Yamaha RCX142 Robot Controller Manuals

Yamaha RCX142 Robot Controller Manuals

Manuals and User Guides for Yamaha RCX142 Robot Controller. We have 1 Yamaha RCX142 Robot Controller manual available for free PDF download: User Manual

Yamaha RCX142 User Manual

Yamaha RCX142 User Manual (450 pages)

4-AXIS ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 3 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 RCX142 Series
    29
- Part Names and Functions
  30
  - RCX142 (Maximum Number of Axes: 4 Axes)
    30
  - Rcx142-T
    30
- Controller System
  31
  - Rcx142
    31
  - Rcx142-T
    32
- Optional Devices
  33
  - MPB Programming Box
    33
  - Expansion I/O Board
    33
  - Regenerative Unit
    33
- Basic Sequence from Installation to Operation
  34
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 the Absolute Battery
  49
- Replacing the Absolute Battery
  52
- Connecting a Regenerative Unit
  53
- Precautions for Cable Routing and Installation
  54
- Checking the Robot Controller Operation
  56
  - Cable Connection
    56
  - Emergency Stop Input Signal Connection
    57
  - Operation Check
    58
Chapter 4 Operation

59
- Operation Overview
  63
- The RCX Robot Controller
  64
  - Part Names
    64
  - Main Functions
    64
- MPB Programming Box
  65
  - Part Names
    65
  - Main Functions
    66
  - Connection to the Robot Controller
    67
- Turning Power on and off
  68
- Operation Keys
  69
  - MPB Screen
    69
  - Operation Key Layout
    70
  - Basic Key Operation
    71
  - Function Keys
    72
  - Control Keys
    74
  - Data Keys
    76
  - Other Keys
    76
- Emergency Stop
  77
  - Emergency Stop Reset
    78
- Mode Configuration
  80
  - Basic Operation Modes
    80
  - Other Operation Modes
    81
  - Mode Hierarchy
    82
  - SERVICE" Mode
    86
  - Operation Device
    86
  - Prohibition of "AUTO" Mode Operation
    86
  - Hold-To-Run Function
    86
  - Limitations on Robot Operating Speed
    86
  - AUTO" Mode
    87
- Automatic Operation
  90
- Stopping the Program
  91
- Resetting the Program
  92
- Switching Task Display
  94
- Switching the Program
  95
- Changing the Automatic Movement Speed
  96
- Executing the Point Trace
  96
  - PTP Motion Mode
    98
  - ARCH Motion Mode
    100
  - Linear Interpolation Motion Mode
    102
- Direct Command Execution
  104
- Break Point
  105
  - Setting Break Points
    105
  - Deleting Break Points
    106
- Executing a Step
  107
- Executing the Next Step
  107
- Skipping a Step
  107
- PROGRAM" Mode
  108
- Scrolling a Program Listing
  109
- Program Editing
  110
  - Cursor Movement
    112
  - Insert/Overwrite Mode Switching
    112
  - Inserting a Line
    113
  - Deleting a Character
    113
  - Deleting a Line
    114
  - User Function Key Display
    114
  - Quitting Program Editing
    115
  - Specifying the Copy/Cut Lines
    115
  - Copying the Selected Lines
    115
  - Cutting the Selected Lines
    116
  - Pasting the Data
    116
  - Backspace
    116
  - Line Jump
    117
  - Searching a Character String
    118
- Directory
  119
  - Cursor Movement
    120
  - Registering a New Program Name
    120
  - Directory Information Display
    121
  - Copying a Program
    122
  - Erasing a Program
    123
  - Renaming a Program
    124
  - Changing the Program Attribute
    125
  - Displaying Object Program Information
    125
  - Creating a Sample Program Automatically
    126
- Compiling
  128
- Line Jump and Character String Search
  129
- Registering User Function Keys
  129
- Resetting an Error in the Selected Program
  132
- MANUAL" Mode
  133
- Manual Movement
  136
- Displaying and Editing Point Data
  139
  - Point Data Input and Editing
    140
    
    Restoring Point Data
    141
  - Point Data Input by Teaching
    142
  - Point Data Input by Direct Teaching
    146
  - Point Jump Display
    146
  - Copying Point Data
    147
  - Erasing Point Data
    148
  - Point Data Trace
    149
  - Point Comment Input and Editing
    150
    
    Point Data Input by Teaching
    151
    
    Point Comment Input and Editing
    151
    
    Jump to a Point Comment
    152
    
    Copying a Point Comment
    153
    
    Erasing Point Comments
    154
    
    Point Comment Search
    155
  - Point Data Error Reset
    156
- Displaying, Editing and Setting Pallet Definitions
  157
- Changing the Manual Movement Speed
  166
- Displaying, Editing and Setting Shift Coordinates
  167
  - Editing Shift Coordinates
    170
    
    Restoring Shift Coordinates
    171
  - Editing the Shift Coordinate Range
    171
    
    Restoring a Shift Coordinate Range
    173
  - Shift Coordinate Setting Method 1
    173
  - Shift Coordinate Setting Method 2
    175
- Displaying, Editing and Setting Hand Definitions
  177
  - Editing Hand Definitions
    183
    
    Restoring Hand Definitions
    184
  - Hand Definition Setting Method 1
    184
- Changing the Display Units
  186
- Absolute Reset
  187
  - Checking Absolute Reset
    188
  - Absolute Reset on each Axis
    189
  - Absolute Reset on All Axes
    194
- Setting the Standard Coordinates
  198
- Executing the User Function Keys
  207
- SYSTEM" Mode
  208
- Parameters
  210
  - Robot Parameters
    212
  - Axis Parameters
    217
  - Other Parameters
    233
  - Parameters for Option Boards
    243
    
    Option DIO Setting
    244
    
    Serial I/O Setting
    245
    
    Setting the Network Parameters
    247
    
    Communication Parameters
    249
    
    OPTION Parameters
    255
    
    Setting the Area Check Output
    256
    
    Setting the "SERVICE" Mode
    261
    
    Saving the "SERVICE" Mode Parameters
    266
    
    Help Display in "SERVICE" Mode
    266
    
    SIO Settings
    267
    
    Double-Carrier Setting
    270
    
    Before Using a Double-Carrier
    270
    
    Setting the Double-Carrier Parameters
    271
    
    Initialization
    274
    
    Initializing the Parameters
    275
    
    Initializing the Memory
    276
    
    Initializing the Communication Parameters
    277
    
    Clock Setting
    278
    
    System Generation
    279
    
    Self Diagnosis
    280
    
    Controller Check
    280
    
    Error History Display
    281
    
    Displaying the Total Operation Time
    282
    
    System Error Details Display
    282
    
    Backup Processes
    283
    
    Internal Flash ROM
    283
    
    Loading Files
    284
    
    Saving Files
    285
    
    Initializing the Files
    285
    
    MONITOR" Mode
    286
    
    UTILITY" Mode
    289
    
    Canceling Emergency Stop; Motor Power and Servo On/Off
    290
    
    Canceling Emergency Stop
    290
    
    Motor Power and Servo On/Off
    291
    
    Enabling/Disabling the Sequence Execution Flag
    292
    
    Changing the Arm Type
    293
    
    Resetting the Output Ports
    294
    
    Changing the Execution Level
    295
    
    Changing the Execution Level
    296
    
    Displaying the Help Message
    297
    
    Changing the Access Level (Operation Level)
    298
    
    Entering the Password
    298
    
    Changing the Access Level
    299
    
    Displaying the Help Message
    299
Chapter 5 Two-Robot Setting

301
- Explanation of Two-Robot Setting
  303
  - Two-Robot Setting
    303
  - System Configuration Example
    304
- Operations and Data When Using the Two-Robot Setting
  305
  - AUTO" Mode
    305
    
    Changing the Automatic Movement Speed
    305
    
    Executing the Point Trace
    306
  - MANUAL" Mode
    307
    
    Current Position
    307
    
    Manual Movement
    308
    
    Point Data
    310
  - Pallet Definition
    312
- Input by Point Data Direct Teaching
  312
  - Pallet Definition by Teaching
    313
  - Setting the Point in Pallet Definition by Teaching
    313
  - Changing the Manual Movement Speed
    314
  - Shift Coordinates
    315
    
    Shift Coordinates Setting Method 1
    317
    
    Shift Coordinates Setting Method 2
    318
  - Hand Definition
    319
    
    Hand Definition Setting Method 1
    319
  - Absolute Reset
    321
    
    Checking Absolute Reset Status
    321
    
    Absolute Reset on each Axis (Mark Method)
    322
    
    Absolute Reset on each Axis (Stroke End Method / Sensor Method)
    323
    
    Absolute Reset on All Axes
    324
- SYSTEM" Mode
  326
  - SYSTEM" Mode Initial Screen Format
    326
  - Robot Parameters Screen Format
    327
  - Axis Parameters Screen Format
    327
  - Setting the Area Check Output
    328
  - Double-Carrier Collision Prevention
    329
- Error Message Displays
  333
- Programming
  334
- Robot Languages Used in the Two-Robot Setting
  334
Chapter 6 Parallel I\/O Interface

335
- Standard I/O Interface Overview
  337
  - Connector I/O Signals
    338
  - Connector Pin Numbers
    339
  - Typical Input Signal Connection
    340
  - Typical Output Signal Connection
    341
    
    Dedicated Outputs
    341
    
    General-Purpose Outputs
    342
  - Dedicated Input Signal Description
    343
  - Dedicated Output Signal Description
    345
  - Dedicated I/O Signal Timing Chart
    347
    
    Controller Power ON, Servo on and Emergency Stop
    347
    
    Absolute Reset
    348
    
    Switching to AUTO Mode, Program Reset and Execution
    349
    
    Stopping Due to Program Interlocks
    350
  - General-Purpose I/O Signals
    351
    
    General-Purpose Input Signals
    351
    
    General-Purpose Output Signals
    351
    
    General-Purpose Output Signal Reset (Off)
    351
- Option I/O Interface Overview
  352
- ID Settings
  353
- Connector I/O Signals
  354
  - Connector Pin Numbers
    355
    
    Typical Input Signal Connection
    356
    
    Typical Output Signal Connection
    356
    
    General-Purpose I/O Signals
    356
    
    General-Purpose Input Signals
    356
    
    General-Purpose Output Signals
    356
    
    General-Purpose Output Signal Reset (Off)
    357
  - Ratings
    358
  - Caution Items
    359
Chapter 7 Safety I\/O Interface

361
- Power
  363
- SAFETY I/O Interface Overview
  363
  - Connector Terminal Numbers
    364
  - Emergency Stop Input Signal Connections
    365
    
    Rcx142
    365
    
    Rcx142-T
    368
  - Dedicated Input Signal Connections
    371
  - Input Signal Description
    372
Chapter 8 Rs-232C Interface

373
- Communication Overview
  375
- Communication Function Overview
  376
- Communication Specifications
  377
  - Connector
    377
  - Transmission Mode and Communication Parameters
    378
  - Communication Flow Control
    379
    
    Flow Control During Transmit
    379
    
    Flow Control During Receive
    379
  - Other Caution Items
    380
  - Character Code Table
    382
  - Connecting to a PC
    383
Chapter 9 Specifications

385
- Controller Basic Specifications
  387
  - RCX142 Basic Specifications
    388
  - RCX142-T Basic Specifications
    388
- Controller Basic Functions
  389
- Robot Controller External View
  390
  - RCX142 External View
    391
  - RCX142-T External View
    391
- MPB Basic Specifications and External View
  392
Chapter 10 Troubleshooting

393
- Error Messages
  395
  - Robot Controller Error Messages
    395
    
    0] Warnings and Messages
    397
    
    1] Warnings (Error History Entry)
    399
    
    2] Robot Operating Area Errors
    399
    
    3] Program File Operating Errors
    403
    
    4] Data Entry and Edit Errors
    405
    
    5] Robot Language Syntax (Compiling) Errors
    405
    
    6] Robot Language Execution Errors
    413
    
    9] Memory Errors
    418
    
    System Setting or Hardware Errors
    420
    
    I/O and Option Board Errors
    422
    
    MPB Errors
    426
    
    RS-232C Communication Errors
    427
    
    Memory Card Errors
    429
    
    Motor Control Errors
    431
    
    Major Software Errors
    438
    
    Major Hardware Errors
    439
  - MPB Error Messages
    443
- Troubleshooting
  445
  - When Trouble Occurs
    445
  - Acquiring Error Information
    446
    
    Acquiring Information from the MPB
    446
    
    Acquiring Information from the RS-232C
    446
  - Troubleshooting Checkpoints
    447

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