. Mode configuration Mode hierarchy diagram F1 PTP/ARCH/LINEAR F1 AUTO F1 RESET F2 ARCHPOS (when F1 is ARCH) F2 TASK F3 JUMP F3 DIR F4 VEL+ F4 VEL+ F5 VEL- F5 VEL- F6 A.AXIS+ (when F1 is ARCH) F7 A.AXIS- (when F1 is ARCH) F8 UNITCHG F9 VEL++ F6 POINT...
  • Page 105 7. Mode configuration F4 SYSTEM F1 PARAM F1 ROBOT F1 EDIT F2 JUMP F2 AXIS F1 EDIT F2 JUMP F3 OTHER F1 EDIT F2 JUMP F5 OP. BRD F10 PASSWRD F2 CMU F1 EDIT F2 JUMP F3 OPTION F1 POS.OUT F1 EDIT F2 JUMP F2 SERVICE...
  • Page 106: Service" Mode

    8. "SERVICE" mode 8. "SERVICE" mode "SERVICE" mode can be used only when "SAFE" mode is enabled. Use "SERVICE" mode to perform safe maintenance work with the RPB while within the safety enclosure of the robot system. This mode can be selected by turning DI02 (SERVICE mode input) OFF.
  • Page 107: Limitations On Robot Operating Speed

    8. "SERVICE" mode Limitations on robot operating speed A major purpose of robot operation while the operator is working within the safety enclosure is maintenance and adjustment of the robot. If a dangerous situation should occur, the operator can easily avoid it if the robot operating speed is maintained within 250mm/sec. The robot operating speed in "SERVICE"...
  • Page 108: Auto" Mode

    9. "AUTO" mode 9. "AUTO" mode "AUTO" mode executes robot language programs and related tasks. The initial "AUTO" mode screen is shown below. "AUTO" mode (one-robot setting) q Mode hierarchy w Task display e Automatic movement speed r Program name t Message line y Online command execution mark...
  • Page 109 9. "AUTO" mode q Mode hierarchy Shows the current mode hierarchy. When the highest mode ("AUTO" in this case) is not highlighted, it means the servomotor power is off. When highlighted, it means the servomotor power is on. w Task display Shows the task number for the program listing being displayed.
  • Page 110 9. "AUTO" mode Valid keys and submenu descriptions in "AUTO" mode are shown below. Valid keys Menu Function Scrolls the program listing. Switches to other screens. RESET Resets the program. TASK Changes the program listing according to each task. Changes the current program. Increases automatic movement speed for the selected VEL+ robot group in steps.(1→5→20→50→100%)
  • Page 111: Automatic Operation

    9. "AUTO" mode Automatic operation Program commands are executed continuously during automatic operation. Before starting automatic operation, make sure that return-to-origin, program debugging, I/O signal connections and point data teaching have already been completed. When the execution level is set to other than level 0, automatic operation is possible even if return-to-origin is incomplete.
  • Page 112: Stopping The Program

    9. "AUTO" mode The following keys are enabled during automatic operation. Valid keys Menu Function Increases automatic movement speed for the selected VEL++ robot group in 5% increments. Decreases automatic movement speed for the selected VEL- - robot group in 5% decrements. Switches the selected robot group.
  • Page 113: Resetting The Program

    9. "AUTO" mode Resetting the program To restart a program stopped with from the beginning, reset the program. NOTE The output is also reset when the program is reset. However, the output will not be reset in the following cases: 1.
  • Page 114 9. "AUTO" mode 2. When the program "_SELECT" exists: Press (RESET) in "AUTO" mode. The following confirmation message appears on the guideline when "_SELECT" exists in the programs. Program reset Select the program reset method. The following message appears on the guideline when "_SELECT" exists among the programs.
  • Page 115: Switching Task Display

    9. "AUTO" mode Switching task display When a program executing multiple tasks is stopped, the program listing for each task can be displayed. Press during program execution to stop the program. Press to display the program listing. The pointer indicates the next command line number to be executed in the current task.
  • Page 116: Switching The Program

    9. "AUTO" mode Switching the program If the program displayed on the screen is not the one you want to execute, it can be switched to another program. NOTE The output is reset when the program is switched. However, the output will not be reset in the following cases: 1.
  • Page 117: Changing The Automatic Movement Speed

    9. "AUTO" mode Changing the automatic movement speed Automatic movement speed for the selected robot group can be set within the range of 1 to 100%. NOTE When two robots are specified, two speeds are displayed for " Main group speeds Sub group speeds ".
  • Page 118: Executing The Point Trace

    9. "AUTO" mode Executing the point trace Point data positions can be checked by actually moving the robot arm in the following modes. • PTP motion mode • Arch motion mode • Linear interpolation motion mode NOTE • When two robots are specified, check the currently selected robot group on the RPB screen.
  • Page 119 9. "AUTO" mode Valid keys and submenu descriptions in "AUTO>POINT" mode are shown below. Valid keys Menu Function Switches the point number and scrolls the screen. Switches to other screens. PTP/ ARCH/ Switches the trace movement mode. LINEAR A.POS Specifies the arch position during ARCH motion mode. JUMP Displays the specified point data.
  • Page 120: Ptp Motion Mode

    9. "AUTO" mode 9.7.1 PTP motion mode 1. When no auxiliar y axis is specified: In "AUTO>POINT" mode, press (PTP) to select PTP motion mode. Point trace screen in PTP motion mode (with no auxiliary axis) Use the cursor ( ) keys to select the point number to be checked.
  • Page 121 9. "AUTO" mode WARNING UPON PRESSING , THE ROBOT STARTS TO MOVE. TO AVOID DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE. 2. When auxiliar y axis is specified: Press (PTP) in "AUTO>POINT" mode. Point trace screen in PTP motion mode (with auxiliary axis) Select the point to be checked.
  • Page 122 9. "AUTO" mode To perform trace for the auxiliar y axis: Point trace screen in PTP motion mode (with auxiliary axis) Press to perform trace. Press , and the robot moves by PTP motion to the specified point position. The trace speed is 1/5th of the automatic movement speed.
  • Page 123: Arch Motion Mode

    9. "AUTO" mode 9.7.2 ARCH motion mode 1. When no auxiliar y axis is specified: Press (ARCH) in "AUTO>POINT" mode. Point trace screen in ARCH motion mode (with no auxiliary axis) Select the axis to move by arch motion. Select (A.AXIS+) or (A.AXIS-) to select the axis.
  • Page 124 9. "AUTO" mode Set the arch motion position. Press (A.POS) and enter the arch motion position. Point trace screen in ARCH motion mode (with no auxiliary axis) NOTE If the SCARA robot is selected and the hand system flag is set for the point data, then this hand system will have priority over the current arm type.
  • Page 125 9. "AUTO" mode 2. When auxiliar y axis is specified: Press (ARCH) in "AUTO>POINT" mode. When performing point trace using an auxiliary axis, skip steps 2 and 3. Point trace screen in ARCH motion mode (with auxiliary axis) Select the axis to move by arch motion. Select (A.AXIS+) or (A.AXIS-) to select the axis.
  • Page 126 9. "AUTO" mode Set the arch motion position. Press (A.POS) and enter the arch motion position. Point trace screen in ARCH motion mode (with auxiliary axis) NOTE If the SCARA robot is selected and the hand system flag is set for the point data, then this hand system will have a priority over the current arm type.
  • Page 127: Linear Interpolation Motion Mode

    9. "AUTO" mode 9.7.3 Linear interpolation motion mode 1. When no auxiliar y axis is specified: Press (LINEAR) in "AUTO>POINT" mode. Point trace screen in linear interpolation motion mode (with no auxiliary axis) Use the cursor ( ) keys to select the point number to be checked.
  • Page 128 9. "AUTO" mode 2. When auxiliar y axis is specified: Press (LINEAR) in "AUTO>POINT" mode. Point trace screen in linear interpolation motion mode (with auxiliary axis) Select the point to be checked. Use the cursor ( ) keys and (AXIS←) or (AXIS→) so that the point value of the robot axis to be checked is highlighted.
  • Page 129 9. "AUTO" mode To perform trace for the auxiliar y axis: Point trace screen in linear interpolation motion mode (with auxiliary axis) Press to perform trace. Press to move the robot by linear interpolation motion to the specified point position. (The auxiliary axis moves by PTP.) The trace speed is 1/5th of the automatic movement speed.
  • Page 130: Direct Command Execution

    9. "AUTO" mode Direct command execution In "AUTO>DIRECT" mode, one line of the command statement can be executed just after you have entered it. Press (DIRECT) in "AUTO" mode. The screen switches to "AUTO>DIRECT" mode and the cursor appears on the screen. The prompt (>) also appears on the bottom line of the screen.
  • Page 131: Break Point

    9. "AUTO" mode Break point An ongoing program can be stopped if a break point is set in the program. This is useful when debugging the program. The program execution pauses on the line just prior to a break point. The program execution will restart from the break point when is pressed.
  • Page 132: Deleting Break Points

    9. "AUTO" mode Use the cursor keys to select the line number on which a break point is to be set. Press (SET). A " " mark appears to the left of the command statement and a break point is set on that line.
  • Page 133: Executing A Step

    9. "AUTO" mode 9.10 Executing a step WARNING THE ROBOT MAY BEGIN TO MOVE WHEN STEP IS EXECUTED. TO AVOID DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE. Press (STEP) in "AUTO" mode. The command statement of the line number indicated by the pointer is executed. After execution, the pointer moves to the next line.
  • Page 134: Skipping A Step

    9. "AUTO" mode 9.11 Skipping a step Press (SKIP) in "AUTO" mode. The pointer skips to the next line without executing the command statement of the line number the pointer is on. To skip the next step, press (SKIP) again. Each time is pressed, the pointer skips to the next line without executing the command statement of the line number the pointer is on.
  • Page 135: Program" Mode

    10. "PROGRAM" mode 10. "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 q Mode hierarchy e Message line w Program name...
  • Page 136: Scrolling A Program Listing

    10. "PROGRAM" mode Valid keys and submenu descriptions in "PROGRAM" mode are shown below. Valid keys Menu Function Selects the program and scrolls the screen. Switches the page display. EDIT Edits the program. Displays the program data. COMPILE Compiles the program. JUMP Displays the program listing from a specified line.
  • Page 137: Program Editing

    10. "PROGRAM" mode 10.2 Program editing Press (EDIT) in "PROGRAM" mode. A cursor appears on the top line of a program listing as shown on the "PROGRAM>EDIT" mode screen below, allowing program editing. Enter a program. Use the cursor keys to move the cursor to the position to be edited and enter a program command with the RPB.
  • Page 138 10. "PROGRAM" mode Valid keys and submenu descriptions in "PROGRAM>EDIT" mode are shown below. Valid keys Menu Function Moves the cursor and scrolls the screen. Switches the page display. Switches between Insert and Overtype modes. Inserts one blank line. Deletes one character. Deletes one line.
  • Page 139: Cursor Movement

    10. "PROGRAM" mode 10.2.1 Cursor movement • Pressing the cursor ( ) keys in "PROGRAM>EDIT" mode moves the cursor up or down one line at a time. Pressing the cursor ( ) keys moves the cursor right or left one character at a time. •...
  • Page 140: Insert/Overwrite Mode Switching

    10. "PROGRAM" mode 10.2.2 Insert/Overwrite mode switching • Pressing in "PROGRAM>EDIT" mode switches to Insert mode. The edit cursor becomes a thin line ( _ ), and the input character is inserted just previous to the cursor position. Insert mode •...
  • Page 141: Inserting A Line

    10. "PROGRAM" mode 10.2.3 Inserting a line In "PROGRAM>EDIT" mode, move the cursor to the position where you want to insert a line. Press A blank line is inserted at the cursor position. Inserting a line 10.2.4 Deleting a character In "PROGRAM>EDIT"...
  • Page 142: Deleting A Line

    10. "PROGRAM" mode 10.2.5 Deleting a line In "PROGRAM>EDIT" mode, move the cursor to the line you want to delete. Press One line at the cursor position is deleted, and the program lines after the cursor position moves upward. For example, deleting one line on the screen shown in 10.2.3 changes to the following screen.
  • Page 143: Quitting Program Editing

    10. "PROGRAM" mode User function keys 10.2.7 Quitting program editing Press to quit program editing in "PROGRAM>EDIT" mode. 10.2.8 Copying or cutting lines Specified lines can be copied or cut in "PROGRAM>EDIT" mode. Move the cursor to the line you want copy or cut. Press (SELECT).
  • Page 144 10. "PROGRAM" mode Copy or cut the specified lines. Press (COPY) or (CUT). Pressing (COPY) copies the data on the selected lines into the buffer. The " " marks then disappear. Copying the selected lines Pressing (CUT) deletes the data on the selected lines and moves it into the buffer. The "...
  • Page 145: Backspace

    10. "PROGRAM" mode Pasting the data NOTE The data stored in the buffer can be pasted repeatedly until you exit "PROGRAM" mode. However, if another copy/cut operation is performed, then the data within the buffer is rewritten. 10.2.9 Backspace Pressing (BS) in "PROGRAM>EDIT"...
  • Page 146: Searching A Character String

    10. "PROGRAM" mode Enter the line number to jump to and press The program is then displayed from the specified line. Performing line jump 10.2.11 Searching a character string Press (FIND) in "PROGRAM>EDIT" mode. "PROGRAM>EDIT>FIND" mode is entered, and the message "Character string > " appears on the guideline.
  • Page 147 10. "PROGRAM" mode Character string search To continuously search for another character string, press (FIND+) (FIND-). Pressing (FIND+) restarts the search from the current cursor position towards the end of the program. Pressing (FIND-) restarts the search from the current cursor position towards the top of the program.
  • Page 148: Directory

    10. "PROGRAM" mode 10.3 Director y 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 (1) Pressing on the above screen displays the "DATE" and "TIME" data. (Press to return to the previous display.) Program data (2)
  • Page 149 10. "PROGRAM" mode 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 Name is compiled and the object program exists.
  • Page 150: Cursor Movement

    10. "PROGRAM" mode 10.3.1 Cursor movement To select the program, use the cursor ( ) keys in "PROGRAM>DIR" mode. The pointer cursor moves to the selected program number. The program name is displayed at the right end on the system line (1st line). 10.3.2 Registering a new program name When creating a new program, you must first register the program name.
  • Page 151: Directory Information Display

    10. "PROGRAM" mode 10.3.3 Director y information display In "PROGRAM>DIR" mode, press (INFO) to enter "PROGRAM>DIR>INFO" mode. The following information on the selected program appears. Program information Item Description Displays a count of used bytes and bytes available for Source (use/sum) source program and point data.
  • Page 152: Copying A Program

    10. "PROGRAM" mode 10.3.4 Copying a program In "PROGRAM>DIR" mode, a program in the directory can be copied under a different name. Select the program you want to copy with the cursor ( ) keys. Press (COPY). "PROGRAM>DIR>COPY" mode is entered, and the message "Enter program name >" appears on the guideline along with an edit cursor.
  • Page 153: Erasing A Program

    10. "PROGRAM" mode 10.3.5 Erasing a program In "PROGRAM>DIR" mode, unnecessary programs in the directory can be erased. Select the program you want to erase with the cursor ( ) keys. Press (ERASE). "PROGRAM>DIR>ERASE" mode is entered, and the message "Erase program OK?" appears on the guideline.
  • Page 154: Renaming A Program

    10. "PROGRAM" mode 10.3.6 Renaming a program In "PROGRAM>DIR" mode, the names of programs in the directory can be changed. Select the program you want to rename with the cursor ( keys. Press (RENAME). "PROGRAM>DIR>RENAME" mode is entered, and the message "Enter program name >" appears on the guideline along with the original program name.
  • Page 155: Displaying Object Program Information

    10. "PROGRAM" mode Select the program whose attribute you want to change with the cursor ) keys. Press (ATTRBT). "PROGRAM>DIR>ATTRBT" mode is entered, and a confirmation message appears on the guideline. Changing a program attribute Press (YES) to change the program attribute. Press (NO) if you want to cancel the change.
  • Page 156: Creating A Sample Program Automatically

    10. "PROGRAM" mode 10.3.9 Creating a sample program automatically This section explains the procedure of automatically creating a sample program for defining user function keys which can be used in "MANUAL" and "PROGRAM" modes. NOTE Use caution when creating a sample program automatically, since previously defined user function data will be rewritten.
  • Page 157 10. "PROGRAM" mode [Sample program listing] *** <FUNCTION> SAMPLE PROGRAM **** '*You can change any statements '*as you like. '*<FUNCTION> will help you in '*MANUAL and PROGRAM mode. '********************************************************* *M_F1:'DO(20)ALTERNATE DO(20)= DO(20) *M_F2:'DO(21)ALTERNATE DO(21)= DO(21) *M_F3:'DO(22)ALTERNATE DO(22)= DO(22) *M_F4:'DO(23)ALTERNATE DO(23)= DO(23) *M_F5:'DO(24)ALTERNATE DO(24)=...
  • Page 158: Compiling

    10. "PROGRAM" mode 10.4 Compiling To compile the program and create an executable object program, follow the procedure below. The object program allows you to check input errors or bugs after program editing. In "PROGRAM>DIR" mode, select the program to compile. Use the cursor ( ) keys to select the program, then press In "PROGRAM"...
  • Page 159: Line Jump And Character String Search

    10. "PROGRAM" mode 10.5 Line jump and character string search (JUMP), (FIND), (FIND+) and (FIND-) can be used in the same way as in "PROGRAM>EDIT" mode. Refer to "10.2.10 Line jump" and "10.2.11 Searching a character string" earlier in this chapter.) 10.6 Registering user function keys To register the user function keys which are used in "PROGRAM"...
  • Page 160 10. "PROGRAM" mode Registering "FUNCTION" program (2) Press (EDIT). "PROGRAM>EDIT" mode is entered, and the cursor appears on the first line. Enter a command statement for registering function keys. The command statement format differs between the "PROGRAM" mode and "MANUAL" mode.
  • Page 161 10. "PROGRAM" mode 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 assigned to DO (20) = DO (20) DO (20) is highlighted when is pressed.
  • Page 162: Resetting An Error In The Selected Program

    10. "PROGRAM" mode 10.7 Resetting an error in the selected program If an error "9.1:Program destroyed" occurs in the selected program data, this function resets the error and allows you to continue editing. CAUTION This function resets an error, but does not restore the program data. A problem is probably occurring in the program, so check and correct the program in "PROGRAM>EDIT"...
  • Page 163: Manual" Mode

    11. "MANUAL" mode 11. "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) q Mode hierarchy w Manual movement r SHIFT/HAND speed /coordinate units y Online...
  • Page 164 11. "MANUAL" mode "MANUAL" mode (with auxiliary axis) q Mode hierarchy w Manual movement r SHIFT/HAND speed /coordinate units y Online command e Robot group t Message line execution mark u Sequence program execution mark i Current position o Guideline q Mode hierarchy Shows the current mode hierarchy.
  • Page 165 11. "MANUAL" mode i Current position This shows the current position of the robot. When an "M" or "S" letter is followed by a number it indicates the position in "pulse" units (integer display) and when an "x" to "a" letter follows, it indicates "mm"...
  • Page 166: Manual Movement

    11. "MANUAL" mode 11.1 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 •...
  • Page 167 11. "MANUAL" mode (2) When the current position is displayed in "mm" units: A letter "X" is displayed on the upper right of the RPB screen. If "Tool coordinate" mode is selected, a letter "T" is displayed. Display shown in "mm" units (X) Display shown in "mm"...
  • Page 168 11. "MANUAL" mode Robot movement in "Tool coordinate" mode (example) (1) -90.00 degrees 100.00mm HAND 1 If the above hand is defined, the robot moves with Jog keys as illustrated below. Robot movement in "Tool coordinate" mode (example) (2) Robot movement with keys Robot movement with to and...
  • Page 169 11. "MANUAL" mode 2. When return-to-origin is not complete CAUTION • if return-to-origin is incomplete, the soft limits do not work correctly. • on the pHAser series robots, operating the robot while return-to-origin is still incomplete may cause an alarm or abnormal movement because the thrust required for operation cannot be obtained.
  • Page 170: Displaying And Editing Point Data

    11. "MANUAL" mode 11.2 Displaying and editing point data Press (POINT) in "MANUAL" mode to enter "MANUAL>POINT" mode. This mode allows you to display and edit the point data. One point is made up of data from 6 axes (x, y, z, r, a, b). Note that the hand system flag can be set as an extended function for the point data set with the Cartesian coordinates ("mm"...
  • Page 171 11. "MANUAL" mode Valid keys and submenu descriptions in "MANUAL>POINT" mode are shown below. Valid keys Menu Function Specifies the point data and scrolls the screen. Switches to other screens. EDIT Enters point data with keys. TEACH Enters point data by teaching. JUMP Shows the specified point data.
  • Page 172: Point Data Input And Editing

    11. "MANUAL" mode 11.2.1 Point data input and editing In "MANUAL>POINT" mode, use the cursor ( ) keys to select the point to edit. Press (EDIT). An edit cursor appears at the left end of the point line data that was selected. Editing point data to enter the point data.
  • Page 173: Restoring Point Data

    11. "MANUAL" mode NOTE To set the SCARA robot and set the hand system flag in the point data, set 1 (RIGHTY: right-handed system) or 2 (LEFTY: left-handed system) at the end of the b axis data setting. Finish the point data input. Press , cursor up/down ( ) keys or page up/down (...
  • Page 174: Point Data Input By Teaching

    11. "MANUAL" mode 11.2.2 Point data input by teaching In "MANUAL>POINT" mode, the current position of the robot can be obtained as point data by teaching. NOTE Point data teaching cannot be performed when return-to-origin is incomplete. Perform point teaching after performing absolute reset or return-to-origin. NOTE When two robots (main and sub robots) are specified, check the currently selected robot group on the RPB before performing point teaching.
  • Page 175 11. "MANUAL" mode Point data teaching (with no auxiliary axis [2]) When point data is already allotted to the currently selected point number, a confirmation message appears on the guideline when (TEACH) is pressed. Point data teaching (with no auxiliary axis [3]) Press (YES) to perform the teaching.
  • Page 176 11. "MANUAL" mode Select the points. (AXIS ←) or (AXIS →) to select the axes to Use the cursor ( ) keys, perform point teaching. As shown below, the point number at the left end should be highlighted when teaching on all axes.
  • Page 177 11. "MANUAL" mode Use the Jog keys to move the robot axis for teaching. As the arm moves, the current position data on the 7th line on the screen changes. WARNING THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
  • Page 178 11. "MANUAL" mode Point data teaching (with auxiliary axis [6]) When teaching on all axes Point data teaching (with auxiliary axis [7]) When teaching on standard axes Point data teaching (with auxiliary axis [8]) When teaching on auxiliary axis NOTE Point data teaching cannot be performed if return-to-origin is incomplete.
  • Page 179: Point Data Input By Direct Teaching

    11. "MANUAL" mode 11.2.3 Point data input by direct teaching Point data can also be obtained by direct teaching (moving the robot by hand to the target point while the robot servo is off). WARNING WHEN YOU PERFORM DIRECT TEACHING, MAkE SURE THAT THE EMERGENCY STOP BUTTON IS PRESSED SO THAT THE SERVO WILL NOT TURN ON.
  • Page 180: Copying Point Data

    11. "MANUAL" mode Enter the point number to jump to, and press A jump is made so that the point data is displayed from the designated point number. NOTE Valid point numbers are from 0 to 9999. Point jump (2) 11.2.5 Copying point data Point data can be copied under another point number.
  • Page 181: Erasing Point Data

    11. "MANUAL" mode Enter the point number range. to enter the point number range for the copy source and the point number for the copy destination in the following format. "(copy start number) – (copy end number), (copy destination number)" For example, to copy the data between P30 and P34 onto the lines after P50, enter "30 - 34, 50".
  • Page 182: Point Data Trace

    11. "MANUAL" mode Enter the point number range. , and to enter the point number range to delete in the following format. "(erase start number) - (erase end number)" For example, to erase the data between P30 and P34, enter "30 - 34". Press A confirmation message appears on the guideline.
  • Page 183: Point Comment Input And Editing

    11. "MANUAL" mode 11.2.8 Point comment input and editing Press (COMMENT) in "MANUAL>POINT" mode. The data display on the screen does not change (same as "MANUAL>POINT" mode). The 5-digit area on the left shows point numbers, with the currently selected point number highlighted.
  • Page 184 11. "MANUAL" mode Valid keys and submenu descriptions in "MANUAL>POINT" comment mode are shown below. Valid keys Menu Function Specifies point data or scrolls the screen vertically. Switches to other screens. EDIT Edits point comments. TEACH Enters point data by teaching. JUMP Displays the specified (jumped) data.
  • Page 185: Point Data Input By Teaching

    11. "MANUAL" mode 11.2.8.1 Point comment input and editing Point comments can be entered and edited in "MANUAL>POINT>COMMENT" mode. 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. Select the point number to edit or enter a comment using the cursor ) keys.
  • Page 186: Jump To A Point Comment

    11. "MANUAL" mode 11.2.8.3 Jump to a point comment Press (JUMP) in "MANUAL>POINT>COMMENT" mode. The message "Enter point no. >" appears on the guideline. Jumping to a point comment display (1) Enter the point comment to jump to, and press A jump is made to the designated point and its comment is then displayed.
  • Page 187: Copying A Point Comment

    11. "MANUAL" mode 11.2.8.4 Copying a point comment Point comments can be copied under another point number. Press (COPY) in "MANUAL>POINT>COMMENT" mode. The message "Copy(####-####,####)>" appears on the guideline. Enter the point number range. to enter the point number range for the copy source and the point number for the copy destination in the following format.
  • Page 188: Erasing Point Comments

    11. "MANUAL" mode 11.2.8.5 Erasing point comments Point comments already entered can be deleted. Press (ERASE) in "MANUAL>POINT>COMMENT" mode. The message "Erase(####-####)>" appears on the guideline. Enter the point number range. to specify the point number range in the following format and press "(erase start number) - (erase end number)"...
  • Page 189: Point Comment Search

    11. "MANUAL" mode 11.2.8.6 Point comment search Point comments already entered can be located. Press (FIND) in "MANUAL>POINT>COMMENT" mode. The message "Character string >" appears on the guideline. Enter a point comment to find using the data keys. Up to 15 characters can be entered to find a comment. Searching for a point comment (1) NOTE A point comment can be up to 15 characters.
  • Page 190: Point Data Error Reset

    11. "MANUAL" mode 11.2.9 Point data error reset If an error "9.2:Point data destroyed" occurs in the point data, this function resets the error and allows you to continue editing. CAUTION This function resets an error, but does not restore the point data. A problem is probably occurring in the point data, so check and correct the point data in "MANUAL>POINT>EDIT"...
  • Page 191: Displaying, Editing And Setting Pallet Definitions

    11. "MANUAL" mode 11.3 Displaying, editing and setting pallet definitions Press (PALLET) in "MANUAL" mode to enter "MANUAL>PALLET" mode. This mode allows you to display, edit and set pallet definitions. This mode allows you to display, edit and set pallet definitions. However, the standard coordinates must be set when a SCARA robot is used.
  • Page 192 11. "MANUAL" mode Pallet definition (2) Pallet definition numbers marked "SET" mean that they 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. Switches to other screens. EDIT Edits pallet definitions.
  • Page 193: Editing Pallet Definitions

    11. "MANUAL" mode 11.3.1 Editing pallet definitions In "MANUAL>PALLET" mode, select the pallet number with the cursor ) keys. Press (EDIT). "MANUAL>PALLET>EDIT" is entered. Use the cursor ( ) keys to move the cursor to the position you want edit. to enter the desired value.
  • Page 194: Point Setting In Pallet Definition

    11. "MANUAL" mode 11.3.1.1 Point setting in pallet definition In "MANUAL>PALLET>EDIT" mode, a screen like that shown below is displayed. Point editing in pallet definition The 3rd line shows the point numbers and point data in the pallet definition. NOTE •...
  • Page 195: Editing The Point In Pallet Definition

    11. "MANUAL" mode 11.3.1.1.1 Editing the point in pallet definition NOTE • Each pallet is generated (outlined) with 5 points, so always specify these 5 points for pallet definition. • Point data in the pallet definition must be entered in "mm" units. •...
  • Page 196: Setting The Point In Pallet Definition By Teaching

    11. "MANUAL" mode 11.3.1.1.2 Setting the point in pallet definition by teaching For point data teaching methods, refer to "11.2.2 Point data input by teaching". 11.3.2 Pallet definition by teaching NOTE Pallets cannot be defined by teaching if return-to-origin is incomplete. Perform teaching after performing absolute reset or return-to-origin.
  • Page 197 11. "MANUAL" mode Pallet definition by teaching (2) Teach other points. Perform teaching at P[2], P[3], P[4] and P[5] (only when "3-D" is selected) as in step 4). Enter the number of points NX between P[1] and P[2] on the pallet with a positive integer.
  • Page 198 11. "MANUAL" mode NOTE • Each pallet is generated with 5 points for pallet definition. • The 5 points should be defined in order from P[1] to P[5]. See "11.3 Displaying, editing and setting pallet definitions". Valid keys and submenu descriptions in "MANUAL>PALLET>METHOD" mode are shown below. Valid keys Menu Function...
  • Page 199: Copying A Pallet Definition

    11. "MANUAL" mode 11.3.3 Copying a pallet definition In "MANUAL>PALLET" mode, select the pallet number with the cursor ) keys. Press (COPY) and then enter the pallet number where you want to copy the currently selected pallet definition. Copying a pallet definition (1) NOTE •...
  • Page 200: Deleting A Pallet Definition

    11. "MANUAL" mode 11.3.4 Deleting a pallet definition NOTE Pallet definition cannot be deleted if the currently selected pallet is undefined. In "MANUAL>PALLET" mode, select the pallet number with the cursor ) keys. Press (ERASE). A confirmation message then appears asking whether to delete the currently selected pallet definition.
  • Page 201: Changing The Manual Movement Speed

    11. "MANUAL" mode 11.4 Changing the manual movement speed Manual movement speed of the selected robot group can be set anywhere within the range from 1 to 100%. Movement speed in "MANUAL" mode is set separately from the "AUTO" mode movement speed.
  • Page 202: Displaying, Editing And Setting Shift Coordinates

    11. "MANUAL" mode 11.5 Displaying, editing and setting shift coordinates Press (SHIFT) in "MANUAL" mode to enter "MANUAL>SHIFT" mode. This mode allows you to display, edit and set shift coordinates. However, the standard coordinates must be set when a SCARA robot is used. Refer to "11.10 Setting the standard coordinates" for details.
  • Page 203 11. "MANUAL" mode When "MANUAL>SHIFT" mode is entered, a screen like that shown below appears. The currently selected shift coordinate number is highlighted. "MANUAL>SHIFT" mode (one-robot setting) "MANUAL>SHIFT" mode (two-robot setting [1]) Main robot group is selected: "MANUAL>SHIFT" mode (two-robot setting [2]) Sub robot group is selected: 4-125 Chapter 4 OPERATION...
  • Page 204 11. "MANUAL" mode Valid keys and submenu descriptions in "MANUAL>SHIFT" mode are shown below. Valid keys Menu Function Specifies the shift coordinate number. Switches to other screens. EDIT Edits the shift coordinates. RANGE Sets the shift coordinates range. Increases manual movement speed for the selected VEL+ robot group in steps.
  • Page 205: Editing Shift Coordinates

    11. "MANUAL" mode 11.5.1 Editing shift coordinates In the "MANUAL>SHIFT" mode, select a shift coordinate number with the cursor ( ) keys. Press (EDIT). "MANUAL>SHIFT>EDIT" is entered. Use the cursor ( ) keys to move the cursor to the position you want to change.
  • Page 206: Restoring Shift Coordinates

    11. "MANUAL" mode Press to quit editing and return to "MANUAL>SHIFT" mode. NOTE The shift coordinate data on which the cursor was positioned when returning to "MANUAL>SHIFT" mode is used as the shift coordinates for the currently selected robot group. Valid keys and submenu descriptions in "MANUAL>SHIFT>EDIT"...
  • Page 207: Editing The Shift Coordinate Range

    11. "MANUAL" mode 11.5.2 Editing the shift coordinate range By setting the shift coordinate range, the robot operating area can be restricted to the desired range on each shift coordinate. Moreover, setting the soft limit parameters allows you to specify the robot work area more precisely.
  • Page 208 11. "MANUAL" mode Press (RANGE). "MANUAL>SHIFT>RANGE" mode is entered. A cursor for editing the shift coordinate range appears. Editing shift coordinate range (1) Use the cursor ( ) keys to move the cursor to the position you want to change. to enter the point data.
  • Page 209: Restoring A Shift Coordinate Range

    11. "MANUAL" mode Edit the shift coordinate range on the minus side. Edit the range using the procedure in steps 3 to 5. Press to quit editing and return to "MANUAL>SHIFT" mode. NOTE The shift coordinate number selected when returning to "MANUAL>SHIFT" mode is used as the shift coordinates for the currently selected robot group.
  • Page 210: Shift Coordinate Setting Method 1

    11. "MANUAL" mode 11.5.3 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 value of teach point 1 is the Z value of the shift coordinate.
  • Page 211 11. "MANUAL" mode Use the Jog keys to move the robot arm tip to teach point 1. Position the robot arm tip accurately. WARNING THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE. NOTE Perform teaching carefully to obtain accurate teach points.
  • Page 212 11. "MANUAL" mode Finish setting the shift coordinates. When the coordinate direction was selected in step 6, the shift coordinate values (dX, dY, dZ, dR) are automatically calculated and stored. The screen then returns to "MANUAL>SHIFT" mode. NOTE The Z-direction shift value is automatically obtained when teach point 1 is determined.
  • Page 213: Shift Coordinate Setting Method 2

    11. "MANUAL" mode 11.5.4 Shift coordinate setting method 2 This method sets the shift coordinate data by performing teaching at 2 points and then entering the coordinate values of those 2 points. The Z value of teach point 1 becomes the Z value of the shift coordinate. Shift coordinate setting method 2 (1) Point 1 (1st P)
  • Page 214 11. "MANUAL" mode Use the Jog keys to move the robot arm tip to teach point 1. (Position it accurately.) Position the robot arm tip accurately. WARNING THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
  • Page 215 11. "MANUAL" mode Finish setting the shift coordinates. When the teach point 2 has been entered, the shift coordinates (dX, dY, dZ and dR) are automatically calculated and stored. The screen then returns to "MANUAL>SHIFT" mode. Valid keys and submenu descriptions in "MANUAL>SHIFT>METHOD2" mode are shown below. Valid keys Menu Function...
  • Page 216: Displaying, Editing And Setting Hand Definitions

    11. "MANUAL" mode 11.6 Displaying, editing and setting hand definitions Press (HAND) in "MANUAL" mode to enter "MANUAL>HAND" mode. This mode allows you to display, edit and set hand definitions. However, the standard coordinates must be set when a SCARA robot is used. Refer to "11.10 Setting the standard coordinates" for details. Hand definitions cannot be used with MULTI type robots.
  • Page 217 11. "MANUAL" mode When "MANUAL>HAND" mode is entered, a screen like that shown below appears. The currently selected hand definition number is highlighted. Hand definition screen (one-robot setting) Hand definition screen (two-robot setting [1]) Main robot group is selected: Hand definition screen (two-robot setting [2]) Sub robot group is selected: 4-139 Chapter 4 OPERATION...
  • Page 218 11. "MANUAL" mode Valid keys and submenu descriptions in "MANUAL>HAND" mode are shown below. Valid keys Menu Function Specifies the hand definition number. EDIT Edits the hand definition. Increases manual movement speed for the selected VEL+ robot group in steps. (1→5→20→50→100 %) Decreases manual movement speed for the selected VEL- robot group in steps.
  • Page 219 11. "MANUAL" mode Movement of each robot type and the parameter contents are shown below. 1. SCARA robots 1) Hand attached to 2nd arm a. Robot movement • Imaginary 2nd arm of hand "n" moves to a specified point as if it were the actual 2nd arm.
  • Page 220 11. "MANUAL" mode 2) Hand attached to R-axis a. Robot movement Hand "n" moves towards a specified point while changing its movement direction. The direction to be changed is set for the specified point with an R value. Obstacles can therefore be avoided by changing the R value.
  • Page 221 11. "MANUAL" mode 2. Cartesian robots 1) Hand attached to 2nd arm a. Robot movement Hand "n" moves to a specified point. b. Parameter descriptions <1st parameter>: Specify the X-axis offset amount of hand "n" with a real number. (unit: mm) <2nd parameter>: Specify the Y-axis offset amount of hand "n"...
  • Page 222 11. "MANUAL" mode 2) Hand attached to R-axis a. Robot movement Hand "n" moves towards a specified point while changing its movement direction. The direction to be changed is set for the specified point with an R value. Obstacles can therefore be avoided by changing the R value.
  • Page 223: Editing Hand Definitions

    11. "MANUAL" mode 11.6.1 Editing hand definitions In "MANUAL>HAND" mode, press (EDIT). Use the cursor ( ) keys to select the hand definition you want to edit. An edit cursor appears at the left end of the selected hand definition line. Hand editing screen (1) Use the cursor ( ) keys to move the cursor to the position you...
  • Page 224: Restoring Hand Definitions

    11. "MANUAL" mode To continue editing, repeat steps 2 to 4. Press to quit editing and return to "MANUAL>HAND" mode. NOTE The hand definition data with which the cursor was positioned when returning to "MANUAL>HAND" mode is used as the current hand definition. Valid keys and submenu descriptions in "MANUAL>HAND>EDIT"...
  • Page 225: Hand Definition Setting Method 1

    11. "MANUAL" mode 11.6.2 Hand definition setting method 1 By using this method, a hand attached to the 2nd arm can be set to the current hand definition. NOTE • Cartesian and SCARA robots use mutually different methods for making settings. Cartesian robots Hand definition data is set by teaching the identical points that are used for hand working points and non-hand working points.
  • Page 226 11. "MANUAL" mode Press to enter the teaching value. Hand setting 1 (2) Use the Jog keys to move the robot working point to point 2. Position the robot at point 2 accurately. NOTE • When teach point 1 is obtained, the Z direction shift value is automatically determined.
  • Page 227: Changing The Display Units

    11. "MANUAL" mode 11.7 Changing the display units The units used to indicate the current position on the RPB screen can be switched to either "pulses" and "mm". If hand data for the R-axis is selected (hand definition is made), then "Tool coordinate" mode can also be used.
  • Page 228: Return-To-Origin

    11. "MANUAL" mode 11.8 Return-to-origin After the power to the controller is turned on, return-to-origin must be performed before starting robot operation. When return-to-origin is performed, the robot arms move to their mechanical origin positions and the position data in the controller is reset. Return-to-origin must be performed on incremental type axes.
  • Page 229 11. "MANUAL" mode w Upon starting return-to-origin, the robot starts moving in the return-to-origin direction. However, if the origin sensor was on when return-to-origin was started, then the robot first moves in a direction opposite the return-to-origin direction. Then, when the origin sensor turns off, the robot stops and restarts return-to-origin from that position.
  • Page 230: Semi-Absolute

    11.8.2 Semi-absolute "Semi-absolute" is the name for a simple absolute scale used in the YAMAHA linear single-axis robot PHASER series. Robots with this simple absolute scale have a quick absolute search function that utilizes our unique method to automatically perform an absolute search on the position detection scale when return-to-origin starts.
  • Page 231 11. "MANUAL" mode l Sensor method: When the origin sensor turns on during absolute search l Stroke end detection method: When the stroke end is detected during absolute search Absolute search (2) Origin sensor turns on or stroke end is detected. Max.
  • Page 232: Return-To-Origin Procedure

    11. "MANUAL" mode 11.8.3 Return-to-origin procedure The robot must be at servo-on to perform return-to-origin on incremental type axes using the stroke end detection method or sensor method for return-to-origin. Likewise, the robot must be at servo- on to perform an absolute search on semi-absolute type axes. CAUTION Before performing return-to-origin, check that incremental type axes are in positions that allow return-to-origin operation.
  • Page 233 11. "MANUAL" mode Check the machine reference. After return-to-origin (absolute search on semi-absolute type axes) is complete, the machine reference on each axis is displayed. Check that the machine reference is within the allowable range. NOTE • Refer to "11.8.1 Return-to-origin operation" for details on return-to-origin operation, and refer to "11.8.2 Semi-absolute"...
  • Page 234: Absolute Reset

    11. "MANUAL" mode 11.9 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 235: Checking Absolute Reset

    11. "MANUAL" mode 11.9.1 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. 1.
  • Page 236 11. "MANUAL" mode 2. When both absolute and incremental type axes exist: Checking absolute reset status (when both absolute and incremental type axes exist) This screen shows the following information. Axis Absolute Reset Status "Origin method" of Axis Parameter Axis 1 Origin incomplete Mark method Axis 2...
  • Page 237: Absolute Reset On Each Axis

    11. "MANUAL" mode 11.9.2 Absolute reset on each axis This section explains how to perform absolute reset of each axis using the robot controller. The absolute reset method differs depending on the following settings for the "Origin detection method" parameter. 1.
  • Page 238 11. "MANUAL" mode ■ Key operations to move to a position where absolute reset is possible For instance, when the current axis position is q (machine reference: 82%): Press (ADJ. +), and the axis moves to w and the machine reference will change to around 50%.
  • Page 239 11. "MANUAL" mode In "MANUAL>RST.ABS" mode, press (M1) to (M4). The absolute reset mode for each axis is entered. The selected axis is highlighted. Absolute reset of each axis (mark method) (1) Absolute reset of each axis (mark method) (2) This screen shows the following information.
  • Page 240 11. "MANUAL" mode Move the robot axis to a position where absolute reset can be performed. • in servo-on Use the Jog keys or (ADJ.+) and (ADJ.-) to move the selected axis to a position where absolute reset is possible. Set so that the machine reference is within a range of 44 to 56%.
  • Page 241 11. "MANUAL" mode Absolute reset of each axis (mark method) (4) Press A confirmation message appears on the guideline. Perform absolute reset. Press (YES) to perform absolute reset of the selected axis. Press (NO) to cancel absolute reset of the selected axis. Absolute reset of each axis (mark method) (5) When absolute reset is performed while the servo is on, the axis will move to the 0 pulse position after absolute reset is complete.
  • Page 242 11. "MANUAL" mode 2. When the stroke end or sensor method is used as the origin detection method: When the selected axis uses the stroke end or sensor method, the servo must be turned on to perform 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 243: Absolute Reset On All Axes

    11. "MANUAL" mode Check the machine reference. After return-to-origin (absolute search on semi-absolute type axes) is complete, the machine reference for each axis is displayed. Check that the machine reference is within the allowable range. Absolute reset of each axis (stroke end / sensor method) (2) Check the message line display.
  • Page 244 11. "MANUAL" mode ■ Key operations to move to a position where absolute reset is possible For instance, when the current axis position is q (machine reference: 82%): Press (ADJ.+) to move to position w and the machine reference will change to around 50%.
  • Page 245 11. "MANUAL" mode In "MANUAL>RST.ABS" mode, press (ALL). The absolute reset mode for all axes is entered. The mark method axes are highlighted. Absolute reset of all axes (mark method) (1) Absolute reset of all axes (mark method) (2) This screen shows the following information. Axis Absolute Reset Status Machine Reference Setting(%)
  • Page 246 11. "MANUAL" mode 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%. Absolute reset of all axes (mark method) (3) Press A confirmation message appears on the guideline. Press (YES) to perform absolute reset on all axes using the mark method.
  • Page 247 11. "MANUAL" mode Check the message on the guideline. When absolute reset ends correctly on all axes using the mark method, a confirmation message appears on the guideline if axes using the stroke end or sensor methods are present. Press (YES) to perform absolute reset on axes using the stroke end or sensor method.
  • Page 248 11. "MANUAL" mode Check the message line display. When absolute reset of all axes ends correctly, the dashed line (- - - -)on the message line changes to a solid line (——), and return-to-origin is now complete. Next press an axis movement key and the RPB screen will display the current position of each axis.
  • Page 249: Setting The Standard Coordinates

    11. "MANUAL" mode 11.10 Setting the standard coordinates The standard coordinates set for SCARA robots are treated as Cartesian coordinates using the X-axis rotating center as the coordinate origin. The following operations and functions are enabled on SCARA robots by setting the standard coordinates.
  • Page 250 11. "MANUAL" mode The following parameters are automatically set when the standard coordinates are entered. CAUTION When setting the standard coordinates, note the following points. • 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.
  • Page 251 11. "MANUAL" mode CAUTION When two robots (main and sub robots) are specified, check the currently selected robot group on the RPB. To switch the robot group, use NOTE • Approximate standard coordinate settings are made prior to shipment. • The number of offset pulses equals the number of pulses used by the X, Y and R axes when they moved towards the X-axis on the standard coordinates.
  • Page 252: Setting The Standard Coordinates By 4-Point Teaching

    11. "MANUAL" mode 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. 11.10.1 Setting the standard coordinates by 4-point teaching NOTE •...
  • Page 253 11. "MANUAL" mode In "MANUAL>COORDI" mode, press (4POINTS). The 4-point teaching mode is entered for setting standard coordinates. Setting the standard coordinates by 4-point teaching (2) Determine teach point P[1]. Use the Jog keys to move the robot arm tip to teach point P[1] and press NOTE Standard coordinates are calculated based on the teach points and input point data, so perform teaching and point data input as accurately as possible.
  • Page 254: Setting The Standard Coordinate By 3-Point Teaching

    11. "MANUAL" mode Check the message on the guideline. A message for checking the length and offset pulse value appears on the guideline. (If the calculation failed, an error message appears.) Press (YES) to store the setting. Press (NO) if you want to cancel the setting. Setting the standard coordinates by 4-point teaching (4) 11.10.2 Setting the standard coordinate by 3-point teaching NOTE...
  • Page 255 11. "MANUAL" mode In "MANUAL>COORDI" mode, press (3POINTS). The 3-point teaching mode is entered for setting the standard coordinates. Setting the standard coordinate by 3-point teaching (2) Determine teach point P[1]. Use the Jog keys to move the robot arm tip to teach point P[1] and press NOTE Standard coordinates are calculated based on the teach points and input point data, so perform teaching and point data input as accurately as possible.
  • Page 256 11. "MANUAL" mode (+X) to (-Y) to set the direction from P[1] to P[3]. Setting the standard coordinate by 3-point teaching (4) to enter the length between P[1] and P[3], and press The length should be less than 1000. Setting the standard coordinate by 3-point teaching (5) Check the message on the guideline.
  • Page 257: Setting The Standard Coordinates By Simple Teaching

    11. "MANUAL" mode 11.10.3 Setting the standard coordinates by simple teaching NOTE Position the XY arms as accurately as possible, so that they are exactly set in a straight line including the rotation center of the R-axis. Setting the standard coordinates by simple teaching (1) +Y direction +X direction In "MANUAL>COORDI"...
  • Page 258 11. "MANUAL" mode Enter the Y arm length and press Setting the standard coordinates by simple teaching (4) Check the message on the guideline. A message for checking the arm length and offset pulse value appears on the guideline. Press (YES) if you want to store the setting.
  • Page 259: Executing The User Function Keys

    11. "MANUAL" mode 11.11 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"...
  • Page 260: System" Mode

    12. "SYSTEM" mode 12. "SYSTEM" mode The "SYSTEM" mode controls all kinds of operating conditions for the overall robot system. The initial "SYSTEM" mode screen is shown below. "SYSTEM" mode Mode hierarchy w Version display e Message line r Online command execution mark t Robot model name...
  • Page 261 12. "SYSTEM" mode u Standard system configuration Shows the memory type and size and standard DIO type. Display Meaning DIO_N Standard DIO works on NPN specifications. DIO_P Standard DIO works on PNP specifications. CAUTION See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications. i Other expanded configurations When expansion boards are installed into the option slot of the controller, the board type and mode setting appear here.
  • Page 262 12. "SYSTEM" mode When set to SAFE mode, the following display appears. Display Meaning Operation mode is set to SAFE mode that enables safemode "SERVICE" mode. CAUTION For details on "SERVICE" mode setting, refer to "12.3.2 Setting the "SERVICE" mode". o Guideline The contents assigned to function keys are shown highlighted.
  • Page 263: Parameters

    Be sure to make the correct settings. • before and after setting parameters, always save the data files (program, point, point comment, parameter, shift, hand and pallet) stored in the RCX240 into an external storage unit such as a personal computer.
  • Page 264 12. "SYSTEM" mode Select a parameter item with the cursor ( ) keys. Or press (JUMP) and enter a parameter number to jump to that parameter item. Robot parameters Press (EDIT). Edit the selected parameter. There are 2 ways to edit parameters. The first is by entering data with the numeric keys, and the second is by selecting items with the function keys.
  • Page 265: Parameter List

    12. "SYSTEM" mode 12.1.2 Parameter list ■ Robot parameters Setting range Reference Name Displayed name Identifier Unit [Default setting] page Tip weight Tip weight [kg] WEIGHT 0 to 200 [Robot type] kg 4-191 Return-to-origin Origin sequence ORIGIN 0 to 654321 [312456] –...
  • Page 266 VALID *1 This parameter is a special parameter and must be set to “NO”. *2 These parameters are dedicated to the electric gripper. For details, see the User’s Manual for YAMAHA Electric Gripper YRG-series. 4-188 Chapter 4 OPERATION...
  • Page 267 12. "SYSTEM" mode ■ Parameters for option boards Setting range Reference Name Displayed name Unit [Default setting] page l Option DIO Enable/disable 24V power input monitor Board condition VALID, INVALID – 4-233 l Serial I/O Enable/disable serial I/O board Board condition VALID, INVALID –...
  • Page 268: Robot Parameters

    12. "SYSTEM" mode 12.1.3 Robot parameters On the RPB screen each robot parameter appears in the following format. Main group parameters Sub group parameters MG=<value> SG=<value> Main robot parameters Sub robot parameters MR=<value> SR=<value> NOTE A description and method for setting robot parameters No. 1 through No. 4 are listed in this manual.
  • Page 269 12. "SYSTEM" mode 1. Tip weight [kg] /WEIGHT This pa