Yamaha RCX222 Manuals

Manuals and User Guides for Yamaha RCX222. We have 2 Yamaha RCX222 manuals available for free PDF download: User Manual, Supporting Supplement Manual

Yamaha RCX222 User Manual (524 pages)

2-AXIS ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 6 MB

Table of Contents
3
Safety Information

15
Signal Words Used in this Manual

16
Warning Labels

17
Important Precautions for each Stage of the Robot Life Cycle

24
- Precautions for Using Robots and Controllers
  
  24
- Essential Precautions for the Linear Conveyor Module
  
  25
- Design
  
  26
  - Precautions for Robots
    26
  - Precautions for Robot Controllers
    26
- Moving and Installation
  
  27
  - Precautions for Robots
    27
  - Precautions for Robot Controllers
    28
- Safety Measures
  
  30
  - Installing a Safety Enclosure
    31
- Operation
  
  32
  - Trial Operation
    32
  - Automatic Operation
    34
  - Precautions During Operation
    34
- Inspection and Maintenance
  
  36
  - Before Inspection and Maintenance Work
    36
  - Precautions During Service Work
    37
- Disposal
  
  38
Emergency Action When a Person Is Caught by Robot

39
Cautions Regarding Strong Magnetic Fields

39
Using the Robot Safely

40
- Movement Range
  
  40
- Robot Protective Functions
  
  41
- Residual Risk
  
  42
- Special Training for Industrial Robot Operation
  
  42
Introduction

47
Before Using the Robot Controller (be Sure to Read the Following Notes)

48
Overview of the RCX Series

49
Chapter 1 USING the ROBOT SAFELY

51
Operating Environment

53
Chapter 2 SYSTEM OVERVIEW

57
- System Overview
  57
  - Main System Configuration
    57
  - RCX22 Series Axis Definition
    58
Part Names and Functions

59
- RCX222 (Maximum Number of Axes: 2)
  59
- RCX222HP (Maximum Number of Axes: 2)
  59
Control System

60
- Rcx222/Rcx222Hp
  60
Optional Devices

61
- RPB Programming Box
  61
- I/O Expansion
  61
- Regenerative Unit
  61
Basic Sequence from Installation to Operation

62
Chapter 3 INSTALLATION

63
Unpacking

65
- Packing Box
  65
Installing the Robot Controller

66
- Installation Conditions
  66
- Installation Methods
  68
Connector Names

70
Connecting to the Power

71
Robot Connections

78
- Connecting the Robot Cables
  78
- Noise Countermeasures
  79
Connecting the RPB Programming Box

80
I/O Connections

81
Connecting a Host Computer

82
Connecting the Absolute Battery

83
Replacing the Absolute Battery

85
Connecting a Regenerative Unit

86
Precautions for Cable Routing and Installation

88
Checking the Robot Controller Operation

91
- Cable Connection
  91
- Operation Check
  92
Chapter 4 OPERATION

93
Operation Overview

99
The RCX Robot Controller

100
- Part Names
  100
- Main Functions
  100
RPB Programming Box

101
- Part Names
  101
- Main Functions
  101
- Connection to the Robot Controller
  102
- Changing the RPB Screen Settings
  103
Turning Power on and off

104
Operation Keys

106
- RPB Screen
  106
- Operation Key Layout
  107
- Basic Key Operation
  108
- Function Keys
  109
- Control Keys
  111
- Data Keys
  113
- Other Keys
  113
Emergency Stop

114
- Emergency Stop Reset
  115
- Overload Error Reset
  117
Mode Configuration

119
- Basic Operation Modes
  119
- Other Operation Modes
  120
- Mode Hierarchy
  121
SERVICE" Mode

126
- Operation Device
  126
- Prohibition of "AUTO" Mode Operation
  126
- Hold-To-Run Function
  126
- Limits on Robot Moving Speed
  127
AUTO" Mode

128
- Automatic Operation
  131
- Stopping the Program
  132
- Resetting the Program
  133
- Switching Task Display
  135
- Switching the Program
  136
- Changing the Automatic Movement Speed
  137
- Executing the Point Trace
  138
  - PTP Motion Mode
    140
  - ARCH Motion Mode
    141
  - Linear Interpolation Motion Mode
    143
- Direct Command Execution
  144
- Break Point
  145
  - Setting Break Points
    146
  - Deleting Break Points
    147
- Executing a Step
  148
- Skipping a Step
  148
- Executing the Next Step
  149
PROGRAM" Mode

150
- Scrolling a Program Listing
  151
- Program Editing
  152
  - Cursor Movement
    154
  - Insert/Overwrite Mode Switching
    155
  - Inserting a Line
    156
  - Deleting a Character
    156
  - Deleting a Line
    156
  - User Function Key Display
    157
  - Quitting Program Editing
    158
  - Specifying the Copy/Cut Lines
    158
  - Copying the Selected Lines
    159
  - Cutting the Selected Lines
    159
  - Pasting the Data
    160
  - Backspace
    160
  - Line Jump
    161
  - Searching a Character String
    162
- Directory
  163
  - Cursor Movement
    165
  - Registering a New Program Name
    165
  - Directory Information Display
    166
  - Copying a Program
    167
  - Erasing a Program
    168
  - Renaming a Program
    169
  - Changing the Program Attribute
    170
  - Displaying Object Program Information
    171
  - Creating a Sample Program Automatically
    172
- Compiling
  174
- Line Jump and Character String Search
  175
- Registering User Function Keys
  175
- Resetting an Error in the Selected Program
  179
MANUAL" Mode

180
- Manual Movement
  182
- Displaying and Editing Point Data
  185
- Point Data Input and Editing
  187
- Restoring Point Data
  188
- Point Data Input by Teaching
  189
- Point Data Input by Direct Teaching
  191
- Point Jump Display
  192
- Copying Point Data
  193
- Erasing Point Data
  195
- Point Data Trace
  196
- Point Comment Input and Editing
  196
- Point Data Input by Teaching
  198
- Jump to a Point Comment
  199
- Copying a Point Comment
  199
- Erasing Point Comments
  201
- Point Comment Search
  202
- Point Data Error Reset
  203
- Displaying, Editing and Setting Pallet Definitions
  204
- Changing the Manual Movement Speed
  214
- Displaying, Editing and Setting Shift Coordinates
  215
  - Editing Shift Coordinates
    217
  - Restoring Shift Coordinates
    218
  - Editing the Shift Coordinate Range
    219
  - Restoring a Shift Coordinate Range
    221
  - Shift Coordinate Setting Method 1
    222
  - Shift Coordinate Setting Method 2
    225
- Displaying, Editing and Setting Hand Definitions
  228
  - Editing Hand Definitions
    231
  - Restoring Hand Definitions
    232
  - Hand Definition Setting Method 1
    233
- Changing the Display Units
  235
- Absolute Reset
  236
  - Checking Absolute Reset
    237
  - Absolute Reset on each Axis
    238
  - Absolute Reset on All Axes
    245
- Setting the Standard Coordinates
  251
  - Executing the User Function Keys
    252
SYSTEM" Mode

253
- Parameters
  255
  - Parameter List
    257
  - Robot Parameters
    259
  - Axis Parameters
    263
  - Other Parameters
    283
  - Parameters for Option Boards
    299
  - Option DIO Setting
    301
  - Serial IO Setting
    302
  - Setting the Network Parameters
    307
- Communication Parameters
  309
- OPTION Parameters
  318
  - Setting the Area Check Output
    319
  - Setting the "SERVICE" Mode
    328
  - Saving the "SERVICE" Mode Parameters
    334
  - Help Display in "SERVICE" Mode
    335
  - SIO Settings
    336
  - Double-Carrier Setting
    339
  - Before Using a Double-Carrier
    339
  - Setting the Double-Carrier Parameters
    340
- Initialization
  343
  - Initializing the Parameters
    344
  - Initializing the Memory
    345
  - Initializing the Communication Parameters
    346
  - Clock Setting
    347
  - System Generation
    348
- Self Diagnosis
  349
  - Controller Check
    350
  - Error History Display
    351
  - Displaying the Absolute Battery Condition
    352
  - Displaying the Total Operation Time
    353
  - System Error Details Display
    354
- Backup Processes
  355
  - SD Memory Card
    356
  - Loading Files
    358
  - Saving Files
    360
  - Deleting Files
    362
  - Previewing Files
    363
  - Internal Flash ROM
    364
  - Loading Files
    365
  - Saving Files
    367
  - Initializing the Files
    368
MONITOR" Mode

369
UTILITY" Mode

372
- Canceling Emergency Stop; Motor Power and Servo On/Off
  374
  - Canceling Emergency Stop
    374
  - Motor Power and Servo On/Off
    375
- Overload Error Reset and Motor and Servo Power On/Off
  377
  - Emergency Stop Reset
    377
  - Overload Error Reset
    377
- Enabling/Disabling the Sequence Execution Flag
  378
- Resetting the Output Ports
  379
- Changing the Execution Level
  380
  - Changing the Execution Level
    381
  - Displaying the Help Message
    382
- Changing the Access Level (Operation Level)
  383
  - Entering the Password
    384
  - Changing the Access Level
    385
  - Displaying the Help Message
    386
Chapter 5 PARALLEL I/O INTERFACE

387
Standard I/O Interface Overview

389
- ID Setting
  390
- Connector I/O Signals
  391
- Connector Pin Numbers
  394
- Connecting the Power Supply
  395
  - NPN/PNP Power Connector Wiring
    396
- Typical Input Signal Connection
  397
- Typical Output Signal Connection
  398
- Dedicated I/O Signals
  399
  - Dedicated Input Signals
    399
  - Dedicated Output Signals
    401
- General-Purpose I/O Signals
  403
  - General-Purpose Output Reset
    403
- Dedicated I/O Signal Timing Charts
  404
  - Turning the Power on
    404
  - Emergency Stop and Servo on
    406
  - ABS (Absolute) Reset
    407
  - Mode Switching
    408
  - Automatic Operation
    409
Ratings

410
Precautions

411
Chapter 6 SAFETY I/O INTERFACE

413
SAFETY I/O Interface Overview

415
- Power
  415
- Connector I/O Signals
  416
- Connector Terminal Numbers
  417
- Emergency Stop Input Signal Connections
  418
- Dedicated Input Signal Connections
  424
- Dedicated Output Signal Connections
  425
- Input Signal Description
  427
- Meaning of Output Signals
  428
Chapter 7 RS-232C INTERFACE

429
Communication Overview

431
Communication Function Overview

432
Communication Specifications

433
- Connector
  433
- Transmission Mode and Communication Parameters
  435
- Communication Flow Control
  436
  - Flow Control During Transmit
    436
  - Flow Control During Receive
    436
- Other Caution Items
  437
- Character Code Table
  439
- Connecting to a PC
  440
Chapter 8 SPECIFICATIONS

443
Controller Basic Specifications

443
Controller Basic Functions

445
Controller External View

446
- RCX222 External View
  446
- RCX222HP External View
  447
RPB Basic Specifications and External View

448
Chapter 9 TROUBLESHOOTING

453
Error Messages

453
- Robot Controller Error Messages
  453
  - 0] Warnings and Messages
    455
  - 1] Warnings (Error History Entry)
    457
  - 2] Robot Operating Area Errors
    458
  - 3] Program File Operating Errors
    461
  - 4] Data Entry and Edit Errors
    464
  - 5] Robot Language Syntax (Compiling) Errors
    465
  - 6] Robot Language Execution Errors
    473
  - 9] Memory Errors
    478
  - System Setting or Hardware Errors
    481
  - I/O and Option Board Errors
    483
  - RPB Errors
    487
  - RS-232C Communication Errors
    488
  - Memory Card Errors
    490
  - Motor Control Errors
    492
  - YC-Link (SR1) Related Error
    500
  - Major Software Errors
    506
  - Major Hardware Errors
    508
- RPB Error Messages
  514
Troubleshooting

516
- When Trouble Occurs
  516
- Acquiring Error Information
  517
  - Acquiring Information from the RPB
    517
  - Acquiring Information from the RS-232C
    517
- Troubleshooting Checkpoints
  518

Yamaha RCX222 Supporting Supplement Manual (92 pages)

ROBOT CONTROLLER

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

General Contents

5
- Table of Contents
  5
Chapter 1 Using the Robot Safely

9
Chapter 2 CE Marking

21
Chapter 3 System Overview

27
Chapter 4 Emc Countermeasure

43
- EMC Countermeasure Examples 4.1.1 RCX240
  45
  - EMC Countermeasure Examples
    45
  - Configuration
    46
  - Rcx240
    46
    
    Countermeasure Components
    47
  - Rcx221/Rcx222
    52
    
    Configuration
    52
    
    Countermeasure Components
    53
Chapter 5 External Safety Circuit Examples

57
- Performance Level
  59
- Circuit Examples for the RCX240
  60
  - Category
    62
  - Category
    64
  - Overview of Circuit Operation
    65
- Circuit Examples for the RCX221/RCX222
  66
  - Category
    68
  - Category
    69
  - Category
    70
  - Overview of Circuit Operation
    71
Chapter 6 Specifications

73
- Basic Specifications
  75
  - Rcx240
    75
  - Rcx221
    77
  - Rcx222
    79
- Controller
  75
- Basic Functions
  81
- External View
  82
  - Rcx240
    82
  - Rcx221
    85
  - Rcx221Hp
    86
  - Rcx222
    87
  - Rcx222Hp
    88
- Basic Specifications
  89
  - Rpb-E
    89
- Programming Box
  89
- External View
  90
  - Rpb-E
    90

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More Yamaha Manuals

Yamaha RCX222 Manuals

Yamaha RCX222 User Manual (524 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

Essential Precautions for the Linear Conveyor Module

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

Introduction

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

Overview of the RCX Series

Chapter 1 USING the ROBOT SAFELY

Operating Environment

Chapter 2 SYSTEM OVERVIEW

Part Names and Functions

Control System

Optional Devices

Basic Sequence from Installation to Operation

Chapter 3 INSTALLATION

Unpacking

Installing the Robot Controller

Connector Names

Connecting to the Power

Robot Connections

Connecting the RPB Programming Box

I/O Connections

Connecting a Host Computer

Connecting the Absolute Battery

Replacing the Absolute Battery

Connecting a Regenerative Unit

Precautions for Cable Routing and Installation

Checking the Robot Controller Operation

Chapter 4 OPERATION

Operation Overview

The RCX Robot Controller

RPB Programming Box

Turning Power on and off

Operation Keys

Emergency Stop

Mode Configuration

SERVICE" Mode

AUTO" Mode

PROGRAM" Mode

MANUAL" Mode

SYSTEM" Mode

MONITOR" Mode

UTILITY" Mode

Chapter 5 PARALLEL I/O INTERFACE

Standard I/O Interface Overview

Ratings

Precautions

Chapter 6 SAFETY I/O INTERFACE

SAFETY I/O Interface Overview

Chapter 7 RS-232C INTERFACE

Communication Overview

Communication Function Overview

Communication Specifications

Chapter 8 SPECIFICATIONS

Controller Basic Specifications

Controller Basic Functions

Controller External View

RPB Basic Specifications and External View

Chapter 9 TROUBLESHOOTING

Error Messages

Troubleshooting