Yamaha RCX141 Manuals

Manuals and User Guides for Yamaha RCX141. We have 1 Yamaha RCX141 manual available for free PDF download: User Manual

Yamaha RCX141 User Manual

Yamaha RCX141 User Manual (402 pages)

4-AXIS ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 2.98 MB

Table of Contents

Table of Contents

9
Chapter 1 Safety

17
- Safety
  19
- Warranty
  22
- Operating Environment
  23
Chapter 2 System Overview

25
- System Overview
  27
  - Main System Configuration
    27
  - Axis Definition for the RCX141
    29
- Part Names and Functions
  30
  - RCX141 (Maximum Number of Axes: 4 Axes)
    30
- Controller System
  31
- Optional Devices
  32
  - MPB Programming Box
    32
  - Expansion I/O Board
    32
  - Regenerative Unit
    32
- Basic Sequence from Installation to Operation
  33
Chapter 3 Installation

35
- Unpacking
  37
  - Packing Box
    37
- Installing the Robot Controller
  38
  - Installation
    38
  - Installation Methods
    39
- Connector Names
  41
- Connecting to the Power
  42
- Connecting the Robot Cables
  45
- Connecting the MPB Programming Box
  46
- I/O Connections
  47
- Connecting a Host Computer
  48
- Connecting a Regenerative Unit
  49
- Precautions for Cable Routing and Installation
  50
- Precautions for Cable Routing and Installation
  51
- Checking the Robot Controller Operation
  52
  - Cable Connection
    52
  - Emergency Stop Input Signal Connection
    53
  - Operation Check
    53
- Checking the Robot Controller Operation
  53
Chapter 4 Operation

55
- Operation Overview
  59
- The RCX Robot Controller
  60
  - Part Names
    60
  - Main Functions
    60
- MPB Programming Box
  61
  - Part Names
    61
  - Main Functions
    62
  - Connection to the Robot Controller
    63
- Turning Power on and off
  64
- Operation Keys
  65
  - MPB Screen
    65
  - Operation Key Layout
    66
- Operation Keys
  66
  - Basic Key Operation
    67
  - Function Keys
    68
  - Control Keys
    70
  - Data Keys
    72
  - Other Keys
    72
- Emergency Stop
  73
  - Emergency Stop Reset
    74
- Mode Configuration
  76
  - Basic Operation Modes
    76
  - SERVICE" Mode
    76
  - AUTO" Mode
    76
  - Other Operation Modes
    77
  - Mode Hierarchy
    78
  - SERVICE" Mode
    82
  - Operation Device
    82
  - Prohibition of "AUTO" Mode Operation
    82
  - Hold-To-Run Function
    82
  - Limitations on Robot Operating Speed
    82
  - AUTO" Mode
    83
  - Automatic Operation
    86
  - Stopping the Program
    87
  - Resetting the Program
    88
  - Switching Task Display
    90
  - Switching the Program
    91
- Changing the Automatic Movement Speed
  92
- Executing the Point Trace
  92
  - PTP Motion Mode
    94
  - ARCH Motion Mode
    96
  - Linear Interpolation Motion Mode
    98
- Direct Command Execution
  100
- Break Point
  101
  - Setting Break Points
    101
  - Deleting Break Points
    102
- Executing a Step
  103
- Executing the Next Step
  103
- Skipping a Step
  103
- PROGRAM" Mode
  104
- PROGRAM" Mode
  105
- Scrolling a Program Listing
  105
- Program Editing
  106
  - Cursor Movement
    108
  - Insert/Overwrite Mode Switching
    108
  - Inserting a Line
    109
  - Deleting a Character
    109
  - Deleting a Line
    110
  - User Function Key Display
    110
  - Quitting Program Editing
    111
  - Specifying the Copy/Cut Lines
    111
  - Copying the Selected Lines
    111
  - Cutting the Selected Lines
    112
  - Pasting the Data
    112
  - Backspace
    112
  - Line Jump
    113
  - Searching a Character String
    114
- Directory
  115
  - Cursor Movement
    116
  - Registering a New Program Name
    116
  - Directory Information Display
    117
  - Copying a Program
    118
  - Erasing a Program
    119
  - Renaming a Program
    120
  - Changing the Program Attribute
    121
  - Displaying Object Program Information
    121
  - Creating a Sample Program Automatically
    122
- Compiling
  124
- Line Jump and Character String Search
  125
- Registering User Function Keys
  125
- Resetting an Error in the Selected Program
  128
- MANUAL" Mode
  129
- Manual Movement
  132
- Displaying and Editing Point Data
  135
  - Point Data Input and Editing
    136
    
    Restoring Point Data
    137
  - Point Data Input by Teaching
    138
  - Point Data Input by Direct Teaching
    142
  - Point Jump Display
    142
  - Copying Point Data
    143
  - Erasing Point Data
    144
  - Point Data Trace
    145
  - Point Comment Input and Editing
    146
    
    Point Data Input by Teaching
    147
    
    Jump to a Point Comment
    148
    
    Copying a Point Comment
    149
    
    Erasing Point Comments
    150
    
    Point Comment Search
    151
  - Point Data Error Reset
    152
- Displaying, Editing and Setting Pallet Definitions
  153
- Changing the Manual Movement Speed
  162
- Displaying, Editing and Setting Shift Coordinates
  163
  - Editing Shift Coordinates
    166
    
    Restoring Shift Coordinates
    167
  - Editing the Shift Coordinate Range
    167
    
    Restoring a Shift Coordinate Range
    169
  - Shift Coordinate Setting Method 1
    169
  - Shift Coordinate Setting Method 2
    171
- Displaying, Editing and Setting Hand Definitions
  173
  - Editing Hand Definitions
    179
    
    Restoring Hand Definitions
    180
  - Hand Definition Setting Method 1
    180
- Changing the Display Units
  182
- Return-To-Origin
  183
  - Return-To-Origin Operation
    183
  - Semi-Absolute
    185
  - Return-To-Origin Procedure
    187
- Setting the Standard Coordinates
  188
  - Setting the Standard Coordinates by 4-Point Teaching
    191
  - Setting the Standard Coordinate by 3-Point Teaching
    193
  - Setting the Standard Coordinates by Simple Teaching
    195
    
    Serial I/O Setting
    235
  - Communication Parameters
    239
  - OPTION Parameters
    245
    
    Setting the Area Check Output
    246
    
    Setting the "SERVICE" Mode
    251
    
    Help Display in "SERVICE" Mode
    256
    
    Saving the "SERVICE" Mode Parameters
    256
    
    SIO Settings
    257
    
    Before Using a Double-Carrier
    260
    
    Double-Carrier Setting
    260
  - Initialization
    264
    
    Initializing the Parameters
    265
    
    Initializing the Memory
    266
    
    Initializing the Communication Parameters
    267
    
    Clock Setting
    268
    
    System Generation
    269
  - Self Diagnosis
    270
    
    Controller Check
    270
    
    Error History Display
    271
    
    Displaying the Total Operation Time
    272
    
    System Error Details Display
    272
  - Backup Processes
    273
    
    Internal Flash ROM
    273
    
    Loading Files
    274
    
    Initializing the Files
    275
    
    Saving Files
    275
    
    MONITOR" Mode
    276
    
    UTILITY" Mode
    279
  - Canceling Emergency Stop; Motor Power and Servo On/Off
    280
    
    Canceling Emergency Stop
    280
    
    Motor Power and Servo On/Off
    281
  - Enabling/Disabling the Sequence Execution Flag
    282
  - Changing the Arm Type
    283
  - Resetting the Output Ports
    284
  - Changing the Execution Level
    285
    
    Displaying the Help Message
    287
  - Changing the Access Level (Operation Level)
    288
    
    Entering the Password
    288
    
    Changing the Access Level
    289
    
    Displaying the Help Message
    289
Chapter 5 Parallel I\/O Interface

291
- Standard I/O Interface Overview
  293
  - Power Supply
    293
  - Connector I/O Signals
    294
  - Connector Pin Numbers
    295
  - Typical Input Signal Connection
    296
  - Typical Output Signal Connection
    297
    
    Dedicated Outputs
    297
    
    General-Purpose Outputs
    298
  - Dedicated Input Signal Description
    299
  - Dedicated Output Signal Description
    301
  - Dedicated I/O Signal Timing Chart
    303
    
    Controller Power ON, Servo on and Emergency Stop
    303
    
    Return-To-Origin
    304
    
    Switching to AUTO Mode, Program Reset and Execution
    305
    
    Stopping Due to Program Interlocks
    306
  - General-Purpose I/O Signals
    307
  - Power Supply
    312
  - Typical Input Signal Connection
    312
  - Typical Output Signal Connection
    312
- Ratings
  314
- Caution Items
  315
Chapter 6 Safety I\/O Interface

317
- Power
  319
- Connector Terminal Numbers
  320
- Emergency Stop Input Signal Connections
  321
- Dedicated Input Signal Connections
  324
- Input Signal Description
  325
Chapter 7 Rs-232C Interface

327
- Communication Overview
  329
- Communication Function Overview
  330
- Communication Specifications
  331
  - Connector
    331
  - Transmission Mode and Communication Parameters
    332
  - Communication Flow Control
    333
    
    Flow Control During Receive
    333
    
    Flow Control During Transmit
    333
  - Other Caution Items
    334
  - Character Code Table
    336
  - Connecting to a PC
    337
Chapter 8 Specifications

339
- Controller Basic Specifications
  341
- Controller Basic Functions
  342
- Robot Controller External View
  343
  - RCX141 External View
    343
- MPB Basic Specifications and External View
  344
Chapter 9 Troubleshooting

345
- Error Messages
  347
  - Robot Controller Error Messages
    347
    
    0] Warnings and Messages
    349
    
    1] Warnings (Error History Entry)
    351
    
    2] Robot Operating Area Errors
    351
    
    3] Program File Operating Errors
    355
    
    4] Data Entry and Edit Errors
    357
    
    5] Robot Language Syntax (Compiling) Errors
    357
    
    6] Robot Language Execution Errors
    365
    
    9] Memory Errors
    370
    
    System Setting or Hardware Errors
    372
    
    I/O and Option Board Errors
    374
    
    MPB Errors
    378
    
    RS-232C Communication Errors
    379
    
    Memory Card Errors
    380
    
    Motor Control Errors
    383
    
    Major Software Errors
    389
    
    Major Hardware Errors
    390
  - MPB Error Messages
    394
- Troubleshooting
  396
  - When Trouble Occurs
    396
  - Acquiring Error Information
    397
    
    Acquiring Information from the MPB
    397
    
    Acquiring Information from the RS-232C
    397
  - Troubleshooting Checkpoints
    398

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