Omron YRC Series Manuals

Manuals and User Guides for Omron YRC Series. We have 1 Omron YRC Series manual available for free PDF download: Operation Manual

Omron YRC Series Operation Manual

Omron YRC Series Operation Manual (280 pages)

SCARA Robot Controller

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

Table of Contents

General Contents

3
- Table of Contents
  3
Safety Instructions

11
- Safety Information
  13
- Signal Words Used in this Manual
  14
- Warning Label Messages on Robot and Controller
  15
- Warning Labels
  15
- Supplied Warning Labels
  18
- Warning Symbols
  19
- Major Precautions for each Stage of Use
  20
- Precautions for Using Robots and Controllers
  20
- Design
  21
- Precautions for Robot Controllers
  21
- Precautions for Robots
  21
- Moving and Installation
  22
- Precautions for Robots
  22
- Precautions for Robot Controllers
  23
- Safety Measures
  25
- Installing a Safety Enclosure
  26
- Operation
  27
- Safety Measures
  27
- Trial Operation
  27
- Automatic Operation
  29
- Precautions During Operation
  29
- Before Inspection and Maintenance Work
  31
- Inspection and Maintenance
  31
- Precautions During Service Work
  32
- Disposal
  33
- Cautions Regarding Strong Magnetic Fields
  34
- Cautions Regarding Strong Magnetic Ields
  34
- Emergency Action When a Person Is Caught by Robot
  34
- Chapter 1 Using the Robot Safely
  35
- Movement Range
  35
- Robot Protective Functions
  36
- Residual Risk
  37
- Special Training for Industrial Robot Operation
  37
- Warranty
  39
Important Information before Reading this Manual

41
Chapter 1 Using the Robot Safely

47
- Freeing a Person Caught by the Robot
  49
- Emergency Stop
  50
- Emergency Stop Reset
  51
- Overload Error Reset
  52
- Power-ON Procedures
  53
- Usage Environments
  54
Chapter 2 Overview

55
- Operation Overview
  57
- The YRC Robot Controller
  58
- Part Names and Functions
  59
- Programming Box
  59
- Connection to the Robot Controller
  61
- Changing the Programming Box Screen Settings
  62
- Programming Box Screen
  63
- Basic Key Operation
  64
- Operation Key
  64
- Operation Key Layout
  64
- Function Keys
  65
- Control Keys
  66
- Data Keys
  67
- Other Keys
  67
- Basic Modes
  68
- Mode Configuration
  68
- Other Modes
  69
- Selecting Mode Hierarchy
  69
- MONITOR Mode
  75
Chapter 3 Auto Mode

77
- Automatic Operation
  81
- Resetting the Program
  82
- Stopping the Program
  82
- Switching Task Display
  84
- Switching the Program
  84
- Changing the Automatic Movement Speed
  85
- Executing the Point Trace
  85
- PTP Motion Mode
  87
- Arch Motion
  89
- Linear Interpolation Motion
  91
- Direct Command Execution
  93
- 10. Breakpoint
  94
- Canceling Breakpoints
  95
- Finding Breakpoints
  95
- Setting Breakpoints
  95
- 11. Executing a Step
  96
- 12. Skipping a Step
  96
- 13. Executing the Next Step
  96
Chapter 4 Program Mode

97
- Scrolling a Program Listing
  100
- Program Editing
  101
- Cursor Movement
  102
- Insert/Overwrite Cursor Switching
  103
- Deleting a Character
  104
- Deleting a Line
  104
- Inserting a Line
  104
- User Function Key Display
  104
- Copying or Cutting Lines
  105
- Quitting Program Editing
  105
- Backspace
  106
- Line Jump
  106
- Searching a Character String
  106
- Directory
  107
- Cursor Movement
  109
- Registering a New Program Name
  109
- Directory Information Display
  110
- Copying a Program
  111
- Erasing a Program
  111
- Renaming a Program
  112
- Changing the Program Attribute
  113
- Displaying Object Program Information
  113
- Creating a Sample Program Automatically
  114
- Compiling
  116
- Line Jump and Character String Search
  116
- Registering User Function Keys
  117
- Resetting an Error
  120
Chapter 5 Manual Mode

121
- Manual Movement
  126
- Manual Movement When Return-To-Origin Has Been Completed
  126
- When Return-To-Origin Is Not Complete
  129
- Displaying and Editing Point Data
  130
- Point Data Input and Editing
  133
- Point Data Input by Teaching
  135
- Point Data Input by Direct Teaching
  137
- Copying Point Data
  138
- Point Jump Display
  138
- Erasing Point Data
  139
- Point Comment Input and Editing
  140
- Point Data Trace
  140
- Entering or Editing Point Comments
  141
- Jump to a Point Comment
  141
- Copying a Point Comment
  142
- Deleting Point Comments
  142
- Point Comment Search
  143
- Point Data Error Reset
  144
- Displaying, Editing and Setting Pallet Definitions
  145
- Editing Pallet Deinitions
  147
- Editing Pallet Definitions
  147
- Point Setting in Pallet Definition
  148
- Point Setting in Pallet Deinition
  148
- Editing the Point in Pallet Definition
  149
- Setting the Point in Pallet Definition by Teaching
  149
- Pallet Deinition By Teaching
  150
- Pallet Definition by Teaching
  150
- Copying A Pallet Deinition
  152
- Copying a Pallet Definition
  152
- Deleting A Pallet Deinition
  152
- Deleting a Pallet Definition
  152
- Changing the Manual Movement Speed
  153
- Displaying, Editing and Setting Shift Coordinates
  154
- Editing Shift Coordinates
  156
- Editing the Shift Coordinate Range
  157
- Shift Coordinate Setting Method
  159
- Shift Coordinate Setting Method 1
  159
- Shift Coordinate Setting Method 2
  161
- Displaying, Editing and Setting Hand Definitions
  163
- Displaying, Editing and Setting Hand Deinitions
  163
- Editing Hand Deinitions
  165
- Editing Hand Definitions
  165
- Hand Definition Setting for a Hand Attached to the 2Nd Arm
  166
- Changing the Display Units
  168
- Return-To-Origin
  169
- Return-To-Origin Operation
  169
- Return-To-Origin Procedure
  171
- 10. Absolute Reset
  172
- Checking Absolute Reset
  173
- 10.2.1 When the Mark Method Is Used for Return-To-Origin
  175
- Absolute Reset on each Axis
  175
- 10.2.2 When the Stroke End or Sensor Method Is Used for Return-To-Origin
  178
- Absolute Reset on All Axes
  179
- 11. Setting the Standard Coordinates
  182
- Setting the Standard Coordinates by 4-Point Teaching
  185
- Setting the Standard Coordinate by 3-Point Teaching
  186
- Setting the Standard Coordinates by Simple Teaching
  188
- 12. Executing the User Function Keys
  189
- 13. Initializing the Flash ROM
  190
- Chapter 6 SERVICE MODE
  191
- Hold-To-Run Function
  193
- Operation Device
  193
- Prohibition of AUTO Mode Operation
  193
- Limits on Robot Moving Speed
  194
Chapter 7 Utility Mode

195
- Canceling Emergency Stop; Motor Power and Servo On/Off
  198
- Canceling the Emergency Stop Flag
  198
- Canceling the Emergency Stop Lag
  198
- Motor Power and Servo On/Off
  198
- Arm Type
  200
- Enabling/Disabling the Sequence Execution Flag
  200
- Execution Level
  201
- Resetting the Output Ports
  201
- Changing the Execution Level
  202
- Displaying the Help Message
  202
- Access Level (Operation Level)
  203
- Changing the Access Level
  203
- Displaying the Help Message
  204
Troubleshooting

205
- Error Messages
  207
- Robot Controller Error Messages
  207
- 0] Warnings and Messages
  210
- 1] Warnings (Error History Entry
  212
- 2] Robot Operating Area Errors
  212
- 3] Program File Operating Errors
  216
- 4] Data Entry and Edit Errors
  218
- 5] Robot Language Syntax (Compiling) Errors
  219
- 6] Robot Language Execution Errors
  225
- 9] Memory Errors
  230
- [10] System Setting or Hardware Errors
  232
- [12] I/O and Option Board Errors
  234
- [13] Programming Box Errors
  238
- [14] RS-232C Communication Errors
  238
- [15] Memory Card Errors
  240
- [17] Motor Control Errors
  242
- [19] YC-Link Related Error
  248
- [20] Ivy System Errors
  253
- [21] Major Software Errors
  257
- [22] Major Hardware Errors
  258
- Alarm Messages Occurred in Electric Gripper Main Body (Fatal Error
  263
- [27] Error Messages Occurred in Electric Gripper Main Body
  265
- Programming Box Error Messages
  266
- Troubleshooting
  268
- When Trouble Occurs
  268
- Acquiring Error Information
  269
- Acquiring Information from the Programming Box
  269
- Acquiring Information from the RS-232C
  269
- Troubleshooting Checkpoints
  270
  - Revision History
    278

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