When Using Incremental Type Axes Only - Yamaha RCX240 User Manual

4.2

When using incremental type axes only

Install the controller.
• Make cable and connector connections.
• Ground the controller.
• Configure an emergency stop circuit.
When a serial I/O board is added:
Set the station number, communication speed, etc. (Setup
depends on the serial I/O type.)
Check that the wiring and supply voltage are correct and then turn power on.
Check that no alarm is issued after turning power on.
Check that the robot type setting in the controller matches
Robot type check
the robot that is actually connected.
Set the following parameters to optimize the robot operation.
• Tip weight (workpiece weight + tool weight)
* Set the "Axis tip weight" parameter if the robot is set to
Parameter initial
"MULTI" or has an auxiliary axis.
setting
• Soft limits (movement range)
* Before determining soft limit positions by jog movement,
return-to-origin must first be complete.
* Always set this parameter when using the robot for the
first time. After that, change it as needed.
Return-to-origin Perform return-to-origin to teach the origin position to the
controller.
* Always perform return-to-origin when using the robot for
the first time. After that, reperform it when the controller
power is turned on before starting robot operation or
when the origin position becomes indefinite
(return-to-origin incomplete).
For SCARA robots:
Set the reference coordinates (XY coordinate system with the
X-axis rotation center set as the origin).
Parameter setting Set parameters according to the operation conditions.
Point data editing Create or edit point data according to the robot operation.
Programming Create programs according to the robot operation.
* Programming is unnecessary if not using a program
such as in operation with I/O commands.
Check that the safety devices such as an emergency stop circuit function correctly.
Make a trial run using step operation and make adjustment as needed.
Start operation.
4. Basic sequence from installation to operation
Basic procedure Refer to:
Chapter 3 1. Unpacking
12. Precautions for cable
routing and installation
PARALLEL I/O INTERFACE
Chapter 6
Chapter 7 SAFETY I/O INTERFACE
See the serial I/O instruction
manuals for detailed
information.
4. Turning power on and off
Chapter 4
13. Checking the robot
Chapter 3
controller operation
Chapter 4 12. "SYSTEM" mode
(Robot type can be
checked on the initial
screen in SYSTEM mode.)
12.1.3 Robot parameters
• Tip weight
12.1.4 Axis parameters
• + Soft limit
• - Soft limit
• Axis tip weight
11.8 Return-to-origin
11.10 Setting the standard
coordinates
Chapter 4 12.1 Parameters
11.2 Displaying and editing
point data
11.3 Displaying, editing and
setting pallet definitions
10. "PROGRAM" mode
See the programming
manual for information
about the programming
language.
9.2 Stopping the program
Chapter 4
9.12 Executing the next step
Chapter 4 9.1 Automatic operation
9.6 Changing the automatic
movement speed
Chapter 2 SYSTEM OVERVIEW
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