User Manuals: Omron R6YXG220 SCARA Robot Controller

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Omron R6YXG220 User Manual (260 pages)

SCARA Robots YRCX Series

Brand: Omron | Category: Controller | Size: 5 MB

Table of Contents
3
Safety Information

13
Signal Words Used in this Manual

14
Warning Labels

15
Important Precautions for each Stage of the Robot Life Cycle

20
- Precautions for Using Robots and Controllers
  
  20
- Design
  
  21
  - Precautions for Robots
    21
  - Precautions for Robot Controllers
    21
- Moving and Installation
  
  22
  - Precautions for Robots
    22
  - Precautions for Robot Controllers
    23
- Safety Measures
  
  25
  - Installing a Safety Enclosure
    26
- Operation
  
  27
  - Trial Operation
    27
  - Automatic Operation
    29
  - Precautions During Operation
    29
- Inspection and Maintenance
  
  31
  - Before Inspection and Maintenance Work
    31
  - Precautions During Service Work
    32
- Disposal
  
  33
Emergency Action When a Person Is Caught by Robot

34
Cautions Regarding Strong Magnetic Fields

34
Using the Robot Safely

35
- Movement Range
  
  35
- Robot Protective Functions
  
  36
- Residual Risk
  
  37
- Special Training for Industrial Robot Operation
  
  37
- KC Mark
  
  38
  - EMC Standards
    38
  - Examples of EMC Countermeasures
    38
Warranty

39
Important Information before Reading this Manual

41
Introduction

41
- About this Manual
  41
Overview of the YRCX

41
Before Using the Robot Controller (be Sure to Read the Following Notes)

41
Chapter 1 Using the Robot Safely

47
Emergency Action When a Person Is Caught by Robot

49
Emergency Stop

50
- Emergency Stop Release and Alarm Reset
  50
Power-ON Procedures

52
Usage Environments

53
Chapter 2 System Overview

55
I/O Interface Overview

57
- Main System Configuration
  57
- Axis Configuration for the YRCX
  58
Name of each Part and Control System

59
- YRCX External View
  59
- Controller System
  60
Optional Devices

61
- Programming Box
  61
- Basic Key Operation
  61
- Expansion I/O Board
  61
Basic Sequence from Installation to Operation

62
Chapter 3 Installation

63
Transport, Unpacking

65
Installing the Robot Controller

65
- Installation Conditions
  65
- Installation Methods
  66
Connecting to the Power

67
Connecting the Absolute Battery

72
Robot Connections

73
- Connecting the Robot Cables
  73
- Noise Countermeasures
  74
Connecting the Programming Box

74
I/O Connections

75
Connecting the Regenerative Shorting Connector

75
Connecting the Brake Power Supply

76
Precautions for Cable Routing and Installation

76
- Wiring Methods
  76
- Methods of Preventing Malfunctions
  77
Checking the Robot Controller Operation

78
Chapter 4 I/O Interface

81
I/O Interface Overview

83
Ratings

100
- Input
  100
- Output
  100
Caution Items

100
Chapter 5 SAFETY I/O Interface

101
SAFETY I/O Interface Overview

103
Chapter 6 External Communication Interface

109
Overview

111
- Communication Overview
  111
- ONLINE and OFFLINE Modes
  112
- Character Code
  113
Rs-232C

114
- Connectors and Cables
  114
- Communication Specifications
  115
- Connections
  115
- Communication Parameter Setting
  116
- Communication Flow Control
  117
  - Flow Control During Transmit
    117
  - Flow Control During Receive
    117
- Other Caution Items
  117
Ethernet

118
- Connectors and Cables
  119
- Communication Specifications
  121
- Connections
  122
- Parameter Setting on Controller (Server)
  123
  - Setting the Communication Mode and Parameters
    124
  - Initializing Communication Parameters
    124
- System Setting on Personal Computer (Client)
  125
  - Setting the TCP/IP Protocol
    125
- Connection Check Using "Ping
  126
- Communication Example Using "TELNET.EXE
  126
- Appendix
  
  127
  - Example of Network System Configuration
    127
  - Glossary
    130
General Ethernet Port (GEP)

132
- GEP Parameter Setting
  132
- GEP Parameter Setting Method
  133
- Initializing Communication Parameters
  134
Chapter 7 Controller System Settings

135
Overview

137
History

137
Check

138
Property

138
- Robot Information
  138
- Option Information
  139
- Clock
  139
- Version
  139
- Configuration
  140
USB Memory Operation

140
- Saving the Data
  140
- Loading the Data
  141
Execution Level

142
- Changing the Access Level
  142
Safety Setting

143
Initialize

144
- Initializing the Data
  144
- Setting the Clock
  145
Generation

146
Parameters

146
- Parameter Setting Conditions
  146
- Setting the Parameters
  146
- Parameter List
  148
- Controller Parameters
  151
- Robot Parameters
  153
- Axis Parameters
  156
- I/O Parameters
  163
- Option Board Related Parameters
  165
Chapter 8 Periodic Inspection

169
Before Carrying out Work

171
Maintenance Parts

171
Periodic Inspections

171
- Daily Inspections
  171
- Three-Month Inspections
  172
Replacing the Absolute Battery

172
Replacing the Memory Battery

172
Chapter 9 Specifications

175
Controller

177
- Specifications
  177
- Basic Functions
  178
Programming Box

178
- External View
  179
Programming Box

180
- Basic Specifications
  180
- External View
  180
Troubleshooting

181
Alarm Messages

183
- Alarm Messages Related to the Controller
  183
- Alarm Messages Related to the Programming Box
  250
Troubleshooting

251
- When Trouble Occurs
  251
- Acquiring the Alarm Information
  252
  - Checking the Alarm Occurrence Status
    252
  - Checking the Alarm History
    252
- Troubleshooting Checkpoints
  253
  - Installation and Power Supply
    253
  - Robot Operation
    254
  - I/O
    255

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User Manuals: Omron R6YXG220 SCARA Robot Controller

Omron R6YXG220 User Manual (260 pages)

Table of Contents

Safety Information

Signal Words Used in this Manual

Warning Labels

Warning Symbols

Important Precautions for each Stage of the Robot Life Cycle

Precautions for Using Robots and Controllers

Design

Moving and Installation

Safety Measures

Operation

Inspection and Maintenance

Disposal

Emergency Action When a Person Is Caught by Robot

Cautions Regarding Strong Magnetic Fields

Using the Robot Safely

Movement Range

Robot Protective Functions

Residual Risk

Special Training for Industrial Robot Operation

KC Mark

Warranty

Important Information before Reading this Manual

Introduction

Overview of the YRCX

Before Using the Robot Controller (be Sure to Read the Following Notes)

Chapter 1 Using the Robot Safely

Emergency Action When a Person Is Caught by Robot

Emergency Stop

Power-ON Procedures

Usage Environments

Chapter 2 System Overview

I/O Interface Overview

Name of each Part and Control System

Optional Devices

Basic Sequence from Installation to Operation

Chapter 3 Installation

Transport, Unpacking

Installing the Robot Controller

Connecting to the Power

Connecting the Absolute Battery

Robot Connections

Connecting the Programming Box

I/O Connections

Connecting the Regenerative Shorting Connector

Connecting the Brake Power Supply

Precautions for Cable Routing and Installation

Checking the Robot Controller Operation

Chapter 4 I/O Interface

I/O Interface Overview

Ratings

Caution Items

Chapter 5 SAFETY I/O Interface

SAFETY I/O Interface Overview

Chapter 6 External Communication Interface

Overview

Rs-232C

Ethernet

Appendix

General Ethernet Port (GEP)

Chapter 7 Controller System Settings

Overview

History

Check

Property

USB Memory Operation

Execution Level

Safety Setting

Initialize

Generation

Parameters

Chapter 8 Periodic Inspection

Before Carrying out Work

Maintenance Parts

Periodic Inspections

Replacing the Absolute Battery

Replacing the Memory Battery

Chapter 9 Specifications