Yamaha RCX222 Manuals

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

Yamaha RCX222 User Manual

Yamaha RCX222 User Manual (524 pages)

2-AXIS ROBOT CONTROLLER  
Brand: Yamaha | Category: Controller | Size: 6.11 MB
Table of contents
Table Of Contents3................................................................................................................................................................
Safety Information15................................................................................................................................................................
Signal Words Used In This Manual16................................................................................................................................................................
Warning Labels17................................................................................................................................................................
Supplied Warning Labels22................................................................................................................................................................
Warning Symbols23................................................................................................................................................................
Important Precautions For Each Stage Of The Robot Life Cycle24................................................................................................................................................................
Essential Precautions For The Linear Conveyor Module25................................................................................................................................................................
Design26................................................................................................................................................................
Moving And Installation27................................................................................................................................................................
Precautions For Robot Controllers28................................................................................................................................................................
Safety Measures30................................................................................................................................................................
Installing A Safety Enclosure31................................................................................................................................................................
Operation32................................................................................................................................................................
Automatic Operation34................................................................................................................................................................
Inspection And Maintenance36................................................................................................................................................................
Precautions During Service Work37................................................................................................................................................................
Disposal38................................................................................................................................................................
Emergency Action When A Person Is Caught By Robot39................................................................................................................................................................
Using The Robot Safely40................................................................................................................................................................
Robot Protective Functions41................................................................................................................................................................
Residual Risk42................................................................................................................................................................
Before Using The Robot Controller (be Sure To Read The Following48................................................................................................................................................................
Operating Environment51................................................................................................................................................................
System Overview57................................................................................................................................................................
Rcx22 Series Axis Definition58................................................................................................................................................................
Part Names And Functions59................................................................................................................................................................
Control System60................................................................................................................................................................
Optional Devices61................................................................................................................................................................
Basic Sequence From Installation To Operation62................................................................................................................................................................
Unpacking65................................................................................................................................................................
Installing The Robot Controller66................................................................................................................................................................
Installation Methods68................................................................................................................................................................
Connector Names70................................................................................................................................................................
Connecting To The Power71................................................................................................................................................................
Power Supply And Ground Terminals72................................................................................................................................................................
Ac Power Connector Wiring73................................................................................................................................................................
Considering Power Capacity And Generated Heat Amount74................................................................................................................................................................
Installing An External Leakage Breaker75................................................................................................................................................................
Installing An Electromagnetic Contactor76................................................................................................................................................................
Installing A Surge Absorber77................................................................................................................................................................
Robot Connections78................................................................................................................................................................
Noise Countermeasures79................................................................................................................................................................
Connecting The Rpb Programming Box80................................................................................................................................................................
I/o Connections81................................................................................................................................................................
Connecting A Host Computer82................................................................................................................................................................
Connecting The Absolute Battery83................................................................................................................................................................
Replacing The Absolute Battery85................................................................................................................................................................
Connecting A Regenerative Unit86................................................................................................................................................................
Precautions For Cable Routing And Installation88................................................................................................................................................................
Precautions For Installation90................................................................................................................................................................
Checking The Robot Controller Operation91................................................................................................................................................................
Operation Check92................................................................................................................................................................
Operation Overview99................................................................................................................................................................
The Rcx Robot Controller100................................................................................................................................................................
Rpb Programming Box101................................................................................................................................................................
Connection To The Robot Controller102................................................................................................................................................................
Changing The Rpb Screen Settings103................................................................................................................................................................
Turning Power On And Off104................................................................................................................................................................
Operation Keys106................................................................................................................................................................
Operation Key Layout107................................................................................................................................................................
Basic Key Operation108................................................................................................................................................................
Function Keys109................................................................................................................................................................
Control Keys111................................................................................................................................................................
Data Keys113................................................................................................................................................................
Emergency Stop114................................................................................................................................................................
Emergency Stop Reset115................................................................................................................................................................
Overload Error Reset117................................................................................................................................................................
Mode Configuration119................................................................................................................................................................
Other Operation Modes120................................................................................................................................................................
Mode Hierarchy121................................................................................................................................................................
Service" Mode126................................................................................................................................................................
Limits On Robot Moving Speed127................................................................................................................................................................
Auto" Mode128................................................................................................................................................................
Stopping The Program132................................................................................................................................................................
Resetting The Program133................................................................................................................................................................
Switching Task Display135................................................................................................................................................................
Switching The Program136................................................................................................................................................................
Changing The Automatic Movement Speed137................................................................................................................................................................
Executing The Point Trace138................................................................................................................................................................
Ptp Motion Mode140................................................................................................................................................................
Arch Motion Mode141................................................................................................................................................................
Linear Interpolation Motion Mode143................................................................................................................................................................
Direct Command Execution144................................................................................................................................................................
Break Point145................................................................................................................................................................
Setting Break Points146................................................................................................................................................................
Deleting Break Points147................................................................................................................................................................
Executing A Step148................................................................................................................................................................
Executing The Next Step149................................................................................................................................................................
Program" Mode150................................................................................................................................................................
Scrolling A Program Listing151................................................................................................................................................................
Program Editing152................................................................................................................................................................
Cursor Movement154................................................................................................................................................................
Insert/overwrite Mode Switching155................................................................................................................................................................
Inserting A Line156................................................................................................................................................................
User Function Key Display157................................................................................................................................................................
Quitting Program Editing158................................................................................................................................................................
Copying The Selected Lines159................................................................................................................................................................
Pasting The Data160................................................................................................................................................................
Line Jump161................................................................................................................................................................
Searching A Character String162................................................................................................................................................................
Directory163................................................................................................................................................................
Directory Information Display166................................................................................................................................................................
Copying A Program167................................................................................................................................................................
Erasing A Program168................................................................................................................................................................
Renaming A Program169................................................................................................................................................................
Changing The Program Attribute170................................................................................................................................................................
Displaying Object Program Information171................................................................................................................................................................
Creating A Sample Program Automatically172................................................................................................................................................................
Compiling174................................................................................................................................................................
Line Jump And Character String Search175................................................................................................................................................................
Resetting An Error In The Selected Program179................................................................................................................................................................
Manual" Mode180................................................................................................................................................................
Manual Movement182................................................................................................................................................................
Displaying And Editing Point Data185................................................................................................................................................................
Point Data Input And Editing187................................................................................................................................................................
Restoring Point Data188................................................................................................................................................................
Point Data Input By Teaching189................................................................................................................................................................
Point Data Input By Direct Teaching191................................................................................................................................................................
Point Jump Display192................................................................................................................................................................
Copying Point Data193................................................................................................................................................................
Erasing Point Data195................................................................................................................................................................
Point Data Trace196................................................................................................................................................................
Point Comment Input And Editing198................................................................................................................................................................
Jump To A Point Comment199................................................................................................................................................................
Erasing Point Comments201................................................................................................................................................................
Point Comment Search202................................................................................................................................................................
Point Data Error Reset203................................................................................................................................................................
Displaying, Editing And Setting Pallet Definitions204................................................................................................................................................................
Editing Pallet Definitions206................................................................................................................................................................
Point Setting In Pallet Definition207................................................................................................................................................................
Editing The Point In Pallet Definition208................................................................................................................................................................
Pallet Definition By Teaching209................................................................................................................................................................
Copying A Pallet Definition212................................................................................................................................................................
Deleting A Pallet Definition213................................................................................................................................................................
Changing The Manual Movement Speed214................................................................................................................................................................
Displaying, Editing And Setting Shift Coordinates215................................................................................................................................................................
Editing Shift Coordinates217................................................................................................................................................................
Restoring Shift Coordinates218................................................................................................................................................................
Editing The Shift Coordinate Range219................................................................................................................................................................
Restoring A Shift Coordinate Range221................................................................................................................................................................
Shift Coordinate Setting Method 1222................................................................................................................................................................
Shift Coordinate Setting Method 2225................................................................................................................................................................
Displaying, Editing And Setting Hand Definitions228................................................................................................................................................................
Editing Hand Definitions231................................................................................................................................................................
Restoring Hand Definitions232................................................................................................................................................................
Hand Definition Setting Method 1233................................................................................................................................................................
Changing The Display Units235................................................................................................................................................................
Absolute Reset236................................................................................................................................................................
Checking Absolute Reset237................................................................................................................................................................
Absolute Reset On Each Axis238................................................................................................................................................................
Absolute Reset On All Axes245................................................................................................................................................................
Setting The Standard Coordinates251................................................................................................................................................................
Executing The User Function Keys252................................................................................................................................................................
System" Mode253................................................................................................................................................................
Parameters255................................................................................................................................................................
Parameter List257................................................................................................................................................................
Robot Parameters259................................................................................................................................................................
Axis Parameters263................................................................................................................................................................
Other Parameters283................................................................................................................................................................
Parameters For Option Boards299................................................................................................................................................................
Option Dio Setting301................................................................................................................................................................
Serial Io Setting302................................................................................................................................................................
Setting The Network Parameters307................................................................................................................................................................
Communication Parameters309................................................................................................................................................................
Option Parameters318................................................................................................................................................................
Setting The Area Check Output319................................................................................................................................................................
Setting The "service" Mode328................................................................................................................................................................
Saving The "service" Mode Parameters334................................................................................................................................................................
Help Display In "service" Mode335................................................................................................................................................................
Sio Settings336................................................................................................................................................................
Double-carrier Setting339................................................................................................................................................................
Setting The Double-carrier Parameters340................................................................................................................................................................
Initialization343................................................................................................................................................................
Initializing The Parameters344................................................................................................................................................................
Initializing The Memory345................................................................................................................................................................
Initializing The Communication Parameters346................................................................................................................................................................
Clock Setting347................................................................................................................................................................
System Generation348................................................................................................................................................................
Self Diagnosis349................................................................................................................................................................
Controller Check350................................................................................................................................................................
Error History Display351................................................................................................................................................................
Displaying The Absolute Battery Condition352................................................................................................................................................................
Displaying The Total Operation Time353................................................................................................................................................................
System Error Details Display354................................................................................................................................................................
Backup Processes355................................................................................................................................................................
Sd Memory Card356................................................................................................................................................................
Loading Files358................................................................................................................................................................
Saving Files360................................................................................................................................................................
Deleting Files362................................................................................................................................................................
Previewing Files363................................................................................................................................................................
Internal Flash Rom364................................................................................................................................................................
Initializing The Files368................................................................................................................................................................
Monitor" Mode369................................................................................................................................................................
Utility" Mode372................................................................................................................................................................
Canceling Emergency Stop; Motor Power And Servo On/off374................................................................................................................................................................
Motor Power And Servo On/off375................................................................................................................................................................
Overload Error Reset And Motor And Servo Power On/off377................................................................................................................................................................
Enabling/disabling The Sequence Execution Flag378................................................................................................................................................................
Resetting The Output Ports379................................................................................................................................................................
Changing The Execution Level380................................................................................................................................................................
Displaying The Help Message382................................................................................................................................................................
Changing The Access Level (operation Level)383................................................................................................................................................................
Entering The Password384................................................................................................................................................................
Changing The Access Level385................................................................................................................................................................
Standard I/o Interface Overview389................................................................................................................................................................
Id Setting390................................................................................................................................................................
Connector I/o Signals391................................................................................................................................................................
Connector Pin Numbers394................................................................................................................................................................
Connecting The Power Supply395................................................................................................................................................................
Npn/pnp Power Connector Wiring396................................................................................................................................................................
Typical Input Signal Connection397................................................................................................................................................................
Typical Output Signal Connection398................................................................................................................................................................
Dedicated I/o Signals399................................................................................................................................................................
Dedicated Output Signals401................................................................................................................................................................
General-purpose I/o Signals403................................................................................................................................................................
Dedicated I/o Signal Timing Charts404................................................................................................................................................................
Emergency Stop And Servo On406................................................................................................................................................................
Abs (absolute) Reset407................................................................................................................................................................
Mode Switching408................................................................................................................................................................
Ratings410................................................................................................................................................................
Precautions411................................................................................................................................................................
Safety I/o Interface Overview415................................................................................................................................................................
Connector Terminal Numbers417................................................................................................................................................................
Emergency Stop Input Signal Connections418................................................................................................................................................................
Dedicated Input Signal Connections424................................................................................................................................................................
Dedicated Output Signal Connections425................................................................................................................................................................
Input Signal Description427................................................................................................................................................................
Meaning Of Output Signals428................................................................................................................................................................
Communication Overview431................................................................................................................................................................
Communication Function Overview432................................................................................................................................................................
Communication Specifications433................................................................................................................................................................
Transmission Mode And Communication Parameters435................................................................................................................................................................
Communication Flow Control436................................................................................................................................................................
Other Caution Items437................................................................................................................................................................
Character Code Table439................................................................................................................................................................
Connecting To A Pc440................................................................................................................................................................
Controller Basic Specifications443................................................................................................................................................................
Controller Basic Functions445................................................................................................................................................................
Controller External View446................................................................................................................................................................
Rcx222hp External View447................................................................................................................................................................
Rpb Basic Specifications And External View448................................................................................................................................................................
Error Messages453................................................................................................................................................................
Warnings And Messages455................................................................................................................................................................
Warnings (error History Entry)457................................................................................................................................................................
Robot Operating Area Errors458................................................................................................................................................................
Program File Operating Errors462................................................................................................................................................................
Data Entry And Edit Errors464................................................................................................................................................................
Robot Language Syntax (compiling) Errors465................................................................................................................................................................
Robot Language Execution Errors473................................................................................................................................................................
Memory Errors478................................................................................................................................................................
System Setting Or Hardware Errors481................................................................................................................................................................
I/o And Option Board Errors483................................................................................................................................................................
Rpb Errors487................................................................................................................................................................
Rs-232c Communication Errors488................................................................................................................................................................
Memory Card Errors490................................................................................................................................................................
Motor Control Errors492................................................................................................................................................................
Yc-link (sr1) Related Error500................................................................................................................................................................
Major Software Errors506................................................................................................................................................................
Major Hardware Errors508................................................................................................................................................................
Rpb Error Messages514................................................................................................................................................................
Troubleshooting516................................................................................................................................................................
Acquiring Error Information517................................................................................................................................................................
Troubleshooting Checkpoints518................................................................................................................................................................

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Yamaha RCX222 User Manual

Yamaha RCX222 User Manual (478 pages)

2-AXIS ROBOT CONTROLLER  
Brand: Yamaha | Category: Robotics | Size: 4.92 MB
Table of contents
Table Of Contents7................................................................................................................................................................
Safety Information17................................................................................................................................................................
Particularly Important Cautions19................................................................................................................................................................
Installation Safety Points20................................................................................................................................................................
Wiring Safety Points21................................................................................................................................................................
Start-up And Maintenance Safety Points22................................................................................................................................................................
Safety Precautions During Robot Operation24................................................................................................................................................................
Safety Measures For Robots25................................................................................................................................................................
Warning Marks26................................................................................................................................................................
Make Daily And Periodic Inspections27................................................................................................................................................................
System Overview31................................................................................................................................................................
Rcx22 Series Axis Definition32................................................................................................................................................................
Part Names And Functions33................................................................................................................................................................
Control System34................................................................................................................................................................
Optional Devices35................................................................................................................................................................
Basic Sequence From Installation To Operation36................................................................................................................................................................
Unpacking39................................................................................................................................................................
Installing The Robot Controller40................................................................................................................................................................
Installation Methods42................................................................................................................................................................
Connector Names44................................................................................................................................................................
Connecting To The Power45................................................................................................................................................................
Ac Power Connector Wiring46................................................................................................................................................................
Power Capacity47................................................................................................................................................................
Installing An External Leakage Breaker48................................................................................................................................................................
Installing A Surge Absorber49................................................................................................................................................................
Connecting The Robot Cables50................................................................................................................................................................
Connecting The Rpb Programming Box51................................................................................................................................................................
I/o Connections52................................................................................................................................................................
Connecting A Host Computer53................................................................................................................................................................
Connecting The Absolute Battery54................................................................................................................................................................
Replacing The Absolute Battery56................................................................................................................................................................
Connecting A Regenerative Unit57................................................................................................................................................................
Precautions For Cable Routing And Installation59................................................................................................................................................................
Precautions For Installation61................................................................................................................................................................
Checking The Robot Controller Operation62................................................................................................................................................................
Operation Check63................................................................................................................................................................
Operation Overview71................................................................................................................................................................
The Rcx Robot Controller72................................................................................................................................................................
Rpb Programming Box73................................................................................................................................................................
Connection To The Robot Controller74................................................................................................................................................................
Changing The Rpb Screen Settings75................................................................................................................................................................
Turning Power On And Off76................................................................................................................................................................
Operation Keys78................................................................................................................................................................
Operation Key Layout79................................................................................................................................................................
Basic Key Operation80................................................................................................................................................................
Function Keys81................................................................................................................................................................
Control Keys83................................................................................................................................................................
Data Keys85................................................................................................................................................................
Emergency Stop86................................................................................................................................................................
Emergency Stop Reset87................................................................................................................................................................
Mode Configuration89................................................................................................................................................................
Other Operation Modes90................................................................................................................................................................
Mode Hierarchy91................................................................................................................................................................
Service" Mode96................................................................................................................................................................
Limitations On Robot Operating Speed97................................................................................................................................................................
Auto" Mode98................................................................................................................................................................
Automatic Operation101................................................................................................................................................................
Stopping The Program102................................................................................................................................................................
Switching Task Display105................................................................................................................................................................
Switching The Program106................................................................................................................................................................
Changing The Automatic Movement Speed107................................................................................................................................................................
Executing The Point Trace108................................................................................................................................................................
Ptp Motion Mode110................................................................................................................................................................
Arch Motion Mode111................................................................................................................................................................
Linear Interpolation Motion Mode113................................................................................................................................................................
Direct Command Execution114................................................................................................................................................................
Break Point115................................................................................................................................................................
Setting Break Points116................................................................................................................................................................
Deleting Break Points117................................................................................................................................................................
Executing A Step118................................................................................................................................................................
Executing The Next Step119................................................................................................................................................................
Program" Mode120................................................................................................................................................................
Scrolling A Program Listing121................................................................................................................................................................
Program Editing122................................................................................................................................................................
Cursor Movement124................................................................................................................................................................
Insert/overwrite Mode Switching125................................................................................................................................................................
Inserting A Line126................................................................................................................................................................
User Function Key Display127................................................................................................................................................................
Quitting Program Editing128................................................................................................................................................................
Copying The Selected Lines129................................................................................................................................................................
Pasting The Data130................................................................................................................................................................
Line Jump131................................................................................................................................................................
Searching A Character String132................................................................................................................................................................
Directory133................................................................................................................................................................
Directory Information Display136................................................................................................................................................................
Copying A Program137................................................................................................................................................................
Erasing A Program138................................................................................................................................................................
Renaming A Program139................................................................................................................................................................
Changing The Program Attribute140................................................................................................................................................................
Displaying Object Program Information141................................................................................................................................................................
Creating A Sample Program Automatically142................................................................................................................................................................
Compiling144................................................................................................................................................................
Line Jump And Character String Search145................................................................................................................................................................
Resetting An Error In The Selected Program149................................................................................................................................................................
Manual" Mode150................................................................................................................................................................
Manual Movement152................................................................................................................................................................
Displaying And Editing Point Data155................................................................................................................................................................
Point Data Input And Editing157................................................................................................................................................................
Restoring Point Data158................................................................................................................................................................
Point Data Input By Teaching159................................................................................................................................................................
Point Data Input By Direct Teaching161................................................................................................................................................................
Point Jump Display162................................................................................................................................................................
Copying Point Data163................................................................................................................................................................
Erasing Point Data165................................................................................................................................................................
Point Data Trace166................................................................................................................................................................
Point Comment Input And Editing168................................................................................................................................................................
Jump To A Point Comment169................................................................................................................................................................
Erasing Point Comments171................................................................................................................................................................
Point Comment Search172................................................................................................................................................................
Point Data Error Reset173................................................................................................................................................................
Displaying, Editing And Setting Pallet Definitions174................................................................................................................................................................
Editing Pallet Definitions176................................................................................................................................................................
Point Setting In Pallet Definition177................................................................................................................................................................
Editing The Point In Pallet Definition178................................................................................................................................................................
Pallet Definition By Teaching179................................................................................................................................................................
Copying A Pallet Definition182................................................................................................................................................................
Deleting A Pallet Definition183................................................................................................................................................................
Changing The Manual Movement Speed184................................................................................................................................................................
Displaying, Editing And Setting Shift Coordinates185................................................................................................................................................................
Editing Shift Coordinates187................................................................................................................................................................
Restoring Shift Coordinates188................................................................................................................................................................
Editing The Shift Coordinate Range189................................................................................................................................................................
Restoring A Shift Coordinate Range191................................................................................................................................................................
Shift Coordinate Setting Method 1192................................................................................................................................................................
Shift Coordinate Setting Method 2195................................................................................................................................................................
Displaying, Editing And Setting Hand Definitions198................................................................................................................................................................
Editing Hand Definitions201................................................................................................................................................................
Restoring Hand Definitions202................................................................................................................................................................
Hand Definition Setting Method 1203................................................................................................................................................................
Changing The Display Units205................................................................................................................................................................
Absolute Reset206................................................................................................................................................................
Checking Absolute Reset207................................................................................................................................................................
Absolute Reset On Each Axis208................................................................................................................................................................
Absolute Reset On All Axes215................................................................................................................................................................
Setting The Standard Coordinates221................................................................................................................................................................
Executing The User Function Keys222................................................................................................................................................................
System" Mode223................................................................................................................................................................
Parameters225................................................................................................................................................................
Robot Parameters227................................................................................................................................................................
Axis Parameters231................................................................................................................................................................
Other Parameters250................................................................................................................................................................
Parameters For Option Boards264................................................................................................................................................................
Option Dio Setting266................................................................................................................................................................
Serial Io Setting267................................................................................................................................................................
Setting The Network Parameters272................................................................................................................................................................
Communication Parameters274................................................................................................................................................................
Option Parameters283................................................................................................................................................................
Setting The Area Check Output284................................................................................................................................................................
Setting The "service" Mode293................................................................................................................................................................
Saving The "service" Mode Parameters299................................................................................................................................................................
Help Display In "service" Mode300................................................................................................................................................................
Sio Settings301................................................................................................................................................................
Double-carrier Setting304................................................................................................................................................................
Setting The Double-carrier Parameters305................................................................................................................................................................
Initialization308................................................................................................................................................................
Initializing The Parameters309................................................................................................................................................................
Initializing The Memory310................................................................................................................................................................
Initializing The Communication Parameters311................................................................................................................................................................
Clock Setting312................................................................................................................................................................
System Generation313................................................................................................................................................................
Self Diagnosis314................................................................................................................................................................
Controller Check315................................................................................................................................................................
Error History Display316................................................................................................................................................................
Displaying The Absolute Battery Condition317................................................................................................................................................................
Displaying The Total Operation Time318................................................................................................................................................................
System Error Details Display319................................................................................................................................................................
Backup Processes320................................................................................................................................................................
Sd Memory Card321................................................................................................................................................................
Loading Files323................................................................................................................................................................
Saving Files325................................................................................................................................................................
Deleting Files327................................................................................................................................................................
Previewing Files328................................................................................................................................................................
Internal Flash Rom329................................................................................................................................................................
Initializing The Files333................................................................................................................................................................
Monitor" Mode334................................................................................................................................................................
Utility" Mode337................................................................................................................................................................
Canceling Emergency Stop; Motor Power And Servo On/off339................................................................................................................................................................
Motor Power And Servo On/off340................................................................................................................................................................
Enabling/disabling The Sequence Execution Flag342................................................................................................................................................................
Resetting The Output Ports343................................................................................................................................................................
Changing The Execution Level344................................................................................................................................................................
Displaying The Help Message346................................................................................................................................................................
Changing The Access Level (operation Level)347................................................................................................................................................................
Entering The Password348................................................................................................................................................................
Changing The Access Level349................................................................................................................................................................
Standard I/o Interface Overview353................................................................................................................................................................
Id Setting354................................................................................................................................................................
Connector I/o Signals355................................................................................................................................................................
Connector Pin Numbers358................................................................................................................................................................
Connecting The Power Supply359................................................................................................................................................................
Npn/pnp Power Connector Wiring360................................................................................................................................................................
Typical Input Signal Connection361................................................................................................................................................................
Typical Output Signal Connection362................................................................................................................................................................
Dedicated I/o Signals363................................................................................................................................................................
Dedicated Output Signals365................................................................................................................................................................
General-purpose I/o Signals367................................................................................................................................................................
Dedicated I/o Signal Timing Charts368................................................................................................................................................................
Emergency Stop And Servo On370................................................................................................................................................................
Abs (absolute) Reset371................................................................................................................................................................
Mode Switching372................................................................................................................................................................
Ratings374................................................................................................................................................................
Precautions375................................................................................................................................................................
Safety I/o Interface Overview379................................................................................................................................................................
Connector Terminal Numbers381................................................................................................................................................................
Emergency Stop Input Signal Connections382................................................................................................................................................................
Dedicated Input Signal Connections388................................................................................................................................................................
Dedicated Output Signal Connections389................................................................................................................................................................
Input Signal Description391................................................................................................................................................................
Meaning Of Output Signals392................................................................................................................................................................
Communication Overview395................................................................................................................................................................
Communication Function Overview396................................................................................................................................................................
Communication Specifications397................................................................................................................................................................
Transmission Mode And Communication Parameters399................................................................................................................................................................
Communication Flow Control400................................................................................................................................................................
Other Caution Items401................................................................................................................................................................
Character Code Table403................................................................................................................................................................
Connecting To A Pc404................................................................................................................................................................
Controller Basic Specifications407................................................................................................................................................................
Controller Basic Functions409................................................................................................................................................................
Controller External View410................................................................................................................................................................
Rcx222hp External View411................................................................................................................................................................
Rpb Basic Specifications And External View412................................................................................................................................................................
Error Messages417................................................................................................................................................................
Warnings And Messages419................................................................................................................................................................
Warnings (error History Entry)421................................................................................................................................................................
Robot Operating Area Errors422................................................................................................................................................................
Program File Operating Errors425................................................................................................................................................................
Data Entry And Edit Errors428................................................................................................................................................................
Robot Language Execution Errors437................................................................................................................................................................
Memory Errors442................................................................................................................................................................
System Setting Or Hardware Errors445................................................................................................................................................................
I/o And Option Board Errors447................................................................................................................................................................
Rpb Errors451................................................................................................................................................................
Rs-232c Communication Errors452................................................................................................................................................................
Memory Card Errors454................................................................................................................................................................
Motor Control Errors456................................................................................................................................................................
Major Software Errors464................................................................................................................................................................
Major Hardware Errors465................................................................................................................................................................
Rpb Error Messages470................................................................................................................................................................
Troubleshooting472................................................................................................................................................................
Acquiring Error Information473................................................................................................................................................................
Troubleshooting Checkpoints474................................................................................................................................................................

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