Omron SCARA YRCX Series Manuals

Manuals and User Guides for Omron SCARA YRCX Series. We have 3 Omron SCARA YRCX Series manuals available for free PDF download: Programming Manual, Operation Manual, User Manual

Omron SCARA YRCX Series Programming Manual (506 pages)

Robot controller

Brand: Omron | Category: Controller | Size: 2 MB

Table of Contents

5
- Safety Precautions
  4
  - Table of Contents
    5
- Chapter 1 Writing Programs
  
  21
  - Characters
    21
  - Program Basics
    21
  - The OMRON Robot Language
    21
  - Program Names
    22
  - Identifiers
    24
  - LABEL Statement
    24
  - Command Statement Format
    25
  - Comment
    25
- Chapter 2 Constants
  
  27
  - Numeric Constants
    29
    
    Integer Constants
    29
    
    Real Constants
    29
  - Outline
    29
  - Character Constants
    30
- Chapter 3 Variables
  
  34
  - User Variables & System Variables
    34
    
    System Variables
    34
    
    User Variables
    34
  - Variable Names
    35
    
    Dynamic Variable Names
    35
    
    Static Variable Names
    35
  - Variable Types
    36
    
    Character Variables
    36
    
    Numeric Variables
    36
  - Array Variables
    37
  - Value Assignments
    37
  - Type Conversions
    38
  - Value Pass-Along & Reference Pass-Along
    38
  - System Variables
    39
    
    Point Variable
    39
    
    Parallel Input Variable
    40
    
    Shift Variable
    40
    
    Parallel Output Variable
    41
    
    Internal Output Variable
    42
    
    Arm Lock Output Variable
    43
    
    Timer Output Variable
    44
    
    Serial Input Variable
    45
    
    Serial Output Variable
    46
    
    Serial Double Word Input
    47
    
    Serial Word Input
    47
    
    Serial Double Word Output
    48
    
    Serial Word Output
    48
  - Bit Settings
    49
  - Valid Range of Variables
    50
    
    Valid Range of Dynamic (Array) Variables
    50
    
    Valid Range of Static Variables
    50
  - Clearing Variables
    51
    
    Clearing Dynamic Variables
    51
    
    Clearing Static Variables
    51
  - Arithmetic Operations
    55
    
    Arithmetic Operators
    55
    
    Relational Operators
    55
    
    Logic Operations
    56
    
    Data Format Conversion
    57
    
    Priority of Arithmetic Operation
    57
  - Character String Operations
    58
    
    Character String Comparison
    58
    
    Character String Connection
    58
  - Point Data Format
    59
  - DI/DO Conditional Expressions
    60
- Chapter 5 Multiple Robot Control
  
  61
  - Overview
    63
  - Command List with a Robot Setting
    64
- Chapter 6 Multi-Tasking
  
  67
  - Outline
    67
  - Task Definition Method
    67
  - Task Status and Transition
    68
    
    Starting Tasks
    68
    
    Task Scheduling
    69
    
    Condition Wait in Task
    70
    
    Restarting Tasks (RESTART)
    71
    
    Suspending Tasks (SUSPEND)
    71
    
    Deleting Tasks
    72
    
    Stopping Tasks
    73
  - Multi-Task Program Example
    74
  - Sharing the Data
    74
  - Cautionary Items
    75
- Chapter 7 Sequence Fnction
  
  77
  - Sequence Function
    77
  - Creating a Sequence Program
    79
    
    Programming Method
    79
    
    Compiling
    81
  - Executing a Sequence Program
    82
    
    Sequence Program STEP Execution
    82
  - Programming a Sequence Program
    83
    
    4.2.1 Input Variables
    83
    
    Assignment Statements
    83
    
    Input/Output Variables
    83
    
    4.2.2 Output Variables
    84
    
    Logical Operators
    85
    
    Timer Definition Statement
    85
    
    Priority of Logic Operations
    86
    
    Sequence Program Specifications
    86
Robot Language Lists

87
- Chapter 8 Robot Language Lists
  
  93
  - How to Read the Robot Language Table
    93
  - Command List in Alphabetic Order
    94
  - Operation-Specific
    99
  - Functions: in Alphabetic Order
    105
  - Functions: Operation-Specific
    108
  - Functions: Operation-Specific
    108
  - Abs
    110
    
    1 Abs
    110
  - Absrpos
    111
  - Accel
    112
    
    3 Accel
    112
  - Archp1 / Archp2
    113
  - 4 Archp1 / Archp2
    114
  - Armcnd
    115
  - Armsel
    116
    
    6 Armsel
    116
  - Armtyp
    117
  - Aspeed
    118
    
    8 Aspeed
    118
  - Atn / Atn2
    119
  - Axwght
    120
    
    10 Axwght
    120
  - Call
    121
  - Change
    122
    
    12 Change
    122
  - Chgpri
    123
  - Chr
    124
    
    14 Chr
    124
  - Close
    125
  - Cos
    126
    
    16 Cos
    126
  - Curtqst
    127
  - Curtrq
    128
    
    18 Curtrq
    128
  - Cut
    129
  - Date
    130
    
    20 Date
    130
  - Decel
    131
  - Def Fn
    132
    
    22 Def Fn
    132
  - Degrad
    133
  - Delay
    134
    
    24 Delay
    134
  - DIM
    136
    
    26 DIM
    136
  - Dist
    137
  - Drive
    140
    
    29 Drive
    140
  - Drivei
    144
    
    30 Drivei
    144
  - End Select
    149
  - End Sub
    150
    
    32 End Sub
    150
  - Err / Erl
    151
  - Ethsts
    152
    
    34 Ethsts
    152
  - Exit for 36 Exit Sub
    153
  - Exit Task
    155
  - FOR to NEXT
    156
    
    38 FOR to NEXT
    156
  - Gepsts
    157
  - GOSUB to RETURN
    158
    
    40 GOSUB to RETURN
    158
  - Goto
    159
  - Halt
    160
    
    42 Halt
    160
  - Haltall
    161
  - Hand
    162
    
    44 Hand
    162
    
    For SCARA Robots
    162
  - Hold
    165
  - Holdall
    166
    
    46 Holdall
    166
    
    Simple if Statement
    167
    
    Block if Statement
    168
  - Input
    169
  - 48 Input
    170
  - Int
    171
  - Jtoxy
    172
    
    50 Jtoxy
    172
  - Left
    173
  - Lefty
    174
    
    52 Lefty
    174
  - Len
    175
  - Let
    176
    
    54 Let
    176
  - Locx
    181
  - 56 Locx
    182
  - Lshift
    183
  - Mchref
    184
    
    58 Mchref
    184
  - MID
    185
  - Motor
    188
    
    61 Motor
    188
  - Move
    189
  - 62 Move
    190
  - 63 Movei
    204
  - Movei
    206
  - Performs Relative Movement of All Robot Axes in Tool Coordinates
    214
    
    64 Movet
    214
  - Acquires the Motor Load Factor of the Specified Axis
    224
    
    65 Mtrduty
    224
  - Sets a Specified Communication Port to the "Offline" Mode
    225
    
    Offline
    225
  - Jumps to a Specified Label When an Error Occurs
    226
    
    67 On Error Goto
    226
  - Executes the Subroutine Specified by the <Expression> Value
    227
    
    ON to GOSUB
    227
  - Jumps to the Label Specified by the <Expression> Value
    228
    
    ON to GOTO
    228
  - Sets the Specified Communication Port to the "Online" Mode
    229
    
    Online
    229
  - Opens the Specified General Ethernet Port
    230
    
    Open
    230
  - Acquires a Character Code
    231
    
    Ord
    231
  - Specifies/Acquires the Robot's Return-To-Origin Sequence
    232
    
    Orgord
    232
  - Performs Return-To-Origin
    233
    
    Origin
    233
  - Turns on the Specified Port Output
    234
    
    Out
    234
  - Specifies/Acquires the out Enable Position Parameter of the Robot
    235
    
    Outpos
    235
  - Specifies the Motion Path
    237
    
    Path
    237
  - Ends the Path Setting
    243
    
    Path End
    243
  - Starts the Path Setting
    244
    
    Path Set
    244
  - Starts the PATH Motion
    247
    
    Path Start
    247
  - Defines the Pallet
    251
    
    Pdef
    251
  - Acquires the Task Number in Which a Specified Program Is Registered
    252
    
    Pgmtsk
    252
  - Pgn
    253
    
    Pmove
    254

Omron SCARA YRCX Series Operation Manual (266 pages)

SCARA Robots, robot controller

Brand: Omron | Category: Robotics | Size: 3 MB

Table of Contents
3
Warranty
11
Important Information before Reading this Manual
13
Introduction I
13
About this Manual
15
Safety Precautions
16
Signal Symbols
16
Overview of the YRCX
17
Before Using the Robot Controller (be Sure to Read the Following Notes)
18
Chapter 1 Using the Robot Safely

19
Chapter 2 System Overview

27
- Operation Overview
  29
- The YRCX Robot Controller
  30
- External Device Connectors
  30
- 7-Segment LED Display Function
  31
- Programming Box
  32
- Part Names and Functions
  32
- Connection to the Robot Controller
  33
- Programming Box Screen
  33
- Operation Key
  34
- Operation Key Layout
  34
- Basic Key Operation
  34
- Function Keys
  35
- Control Keys
  36
- Data Keys
  37
- Other Keys
  37
- Hierarchy Structure
  37
- Basic Hierarchies
  37
- Quick Menu
  38
- Selecting Hierarchy and Menu
  42
Chapter 3 Operation

47
- Servo Operation
  49
- Emergency Stop Release and Alarm Reset
  49
- Motor Power and Servo On/Off
  49
- Servo Operation (All Axes)
  49
- Servo Operation (each Axis)
  50
- Jog
  51
- Jog Movement
  52
- Jog Movement in Return-To-Origin Complete Status
  53
- Jog Movement in Return-To-Origin Complete Status (When Hand Definition Is Set)
  54
- Jog Movement in Return-To-Origin Incomplete Status
  54
- Changing the Display Units
  55
- Changing the Jog Movement Speed
  55
- Changing the Inch Distance
  56
- Inputting Point Data by Teaching
  56
- Jumping the Point Display
  57
- Point Trace
  57
- PTP Motion
  58
- Linear Interpolation Motion
  59
- Arch Motion
  61
- Setting the Speed
  62
- Changing the Display Unit
  62
- Jumping the Point Display
  63
- Automatic Operation
  63
- Executing Automatic Operation
  65
- Stopping a Program
  66
- Resetting a Program
  66
- Resetting All Programs
  67
- Registering and Releasing Task
  67
- Task Priority
  68
- Switching Task Display
  68
- Changing the Automatic Movement Speed
  68
- Sequence Program Execution Flag
  69
- Restarting the Program
  69
- 4.10 Input Function
  70
- Inputting Message
  70
- Canceling INPUT Command
  71
- 4.11 Debug Function
  71
- Executing a Step
  72
- Skipping a Step
  72
- Executing the Next Step
  72
- Break Points
  72
- Runto
  73
- Origin Return
  74
- Return-To-Origin Operation
  75
- Return-To-Origin Procedure
  77
- Absolute Reset (Mark Method) Procedure
  78
- Return-To-Origin for All Robots
  81
- Dual Offset
  82
- Dual Offset Settings
  82
- Automatic Dual Offset Setting
  83
- Adjusting Dual Offset
  84
Chapter 4 Edit

85
- Point Editing
  87
- Inputting/Editing Point Data
  89
- Point Data Input by Teaching
  90
- Point Data Input by Direct Teaching
  92
- Jumping Point Display
  92
- Copying Point Data
  92
- Deleting Point Data
  93
- Executing Point Trace
  93
- Deleting Point Name
  93
- Program Editing
  94
- Selecting the Program
  95
- Creating a New Program
  96
- Editing the Program
  96
- Cursor Movement
  97
- Quitting Program Editing
  97
- Switching between the "Insert" and "Overwrite" Modes
  97
- Inserting a Line
  98
- Deleting One Character
  98
- Backspace
  98
- Copying/Cutting a Program
  98
- Searching a Character String
  98
- Jumping Step
  99
- Checking Entry Data
  99
- Compiling Sequence Program
  99
- Setting a Main Program
  100
- Changing a Program Attribute
  100
- Deleting a Program
  101
- Changing a Program Name
  101
- Copying a Program
  102
- 2.10 Resetting an Alarm
  102
- Shift Coordinates
  103
- Creating New Shift Coordinates
  106
- Editing Shift Coordinates
  107
- Setting Shift Coordinate
  107
- Selecting Shift Coordinates
  110
- Hand Definitions
  111
- Data Format of Hand Definition
  112
- SCARA Type Robots
  113
- HAND EDIT"/"CREATING NEW HAND" Screen
  114
- Creating New Hand Definitions
  116
- Editing Hand Definitions
  117
- Setting Hand Definitions
  117
- Selecting Hand Definitions
  118
- Work Definitions
  119
- Data Format of Work Definition
  120
- Creating New Work Definitions
  120
- Editing Work Definitions
  121
- Selecting Work Definitions
  122
- Pallet Definitions
  123
- Creating New Pallet Definitions
  125
- Editing Pallet Definitions
  126
- Setting Pallet Definitions
  126
- Setting Point of Pallet Definitions
  127
- Parameters
  128
- Parameter Setting Conditions
  128
- Setting the Parameters
  128
- Parameter List
  130
- Parameter Descriptions
  133
- Controller Parameters
  133
- Robot Parameters
  135
- Axis Parameters
  138
- I/O Parameters
  144
- Option Board Related Parameters
  146
- PRM Skip
  150
- Area Check Output
  151
- Setting Area Check Output
  151
- Initializing Area Check Output
  152
- Parameter List
  153
- Standard Coordinates
  154
- Setting the Standard Coordinates by Simple Teaching
  156
- Setting the Standard Coordinate by 3-Point Teaching
  158
- Setting the Standard Coordinate by 4-Point Teaching
  159
- Setting the Standard Coordinate by both Handed System Teaching
  161
- 10. General Ethernet por T (GEP) Setting
  163
- Overview
  167
- History
  167
- Check
  168
- Property
  168
- Robot Information
  168
- Option Information
  169
- Clock
  169
- Version
  169
- Configuration
  170
- USB Memory Operation
  170
- Saving the Data
  170
- Loading the Data
  171
- Execution Level
  172
- Changing Access Level
  172
- Safety Setting
  173
- Initialize
  174
- Initializing Data
  174
- Setting the Clock
  175
- Generation
  176
Chapter 6 Monitor

177
- Overview of Function
  179
- Current Position Display
  179
- I/O Status Display
  180
- I/O Monitor List
  181
- I/O Monitor Detail
  182
- Changing Output Status
  182
- Task Driving State
  183
- Current Monitor
  184
- Troubleshooting
  185
- When Trouble Occurs
  187
- Acquiring the Alarm Information
  188
- Checking the Alarm Occurrence Status
  188
- Checking the Alarm History
  188
- Troubleshooting Checkpoints
  189
- Installation and Power Supply
  189
- Robot Operation
  190
- I/O
  191
- Alarm Messages
  192
- 0] Operation Messages
  193
- 1] System Events
  193
- 3] Alarm Related to the Program File Operation
  193
- 4] Alarm Related To The Data Input
  193
- 0] Operation Messages
  195
- [ 1] System Events
  196
- 2] Alarm Related to the Robot Operation
  198
- 3] Alarm Related to the Program File Operation
  205
- [ 4] Alarm Related to the Data Input
  207
- 5] Alarm Related to the Syntax of the Robot Language (Compile
  209
- 5] Alarm Related To The Syntax Of The Robot Language (Compile)
  209
- 6] Alarm Related to the Robot Language Execution
  216
- 6] Alarm Related To The Robot Language Execution
  216
- [ 9] Alarm Related to the Memor y
  225
- [10] Alarm Related to the Environment and General Hardware
  229
- [12] Alarm Related to the Option Board
  231
- [14] Alarm Related to the Communication
  239
- [17] Alarm Related to the Motor Control
  241
- [19] Alarm Related to the YC-Link/E
  248
- [21] Serious Alarm Related to Software
  251
- [22] Serious Alarm Related to Hardware
  252
- [26] Alarm Related to the Gripper
  254
- [28] Alarm Related to the Driver I/F
  258
- Warning Number
  260
- C] Warning
  260
- Alarm Messages Related to the Programming Box
  262

Omron SCARA YRCX Series User Manual (66 pages)

Brand: Omron | Category: GPS | Size: 1 MB

Table of Contents
3
Introduction
5
Safety Cautions and Marks
6
Warranty
7
Overview
9
Features and Functions
9
System Configuration
10
Tracking System Configuration
10
Robot Configuration When Using the Tracking System
11
Component Names and Functions
11
Required Items
12
Preparations for Tracking System Use
13
Connections
14
Wiring
14
Wiring the AB Phase Input Connector
14
Wiring the Optional AB Phase Input Cable (Type: KX0-M66AF-00)
15
Connecting and Removing the AB Phase Input Cable Connector
15
Connecting the AB Phase Input Cable Connector
15
Disconnecting the AB Phase Input Cable Connector
16
Verifying the Robot Controller Settings
16
Parameter
17
Parameter List
17
Parameter Settings
17
Parameter Details
18
Conveyor Calibration
20
Interactive Conveyor Calibration Setting Method
22
Editing Conveyor Calibration Data
28
Tracking Monitor
29
Robot Language Commands
30
Robot Language Command List
30
Position Monitoring Queue and Queue Element
31
Adding Queue Elements
32
Deleting Robot Position Data from Queue Elements
33
Deleting Queue Elements
33
Robot Language Command Details
33
Caddist
33
Caddque
34
CADDQUEV (Reserved)
36
Caddrslt
37
Cchkque
38
Cclrrbt
39
Ccond
39
Cgetpuls
40
Cgetque
40
Cgetrate
41
Cgettag
41
Cgetvelx
41
Cgetvely
42
Cquecnt
43
Crmvque
43
Crstpuls
44
Csettag
44
Ctdrive
44
Ctmove
46
Ctrkemgn
48
Ctrkpadj
49
Ctrksmgn
50
Ctstop
50
CTVISION (Reserved)
51
Cvelcoef
51
Sample Programs
52
One Robot Picks and Places the Workpiece
52
Troubleshooting
56
Alarm Messages
56
When Trouble Occurs
60
Troubleshooting
61
Specifications List
61

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More Omron Manuals

Omron SCARA YRCX Series Manuals

Omron SCARA YRCX Series Programming Manual (506 pages)

Table of Contents

Table of Contents

Chapter 1 Writing Programs

Chapter 2 Constants

Chapter 3 Variables

Chapter 5 Multiple Robot Control

Chapter 6 Multi-Tasking

Chapter 7 Sequence Fnction

Robot Language Lists

Chapter 8 Robot Language Lists

Omron SCARA YRCX Series Operation Manual (266 pages)

Table of Contents

Chapter 1 Using the Robot Safely

Chapter 2 System Overview

Chapter 3 Operation

Chapter 4 Edit

Chapter 6 Monitor

Omron SCARA YRCX Series User Manual (66 pages)

Table of Contents

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