Yamaha RCX222 User Manual
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Yamaha RCX222 User Manual

2-axis robot controller
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Table of Contents

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YAMAHA 2-AXIS ROBOT CONTROLLER
222
RCX
User s Manual
EUR2153130
Ver. 1.30
E99

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Summary of Contents for Yamaha RCX222

  • Page 1 YAMAHA 2-AXIS ROBOT CONTROLLER User s Manual EUR2153130 Ver. 1.30...

  • Page 3: Table Of Contents

    CONTENTS RCX222 User’s Manual Safety Instructions 1. Safety Information 2. Signal words used in this manual 3. Warning labels 3.1 Warning labels 3.1.1 Warning label messages on robot and controller 3.1.2 Supplied warning labels 3.2 Warning symbols 4. Important precautions for each stage of the robot life cycle S-10 4.1 Precautions for using robots and controllers...
  • Page 4 Chapter 2 SYSTEM OVERVIEW 1. System overview 1.1 Main system configuration 1.2 RCX22 series axis definition 2. Part names and functions 2.1 RCX222 (Maximum number of axes: 2) 2.2 RCX222HP (Maximum number of axes: 2) 3. Control system 3.1 RCX222/RCX222HP 4. Optional devices 4.1 RPB programming box 4.2 I/O expansion...
  • Page 5 CONTENTS RCX222 User’s Manual 4.1 Connection example 4.2 Power supply and ground terminals 4.3 AC power connector wiring 4.4 Considering power capacity and generated heat amount 3-10 4.5 Installing an external leakage breaker 3-11 4.6 Installing a circuit protector 3-11 4.7 Installing an electromagnetic contactor...
  • Page 6 CONTENTS RCX222 User’s Manual 3.1 Part names 3.2 Main functions 3.3 Connection to the robot controller 3.4 Changing the RPB screen settings 4. Turning power on and off 5. Operation keys 5.1 RPB screen 5.2 Operation key layout 5.3 Basic key operation 4-10 5.4 Function keys...
  • Page 7 CONTENTS RCX222 User’s Manual 9.9 Break point 4-47 9.9.1 Setting break points 4-48 9.9.2 Deleting break points 4-49 9.10 Executing a step 4-50 9.11 Skipping a step 4-50 9.12 Executing the next step 4-51 10. "PROGRAM" mode 4-52 10.1 Scrolling a program listing 4-53 10.2 Program editing...
  • Page 8 CONTENTS RCX222 User’s Manual 11.2.1 Point data input and editing 4-89 11.2.1.1 Restoring point data 4-90 11.2.2 Point data input by teaching 4-91 11.2.3 Point data input by direct teaching 4-93 11.2.4 Point jump display 4-94 11.2.5 Copying point data 4-95 11.2.6 Erasing point data...
  • Page 9 CONTENTS RCX222 User’s Manual 11.10 Executing the user function keys 4-154 12. "SYSTEM" mode 4-155 12.1 Parameters 4-157 12.1.1 Parameter list 4-159 12.1.2 Robot parameters 4-161 12.1.3 Axis parameters 4-165 12.1.4 Other parameters 4-185 12.1.5 Parameters for option boards 4-201 12.1.5.1...
  • Page 10 CONTENTS RCX222 User’s Manual 12.6.2.2 Saving files 4-269 12.6.2.3 Initializing the files 4-270 13. "MONITOR" mode 4-271 14. "UTILITY" mode 4-274 14.1 Canceling emergency stop; Motor power and servo on/off 4-276 14.1.1 Canceling emergency stop 4-276 14.1.2 Motor power and servo on/off 4-277 14.2 Overload error reset and motor and servo power on/off...
  • Page 11 3.3.2 Flow control during receive 3.4 Other caution items 3.5 Character code table 3.6 Connecting to a PC 7-10 Chapter 8 SPECIFICATIONS 1. Controller basic specifications 2. Controller basic functions 3. Controller external view 3.1 RCX222 external view 3.2 RCX222HP external view 4. RPB basic specifications and external view...
  • Page 12 CONTENTS RCX222 User’s Manual Chapter 9 TROUBLESHOOTING 1. Error Messages 1.1 Robot controller error messages [ 0] Warnings and messages [ 1] Warnings (error history entry) [ 2] Robot operating area errors [ 3] Program file operating errors 9-10 [ 4] Data entry and edit errors...
  • Page 13 Safety Instructions Contents 1. Safety Information 2. Signal words used in this manual 3. Warning labels Warning labels 3.1.1 Warning label messages on robot and controller 3.1.2 Supplied warning labels Warning symbols 4. Important precautions for each stage of the robot life cycle S-10 Precautions for using robots and controllers S-10 Essential precautions for the linear conveyor module...

  • Page 15: Safety Information

    The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that in- cludes YAMAHA robots, please take appropriate safety measures as required by the user’s individual system. To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and instruc- tions.

  • Page 16: Signal Words Used In This Manual

    Signal words used in this manual This manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand the meaning of each symbol and signal word and then read this manual. DANGER This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.

  • Page 17: Warning Labels

    Warning labels Warning labels shown below are attached to the robot body and controller to alert the operator to potential hazards. To ensure correct use, read the warning labels and comply with the instructions. Warning labels WARNING If warning labels are removed or difficult to see, then the necessary precautions may not be taken, resulting in an accident.
  • Page 18 Warning label 3 (SCARA robots, Cartesian robots, controllers*) ■ * Some models WARNING Improper installation or operation may cause serious injury. Before installing or operating the robot, read the manual and instructions on the warning labels and understand the contents. Instructions on this label •...
  • Page 19 Warming label 6 (Robot drivers RDV-X/RDV-P) ■ WARNING • Before touching the terminals or connectors on the outside of the robot driver, turn off the power and wait for 10 minutes or longer to prevent electrical shock. Otherwise, burn or electrical shock may result. •...
  • Page 20 To avoid hazard Wait at least 100 seconds after power-off before opening the covers (*). * These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers. 90K41-001390 Warning label 9 (single-axis linear motor robots) ■...
  • Page 21 Warning label 11 (Controller)* ■ * This label is attached to the front panel. CAUTION Refer to the manual. Instructions on this label This indicates important information that you must know and is described in the manual. Before using the controller, be sure to read the manual 取扱説明書参照...

  • Page 22: Supplied Warning Labels

    3.1.2 Supplied warning labels Some warning labels are not affixed to robots but included in the packing box. These warning labels should be affixed to an easy-to-see location. Warning label is attached to the robot body. Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the safety enclosure.

  • Page 23: Warning Symbols

    Warning symbols Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential hazards. To use the YAMAHA robot safely and correctly always follow the instructions and cautions indicated by the symbols. Electrical shock hazard symbol WARNING Touching the terminal block or connector may cause electrical shock, so use caution.

  • Page 24: Important Precautions For Each Stage Of The Robot Life Cycle

    Precautions for using robots and controllers General precautions for using robots and controllers are described below. Applications where robots cannot be used YAMAHA robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the following applications. DANGER YAMAHA robot controllers and robots are designed as general-purpose industrial equipment and cannot be used for the following applications.

  • Page 25: Essential Precautions For The Linear Conveyor Module

    Essential precautions for the linear conveyor module The linear conveyor module is a YAMAHA robot so safety measures must be followed and safety equipment must be installed just as required for other YAMAHA robots. This section describes essential precautions for handling the linear conveyor module. Precautions for each stage in the robot life cycle are listed from the next section, so be sure to read the whole section of “Safety...

  • Page 26: Design

    Design 4.3.1 Precautions for robots Restricting the robot moving speed WARNING Restriction on the robot moving speed is not a safety-related function. To reduce the risk of collision between the robot and workers, the user must take the necessary protective measures such as enable devices according to risk assessment by the user.

  • Page 27: Moving And Installation

    Do not use in locations exposed to flammable gases WARNING • YAMAHA robots are not designed to be explosion-proof. • Do not use the robots in locations exposed to explosive or inflammable gases, dust particles or liquid. Failure to follow this instruction may cause serious accidents involving injury or death, or lead to fire.

  • Page 28: Precautions For Robot Controllers

    Installation environment WARNING YAMAHA robots are not designed to be explosion-proof. Do not use the robots and controllers in locations exposed to explosive or inflammable gases, dust particles or liquid such as gasoline and solvents. Failure to follow this instruction may cause serious accidents involving injury or death, and lead to fire.
  • Page 29 Wiring ■ Connection to robot controller The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot and controller combination, and connect them in the correct combination. Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly to match the motor type used in the robot connected to the controller.

  • Page 30: Safety Measures

    Safety measures 4.5.1 Safety measures Referring to warning labels and manual WARNING • Before starting installation or operation of the robot, be sure to read the warning labels and this manual, and comply with the instructions. • Never attempt any repair, parts replacement and modification unless described in this manual. These tasks require specialized technical knowledge and skills and may also involve hazards.

  • Page 31: Installing A Safety Enclosure

    WARNING • During startup or maintenance tasks, display a sign "WORK IN PROGRESS" on the programming box and operation panel in order to prevent anyone other than the person for that task from mistakenly operating the start or selector switch. If needed, take other measures such as locking the cover on the operation panel. •...

  • Page 32: Operation

    Operation When operating a robot, ignoring safety measures and checks may lead to serious accidents. Always take the following safety measures and checks to ensure safe operation. DANGER Check the following points before starting robot operation. • No one is within the robot safety enclosure. •...
  • Page 33 Working inside safety enclosures Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective function is operating correctly (see the previous section 2.3). DANGER Never enter within the movement range while within the safety enclosure. See “7.1 Movement range”...

  • Page 34: Automatic Operation

    4.6.2 Automatic operation Check the following points when operating the robot in AUTO mode. Observe the instructions below in cases where an error occurs during automatic operation. Automatic operation described here includes all operations in AUTO mode. Checkpoints before starting automatic operation Check the following points before starting automatic operation DANGER •...
  • Page 35 Use caution when releasing the Z-axis (vertical axis) brake WARNING The vertical axis will slide downward when the brake is released, causing a hazardous situation. Take adequate safety measures in consideration by taking the weight and shape into account. • Before releasing the brake after pressing the emergency stop button, place a support under the vertical axis so that it will not slide down.

  • Page 36: Inspection And Maintenance

    Inspection and maintenance Always perform daily and periodic inspections and make a pre-operation check to ensure there are no prob- lems with the robot and related equipment. If a problem or abnormality is found, then promptly repair it or take other measures as necessary. Keep a record of periodic inspections or repairs and store this record for at least 3 years.

  • Page 37: Precautions During Service Work

    4.7.2 Precautions during ser vice work Precautions when removing a motor (Cartesian robots and vertical mount single-axis robots) WARNING The vertical axis will slide down when the motor is removed, causing a hazardous situation. • Turn off the controller and place a support under the vertical axis before removing the motor. •...

  • Page 38: Disposal

    Disposal When disposing of robots and related items, handle them carefully as industrial wastes. Use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company. Disposal of lithium batteries When disposing of lithium batteries, use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company.

  • Page 39: Emergency Action When A Person Is Caught By Robot

    Make a printout of the relevant page in the manual and post it a conspicuous location near the controller. Cautions regarding strong magnetic fields Some YAMAHA robots contain parts generating strong magnetic fields which may cause bodily injury, death, or device malfunction. Always comply with the following instructions.

  • Page 40: Using The Robot Safely

    Using the robot safely Movement range When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and workpiece attached to the manipulator tip (Figure B).

  • Page 41: Robot Protective Functions

    Robot protective functions Protective functions for YAMAHA robots are described below. Overload detection This function detects an overload applied to the motor and turns off the servo. If an overload error occurs, take the following measures to avoid such errors: 1.

  • Page 42: Residual Risk

    Residual risk To ensure safe and correct use of YAMAHA robots and controllers, System integrators and/or end users imple- ment machinery safety design that conforms to ISO12100. Residual risks for YAMAHA robots and controllers are described in the DANGER or WARNING instructions provided in each chapter and section.
  • Page 44 All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.
  • Page 45 10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc; 11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA; The following cases are not covered under the warranty: ■...

  • Page 47: Introduction

    Our sincere thanks for your purchase of this YAMAHA robot controller. This manual explains how to install and operate the YAMAHA robot controller. Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the YAMAHA robot controller safely and correctly.

  • Page 48: Before Using The Robot Controller (Be Sure To Read The Following Notes)

    Before using the robot controller (Be sure to read the following notes) Please be sure to perform the following tasks before using the robot controller. Failing to perform these tasks will require absolute reset for setting the origin position each time the power is turned on or may cause abnormal operation (vibration, noise). When connecting the power supply to the robot controller Always make a secure connection to the ground terminal on the robot controller to ensure safety and prevent malfunctions due to noise.

  • Page 49: Overview Of The Rcx Series

    YAMAHA robot models and simplifies maintenance. CE marking * As a YAMAHA robot series product, the RCX series robot controller is designed to conform to machinery directives and EMC (Electromagnetic compatibility) directives. In this case, the robot controller is set to operate under "SAFE" mode. (* For CE marking compliance, see the CE marking supplement manual.)
  • Page 50 MEMO...

  • Page 51: Chapter 1 Using The Robot Safely

    Chapter 1 USING THE ROBOT SAFELY Contents Operating environment...

  • Page 53: Operating Environment

    1. Operating environment 1. Operating environment Operating temperature Chapter Operating temperature 0°C to 40°C The ambient temperature should be maintained within a range of 0 to 40°C in order to guarantee continuous operation of the robot controller that meets the initial specifications.
  • Page 54 1. Operating environment Environments The controller is not designed to meet explosion-proof, dust-proof, and drip-proof Chapter specifications, and so do not use it in the following locations. If used in these locations, component corrosion, improper installation, or fire may result. 1) Environments containing combustible gases or dust particles, or flammable liquids, etc.
  • Page 55 Chapter 2 SYSTEM OVERVIEW Contents System overview Main system configuration RCX22 series axis definition Part names and functions RCX222 (Maximum number of axes: 2) RCX222HP (Maximum number of axes: 2) Control system RCX222/RCX222HP Optional devices RPB programming box I/O expansion...

  • Page 57: System Overview

    Chapter functions. Main system configuration Configuration 1: System for controlling one XY robot Example: XY-X series ■ System for controlling one XY robot O P .1 RPB or RPB-E O P .2 YAMAHA robot...

  • Page 58: Rcx22 Series Axis Definition

    O P .1 RPB or RPB-E O P .2 YAMAHA robot RCX22 series axis definition The software for the RCX22 series is common to the RCX14 series and allows defining the main/sub robots and their axes. However, the RCX22 series basically does not require axis definition since it is a two-axis controller.

  • Page 59: Part Names And Functions

    2. Part names and functions 2. Part names and functions RCX222 (Maximum number of axes: 2) ■ RCX222 front view Chapter OP.1 RGEN RCX222 E-STOP MOTOR TEMP ACIN OP.2 SAFETY EXT.E-STOP PIN11-12 SD/COM RCX222HP (Maximum number of axes: 2) ■ RCX222HP front view OP.1...

  • Page 60: Control System

    3. Control system 3. Control system The basic block diagram of the control system is shown below. RCX222/RCX222HP Chapter ■ Basic block diagram DRIVER2 BOARD ASSY X-axis motor Y-axis motor DRIVER2 BOARD ASSY Regenerative unit D.POWER BOARD ASSY AC200-230V ABS backup battery...

  • Page 61: Optional Devices

    4. Optional devices 4. Optional devices RPB programming box The RPB is a hand-held device used to perform all robot operations, including manual Chapter operations, program input and editing, teaching and parameter settings. ■ RPB ■ RPB-E Selector switch Emergency stop Emergency stop button button...

  • Page 62: Basic Sequence From Installation To Operation

    5. Basic sequence from installation to operation 5. Basic sequence from installation to operation The basic sequence from installation to actual operation is shown below. Refer to this sequence to use the RCX22 series safely, correctly and effectively. Before beginning the work, read this user's manual thoroughly. Basic procedure Refer to: Chapter...

  • Page 63: Chapter 3 Installation

    Chapter 3 INSTALLATION Contents Unpacking Packing box Unpacking Installing the robot controller Installation conditions Installation methods Connector names Connecting to the power Connection example Power supply and ground terminals AC power connector wiring Considering power capacity and generated heat amount 3-10 Installing an external leakage breaker 3-11...
  • Page 64 12.1 Wiring methods 3-24 12.2 Precautions for installation 3-26 12.3 Methods of preventing malfunctions 3-26 Checking the robot controller operation 3-27 13.1 Cable connection 3-27 13.2 Operation check 3-28...

  • Page 65: Unpacking

    The robot controller is high precision equipment and is carefully packed in a cardboard box to avoid shocks and vibrations. If there is any serious damage or dents on the packing box, please notify your YAMAHA sales dealer without unpacking the box. Chapter...

  • Page 66: Installing The Robot Controller

    2. Installing the robot controller 2. Installing the robot controller When installing, choose a proper place for your robot controller, taking into account your system layout, accessibility for maintenance, etc. Installation conditions Chapter CAUTION (1) When carrying the robot controller, use a dolly or similar hand truck and move it carefully to avoid dropping and resultant damage.
  • Page 67 2. Installing the robot controller ■ Clearance for installing the controller 50mm or more OP.1 RCX222 RGEN Chapter E-STOP MOTOR TEMP 50mm 50mm or more or more ACIN OP.2 SAFETY EXT.E-STOP PIN11-12 SD/COM 17mm or more When installing the robot controller, follow the precautions below.

  • Page 68: Installation Methods

    2. Installing the robot controller Installation methods There are three methods for installing the robot controller as explained below. 1) Using the rubber feet (attached as standard parts) ■ Using the rubber feet Chapter O P. 1 O P. 2 2) Attaching the L-type brackets (supplied as standard accessories) to the front ■...
  • Page 69 2. Installing the robot controller 3) Attaching the L-type brackets (supplied as standard accessories) to the rear ■ Attaching the L-type brackets to the rear Chapter O P. 1 O P. 2 L-type bracket part No. (single item) Standard (for front and rear) KAS-M410H-000 When attaching an L-type bracket to the top and bottom of the controller, use two same brackets for one controller.

  • Page 70: Connector Names

    3. Connector names 3. Connector names Connector names, locations and functions are shown below. ■ RCX connectors OP.1 RGEN RCX222 E-STOP oRGEN iBAT A , B Chapter MOTOR wROB I/O !0 T EMP TEMP yOP.1 ACIN !1 A CIN rRPB OP.2...

  • Page 71: Connecting To The Power

    4. Connecting to the power 4. Connecting to the power Attach the power connector to the power cable and insert it into the "AC IN" connector on the front panel of the controller as shown below. Connection example Chapter See 4.5. See 4.8.

  • Page 72: Power Supply And Ground Terminals

    4. Connecting to the power Power supply and ground terminals WARNING • TO PREvENT ELECTRICAL SHOCKS OR MALFUNCTIONS CAUSED BY NOISE, THE GROUND TERMINAL (PROTECTIvE CONDUCTOR) MUST BE GROUNDED PROPERLY. • TO PREvENT ELECTRICAL SHOCKS, NEvER TOUCH THE AC IN TERMINALS Chapter WHEN POWER IS SUPPLIED TO THE ROBOT CONTROLLER.

  • Page 73: Ac Power Connector Wiring

    4. Connecting to the power AC power connector wiring l Length of exposed wire lead Strip the wire to expose 8 to 9 mm of bare lead. 8 to 9 mm Chapter l Wiring Insert the wire lead into the opening in the power connector in either of the following methods, and make sure the wire is securely attached.

  • Page 74: Considering Power Capacity And Generated Heat Amount

    4. Connecting to the power Considering power capacity and generated heat amount The required power capacity and generated heat amount depend on the robot model and the number of axes to be controlled. CAUTION The power supply voltage for the robot controller must always be regulated within ±10%.

  • Page 75: Installing An External Leakage Breaker

    4. Stray capacitance between the cable and FG may vary depending on the cable installation condition, causing the leakage current to fluctuate. Leakage current RCX222 control power supply (L1, N1) 1mA in total RCX222 main power supply (L, N) Installing a circuit protector...

  • Page 76: Installing An Electromagnetic Contactor

    4. Connecting to the power Installing an electromagnetic contactor When controlling the power on/off operation of the robot controller using an external unit such as a PLC, an electromagnetic contactor should be installed on the AC power supply line for the controller. Select an electromagnetic contactor that falls under the required safety category and control the open/close operation using a circuit that meets the safety category.

  • Page 77: Installing A Surge Absorber

    4. Connecting to the power Installing a surge absorber Users who wish to improve immunity to surge noise from lightning strikes should install a surge absorber. ■ Dimensional outlines of recommended surge absorber Manufacturer : SOSHIN ELECTRIC CO., LTD. Type No. : LT-C12G801WS Chapter Status indicator...

  • Page 78: Robot Connections

    Before turning on the controller, make sure again that the cables are securely connected. Also make sure that the robot is properly grounded. For details on the grounding method, refer to each robot user's manual. ■ Robot cable connection O P. 1 O P. 2 Connected to YAMAHA robot 3-14...

  • Page 79: Noise Countermeasures

    3) Install a noise filter in the cable which connects the controller to the robot. Noise filters: Model KBG-M6563-00 (for XM) Model KBG-M6563-10 (for YM) ■ Noise filter connection O P. 1 O P. 2 Noise filter Connected to YAMAHA robot 3-15...

  • Page 80: Connecting The Rpb Programming Box

    O P .1 RPB programming box O P .2 l Connecting a terminator If not connecting the RPB, plug the terminator (supplied) into the RPB connector. ■ Connecting a terminator OP.1 RCX222 RGEN E-STOP MOTOR TEMP ACIN OP.2 O P .2 SAFETY EXT.E-STOP...

  • Page 81: I/O Connections

    7. I/O connections 7. I/O connections The various input/output (I/O) signals from peripheral equipment can be connected to the robot controller. Each I/O is set with a number, and the I/O connector to be used depends on that number. For more detailed information on inputs and outputs, see Chapter 5, "Parallel I/O interface" or see Chapter 6, "SAFETY I/O interface".

  • Page 82: Connecting A Host Computer

    For more detailed information on the RS-232C interface, see "RS-232C Interface" in Chapter Chapter 7. NOTE D-SUB 9P (female) connector is for RS-232C interface. ■ Host computer connection OP.1 RGEN RCX222 E-STOP MOTOR Straight serial conversion adapter (option) TEMP 9 pins 9 pins ACIN OP.2...

  • Page 83: Connecting The Absolute Battery

    9. Connecting the absolute batter y 9. Connecting the absolute batter y The absolute batteries shipped with the controller are unused, and the battery connectors are left disconnected to prevent discharge. After installing the controller, always be sure to connect the absolute batteries before connecting the robot cable.
  • Page 84 9. Connecting the absolute batter y WARNING • WHEN REPLACING THE ABSOLUTE BATTERY WITH THE POWER TURNED ON, PUT THE ROBOT IN THE EMERGENCY STOP STATUS. • PERFORM THE WORK AFTER CHECKING THAT THERE IS NO ELECTRICAL SHOCK HAZARD IN THE PERIPHERAL UNITS OF THE CONTROLLER. •...

  • Page 85: Replacing The Absolute Battery

    10. Replacing the absolute batter y 10. Replacing the absolute batter y The absolute battery will wear down and must be replaced as needed. For example, when problems with backing up data occur, replace the battery since the battery has reached the end of the service life.

  • Page 86: Connecting A Regenerative Unit

    The regenerative unit is attached to the right side of the controller prior to shipping. NOTE • The RCX222 may require a regenerative unit depending on the robot Chapter type to be connected. • Check the cable and connectors for bent pins, kinks, and other damage before connecting.
  • Page 87 11. Connecting a regenerative unit ■ Regenerative unit block diagram RCX222 Regenerative unit RGEN TEMP Chapter Thermal sensor (normally closed) Standard cable length: 300mm CAUTION (1) The generative unit becomes hot during operation. Do not touch it to avoid burns.

  • Page 88: Precautions For Cable Routing And Installation

    12. Precautions for cable routing and installation 12. Precautions for cable routing and installation 12.1 Wiring methods Various cables are used to connect the robot controller to peripheral devices. Follow the precautions below when making cable routing and connections to avoid malfunctions due to noise.
  • Page 89 12. Precautions for cable routing and installation Refer to the drawing below when making the cable connections. ■ Cable connection DIO cable Chapter OP.1 RGEN RCX222 E-STOP MOTOR TEMP ACIN OP.2 SAFETY EXT.E-STOP PIN11-12 SD/COM SAFETY cable 3-25...

  • Page 90: Precautions For Installation

    12. Precautions for cable routing and installation 12.2 Precautions for installation This robot controller is not designed with an explosion-proof, dust-proof or drip-proof structure. Do not install it in the following locations or environments (1) where exposed to flammable gases or liquids. (2) where conductive debris such as metal cutting chips are spread.

  • Page 91: Checking The Robot Controller Operation

    SAFETY connector.) The connection status of emergency stop input signal is described in detail in Chapter 6, "SAFETY I/O interface". 13.1 Cable connection ■ Cable connection O P .1 O P .2 SAFETY connector YAMAHA robot (supplied) 3-27...

  • Page 92: Operation Check

    13. Checking the robot controller operation 13.2 Operation check After connecting the robot and special connector (supplied) to the controller, turn on the power to the controller and check the following points. Normal operation • The "RDY" and "SRV" LED lamps on the front panel of the controller light up. The "ERR"...

  • Page 93: Chapter 4 Operation

    Chapter 4 OPERATION Contents Operation overview The RCx robot controller Part names Main functions RPB programming box Part names Main functions Connection to the robot controller Changing the RPB screen settings Turning power on and off Operation keys RPB screen Operation key layout Basic key operation 4-10...
  • Page 94 "AUTO" mode 4-30 Automatic operation 4-33 Stopping the program 4-34 Resetting the program 4-35 Switching task display 4-37 Switching the program 4-38 Changing the automatic movement speed 4-39 Executing the point trace 4-40 9.7.1 PTP motion mode 4-42 9.7.2 ARCH motion mode 4-43 9.7.3 Linear interpolation motion mode...
  • Page 95 10.3.4 Copying a program 4-69 10.3.5 Erasing a program 4-70 10.3.6 Renaming a program 4-71 10.3.7 Changing the program attribute 4-72 10.3.8 Displaying object program information 4-73 10.3.9 Creating a sample program automatically 4-74 10.4 Compiling 4-76 10.5 Line jump and character string search 4-77 10.6 Registering user function keys 4-77...
  • Page 96 11.5.2 Editing the shift coordinate range 4-121 11.5.2.1 Restoring a shift coordinate range 4-123 11.5.3 Shift coordinate setting method 1 4-124 11.5.4 Shift coordinate setting method 2 4-127 11.6 Displaying, editing and setting hand definitions 4-130 11.6.1 Editing hand definitions 4-133 11.6.1.1 Restoring hand definitions 4-134...
  • Page 97 12.5 Self diagnosis 4-251 12.5.1 Controller check 4-252 12.5.2 Error history display 4-253 12.5.3 Displaying the absolute battery condition 4-254 12.5.4 Displaying the total operation time 4-255 12.5.5 System error details display 4-256 12.6 Backup processes 4-257 12.6.1 SD memory card 4-258 12.6.1.1 Loading files 4-260...

  • Page 99: Operation Overview

    1. Operation over view 1. Operation over view The controller configuration and main functions are shown below. Set up the equipment as needed according to the operation to be performed. CAUTION The external circuit connected to the robot controller should be prepared by the user.

  • Page 100: The Rcx Robot Controller

    2. The RCX robot controller 2. The RCX robot controller Part names Controller front panel ■ Part names and layout OP.1 RCX222 RGEN w“SRV”LED E-STOP e“ERR”LED Chapter MOTOR r“RDY”LED TEMP E-STOP t“E-STOP”LED ACIN qAC IN terminal yRPB connector OP.2 SAFETY EXT.E-STOP...

  • Page 101: Rpb Programming Box

    3. RPB programming box 3. RPB programming box The RPB programming box connects to the robot controller and is used to edit and execute robot programs. Part names ■ Programming box tSelector switch Chapter qDisplay (liquid crystal screen) (RPB-E only) eEmergency stop button wSheet key Rear view...

  • Page 102: Connection To The Robot Controller

    Emergency stop is triggered when the RPB is connected to or disconnected from the robot controller while the power is on. If this happens, emergency stop must be cancelled to continue operation. ■ Robot controller connection OP.1 RCX222 RGEN E-STOP MOTOR TEMP...

  • Page 103: Changing The Rpb Screen Settings

    3. RPB programming box Changing the RPB screen settings The RPB screen contrast can be adjusted, and the key-press volume can be changed as needed. 1) Turn on the power while holding down on the RPB. The RPB setting screen ("ADJUST" mode) appears. ■...

  • Page 104: Turning Power On And Off

    4. Turning power on and off 4. Turning power on and off This section explains how to turn power on and off, assuming that the external emergency stop circuit and other necessary units are connected according to the instructions in Chapter 3, "Installation", and also that the robot controller operates correctly.
  • Page 105 4. Turning power on and off 4) If return-to-origin is incomplete, eliminate the problem and perform absolute reset. Then start the robot operation. Refer to "11.8 Absolute reset" in this chapter for how to perform absolute reset. ■ "MANUAL" mode screen MANUAL 50% [MG][S0H0J] –––––––––––––––––––––––––––––––––––––––––––––––––––––...

  • Page 106: Operation Keys

    5. Operation keys 5. Operation keys RPB screen The RPB screen display is composed of 4 areas as shown below. ■ RPB screen example 1st line ...System line PROGRAM>EDIT <TEST1 > 2nd line ...Message line 3rd line '***** TEST1 PROGRAM ***** Chapter 4th line ...Data area...

  • Page 107: Operation Key Layout

    5. Operation keys Operation key layout The operation keys are covered with a plastic sheet to prevent dust. There are 3 main kinds of keys. 1) Function keys 2) Control keys 3) Data keys ■ Sheet key layout Chapter Function key Data key Control key...

  • Page 108: Basic Key Operation

    5. Operation keys Basic key operation 1) Each operation key has 3 different functions as shown below. as needed to enable various functions. ■ Key configuration Shift 1 Shift 2 Shift 3 Chapter 2) There are 3 ways (shift 1 to shift 3) to use each operation key. Shift Example of key input Input data...

  • Page 109: Function Keys

    5. Operation keys Function keys To operate the RPB, select the menus by pressing the function keys. The relation of the function keys to their menus in "MANUAL" mode is shown below. Function key Selected menu (F1) POINT (F2) PALLET Chapter (F4) VEL +...
  • Page 110 5. Operation keys Relation of function keys to menus ■ Function keys and menus MANUAL 50%[MG][S0H0J] Current position 0 *M2= POINT PALLET VEL+ VEL- Chapter ↓ ↓ ↓ ↓ ↓ [F1] [F2] [F3] [F4] [F5] ∧ SHIFT HAND UNITCHG VEL++ VEL—...

  • Page 111: Control Keys

    5. Operation keys Control keys There are 6 kinds of control keys: (1) Mode selection keys, (2) Extended function keys, (3) Cursor keys, (4) Page keys, (5) Edit keys, (6) Jog keys. The functions of each key are explained below. Mode selection keys : Displays the mode menu (highest hierarchy).
  • Page 112 5. Operation keys Edit keys These keys are enabled when the editing cursor is displayed. : Toggles between "Insert" and "Overwrite" modes. The cursor "_" appears in "Overwrite" mode and " ■ " appears in "Insert" mode. : Deletes one character at the cursor position. : Inserts one line at the cursor position.

  • Page 113: Data Keys

    5. Operation keys Data keys The data keys are used for data input, programming and data editing. There are 2 kinds of data keys. Alphanumeric keys : Enters numbers. : Enters alphabetic characters. Chapter : Inserts spaces. Symbol keys Other keys Enter key : Pressing this key executes a direct command when in "AUTO >...

  • Page 114: Emergency Stop

    6. Emergency stop 6. Emergency stop If for some reason you want to stop the robot immediately during operation, press the emergency stop button on the RPB. Pressing the emergency stop button cuts off power to the robot to stop operation. A message appears on the RPB screen as shown below. The highlighted display for the mode name is cancelled during emergency stop.

  • Page 115: Emergency Stop Reset

    6. Emergency stop Emergency stop reset To return to normal operation after emergency stop, emergency stop must be reset. NOTE • Emergency stop can also be triggered by an emergency stop input from the SAFETY I/O interface. To cancel this emergency stop, refer to Chapter 6. •...
  • Page 116 6. Emergency stop 4) Press (MOTOR). The following screen appears. ■ "UTILITY>MOTOR" mode (1) UTILITY>MOTOR motor power: Off D1=M1: Brake D5=M5: no axis D2=M2: Brake D6=M6: no axis Chapter D3=M3: no axis D4=M4: no axis 5) Press (On) to turn on the motor power. At the same time, the servomotor sets to HOLD status.

  • Page 117: Overload Error Reset

    6. Emergency stop Overload error reset In order to restore (enable) robot operation following a "17.4: Overload" error occurrence, the overload cause must be identified and corrected, and then the error status must be reset. NOTES • An emergency stop status is established when an overload error occurs. •...
  • Page 118 6. Emergency stop Press the key at this time to return to the original mode with the motor power OFF. Continue with the following steps to turn the motor power ON. 4) Press the (Motor) key. The following screen is then displayed. ■...

  • Page 119: Mode Configuration

    7. Mode configuration 7. Mode configuration The robot operation mode consists of the following modes. Basic operation modes “SERVICE” mode “DI/DO “AUTO” “MANUAL” “PROGRAM” “SYSTEM” “UTILITY” monitor” mode mode Chapter mode mode mode mode "SERVICE" mode can be used only when "SAFE" mode is enabled. Basic operation modes Robot operation is classified into 5 basic modes as follows.

  • Page 120: Other Operation Modes

    Use this mode to monitor the robot controller I/O status or task status on the RPB screen. Use to select this mode. "UTILITY" mode Use this mode to perform maintenance of the YAMAHA robots such as recovery from emergency stop and motor servo on/off switching. Use to select this mode. 4-22...

  • Page 121: Mode Hierarchy

    7. Mode configuration Mode hierarchy Robot operation is mainly performed by pressing the function keys to select the desired mode from the menu. (Refer to the "Mode hierarchy diagram" described later.) When the controller is turned on, the "MANUAL" mode menu first appears on the screen. Pressing displays the 4 basic modes on the guideline (bottom line) of the screen as shown below.
  • Page 122 7. Mode configuration Functions are switched with the shift keys. The menu display changes while this shift key is pressed. ■ Shift keys ■ Function switching Chapter RESET TASK VEL+ VEL- ↓ ↓ ↓ ↓ ↓ [F1] [F2] [F3] [F4] [F5] ∧...
  • Page 123 7. Mode configuration NOTE • When the data is being edited such as in "EDIT" mode, inoperative. After pressing to return the mode hierarchy, press • From here in this user's manual the mode hierarchy status is stated in the order as shown below.
  • Page 124 7. Mode configuration ■ Mode hierarchy diagram F1 AUTO F1 PTP/ARCH/LINEAR F1 RESET F2 ARCHPOS (when F1 is ARCH) F2 TASK F3 JUMP F3 DIR F4 VEL+ F4 VEL+ F5 VEL- F5 VEL- F6 A.AXIS+ (when F1 is ARCH) F7 A.AXIS- (when F1 is ARCH) F8 UNITCHG F9 VEL++ F6 POINT...
  • Page 125 7. Mode configuration F3 MANUAL F1 EDIT F6 SHIFT F4 VEL+ F2 RANGE F5 VEL- F4 VEL+ F8 UNITCHG F5 VEL- F9 VEL++ F6 METHOD1 F10 VEL-- F4 VEL+ F5 VEL- F7 METHOD2 F8 UNITCHG F9 VEL++ F9 VEL++ F10 VEL-- F7 HAND F10 VEL-- F1 EDIT...

  • Page 126: Service" Mode

    8. "SERVICE" mode 8. "SERVICE" mode "SERVICE" mode can be used only when "SAFE" mode is enabled. Use "SERVICE" mode to perform safe maintenance work with the RPB while within the safety enclosure of the robot system. This mode can be selected by turning DI02 ("SERVICE" mode input) OFF.

  • Page 127: Limits On Robot Moving Speed

    8. "SERVICE" mode Limits on robot moving speed Robot operation from within the safety enclosure of the robot system is mainly for teaching and maintenance for the robot. Therefore, robot moving speed in SERVICE mode is limited to 3% of the maximum speed so that the robot will move at a speed no faster than 250mm/sec.

  • Page 128: Auto" Mode

    9. "AUTO" mode 9. "AUTO" mode "AUTO" mode executes robot language programs and related tasks. The initial "AUTO" mode screen is shown below. ■ "AUTO" mode eAutomatic movement speed rProgram name qMode hierarchy wTask display tMessage line yOnline command Chapter AUTO [T1] 100% <TEST1 >...
  • Page 129 9. "AUTO" mode Pointer display The program line number to be executed next is shown highlighted in the program listing. Guideline The contents assigned to function keys are shown highlighted. A message on what to do next also appears here in some operation steps. Upon entering "AUTO"...
  • Page 130 9. "AUTO" mode Valid keys and submenu descriptions in "AUTO" mode are shown below. Valid keys Menu Function Cursor key Scrolls the program listing. ( ↑ / ↓ ) Page key Switches to other screens. RESET Resets the program. TASK Changes the program listing according to each task.

  • Page 131: Automatic Operation

    9. "AUTO" mode Automatic operation Program commands are executed continuously during automatic operation. Before starting automatic operation, make sure that return-to-origin, program debugging, I/O signal connections and point data teaching have already been completed. When the execution level is set to other than level 0, automatic operation is possible even if return-to-origin is incomplete.

  • Page 132: Stopping The Program

    9. "AUTO" mode The following keys are enabled during automatic operation. Valid keys Menu Function Increases automatic movement speed for the selected VEL++ robot group in 5% increments. Decreases automatic movement speed for the selected VEL-- robot group in 5% decrements. ROBOT Switches the selected robot group.

  • Page 133: Resetting The Program

    9. "AUTO" mode Resetting the program To restart a program stopped with from the beginning, reset the program. NOTE The output is also reset when the program is reset. However, the output will not be reset in the following cases: 1.
  • Page 134 9. "AUTO" mode • When the program "_SELECT" exists: 1) Press (RESET) in "AUTO" mode. The following message appears on the guideline when "_SELECT" exists among the programs. Press (YES) to reset the selected program by switching it to "_SELECT", or press (NO) to just reset the current program.

  • Page 135: Switching Task Display

    9. "AUTO" mode Switching task display When a program executing multiple tasks is stopped, the program listing for each task can be displayed. [Procedure] 1) Press during program execution to stop the program. Chapter 2) Press to display the program listing. The pointer indicates the next command line number to be executed in the current task.

  • Page 136: Switching The Program

    9. "AUTO" mode Switching the program If the program displayed on the screen is not the one you want to execute, it can be switched to another program. NOTE The output is reset when the program is switched. However, the output will not be reset in the following cases: 1.

  • Page 137: Changing The Automatic Movement Speed

    9. "AUTO" mode Changing the automatic movement speed Automatic movement speed for the selected robot group can be set within the range of 1 to 100%. NOTE Automatic movement speeds once set here are stored in the internal memory even when the power is turned off. If the speed is set with the program command statement (SPEED statement), the actual robot operating speed will be the product of that speed and the Chapter...

  • Page 138: Executing The Point Trace

    9. "AUTO" mode Executing the point trace Point data positions can be checked by actually moving the robot arm in the following modes. • PTP motion mode • Arch motion mode • Linear interpolation motion mode (Linear interpolation motion at the sub robot is not supported in controller versions prior to Ver.
  • Page 139 9. "AUTO" mode Valid keys and submenu descriptions in "AUTO > POINT" mode are shown below. Valid keys Menu Function Cursor key Switches the point number and scrolls the screen. ( ↑ / ↓ ) Page key Switches to other screens. PTP/ ARCH/ Switches the trace movement mode.

  • Page 140: Ptp Motion Mode

    9. "AUTO" mode 9.7.1 PTP motion mode [Procedure] 1) Press in "AUTO>POINT" mode to display a screen like that shown below, then press (PTP) to select the PTP motion mode. ■ Point trace screen in PTP motion mode (1) Chapter AUTO >POINT 100% [MG][S0H0J]...

  • Page 141: Arch Motion Mode

    9. "AUTO" mode 9.7.2 ARCH motion mode [Procedure] 1) Press in "AUTO>POINT" mode to display a screen like that shown below, then press (ARCH). ■ Point trace screen in ARCH motion mode (1) Chapter AUTO>POINT 100% [MG][S0H0J] ————————————x———————y———————z———————r——— 150.50 64.53 0.00 0.00 96.65 -224.89...
  • Page 142 9. "AUTO" mode NOTE Enter the number of pulses for the Y-axis. 4) Use the cursor ( ↑ / ↓ ) keys to select the point number to be checked. 5) Press to move the robot by arch motion to the specified point position. The trace speed is one fifth of the automatic movement speed.

  • Page 143: Linear Interpolation Motion Mode

    9. "AUTO" mode 9.7.3 Linear interpolation motion mode [Procedure] 1) Press in "AUTO>POINT" mode to display a screen like that shown below, then press (LINEAR). ■ Point trace screen in linear interpolation motion mode (1) Chapter AUTO >POINT 100% [MG][S0H0J] ————————————x———————y———————z———————r———...

  • Page 144: Direct Command Execution

    9. "AUTO" mode Direct command execution In "AUTO>DIRECT" mode, one line of the command statement can be executed just after you have entered it. [Procedure] 1) Press (DIRECT) in "AUTO" mode. The screen switches to "AUTO>DIRECT" mode and the cursor appears on the screen. The prompt (>) also appears on the bottom line of the screen.

  • Page 145: Break Point

    9. "AUTO" mode Break point An ongoing program can be stopped if a break point is set in the program. This is useful when debugging the program. The program execution pauses on the line just prior to a break point. The program execution will restart from the break point when is pressed.

  • Page 146: Setting Break Points

    9. "AUTO" mode 9.9.1 Setting break points To make program debugging easy, the program execution can be stopped on the line where a break point is set. [Procedure] 1) Press (BREAK) in "AUTO" mode to switch to "AUTO>BREAK" mode. 2) Use the cursor keys to select the line number on which a break point is to be set. Chapter 3) Press (SET).

  • Page 147: Deleting Break Points

    9. "AUTO" mode 9.9.2 Deleting break points Break points can be deleted. Press (SEARCH) as needed to find a break point that was set. [Procedure] 1) Use the cursor ( ↑ / ↓ ) keys to select the line number where the break point is set. 2) Press (CANCEL).

  • Page 148: Executing A Step

    9. "AUTO" mode 9.10 Executing a step WARNING THE ROBOT MAY BEGIN TO MOvE WHEN STEP IS ExECUTED. TO AvOID DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE. [Procedure] 1) Press (STEP) in "AUTO" mode. Chapter 2) Each time this key is pressed, the command statement of the highlighted line number is executed.

  • Page 149: Executing The Next Step

    9. "AUTO" mode 9.12 Executing the next step WARNING THE ROBOT MAY BEGIN TO MOvE WHEN NExT IS ExECUTED. TO AvOID DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE. [Procedure] 1) Press (NEXT) in "AUTO" mode. Chapter 2) Each time this key is pressed, the command statement of the highlighted line number is executed.

  • Page 150: Program" Mode

    10. "PROGRAM" mode 10. "PROGRAM" mode Robot language programs can be edited, deleted and managed in "PROGRAM" mode. The initial "PROGRAM" mode screen is shown below. When "PROGRAM" mode is entered, the currently selected program appears on the screen. ■ "PROGRAM" mode rOnline command qMode hierarchy eMessage line...

  • Page 151: Scrolling A Program Listing

    10. "PROGRAM" mode Valid keys and submenu descriptions in "PROGRAM" mode are shown below. Valid keys Menu Function Cursor key Selects the program and scrolls the screen. ( ↑ / ↓ ) Page key Switches the page display. EDIT Edits the program. Displays the program data.

  • Page 152: Program Editing

    10. "PROGRAM" mode 10.2 Program editing [Procedure] 1) Press (EDIT) in "PROGRAM" mode. A cursor appears on the top line of a program listing as shown below, allowing program editing. 2) Use the cursor keys to move the cursor to the position to be edited and enter a Chapter program command with the RPB.
  • Page 153 10. "PROGRAM" mode Valid keys and submenu descriptions in "PROGRAM > EDIT" mode are shown below. Valid keys Menu Function Cursor key Moves the cursor and scrolls the screen. ( ↑ / ↓ ) Page key Switches the page display. Switches between Insert and Overtype modes.

  • Page 154: Cursor Movement

    10. "PROGRAM" mode 10.2.1 Cursor movement [Procedure] 1) Pressing the cursor ( ↑ / ↓ ) keys in "PROGRAM>EDIT" mode moves the cursor up or down one line at a time. Pressing the cursor ( ← / → ) keys moves the cursor right or left one character at a time. 2) Pressing the page ( ) key moves the cursor one page Chapter...

  • Page 155: Insert/Overwrite Mode Switching

    10. "PROGRAM" mode 10.2.2 Insert/Overwrite mode switching [Procedure] 1) Press in "PROGRAM > EDIT" mode. The cursor changes to underline ( _ ) form, and the screen switches to Insert mode. In Insert mode, the input character is inserted just previous to the cursor position. ■...

  • Page 156: Inserting A Line

    10. "PROGRAM" mode 10.2.3 Inserting a line [Procedure] Pressing ) in "PROGRAM > EDIT" mode inserts a blank line at the line previous to the cursor position. ■ Inserting a line PROGRAM >EDIT <TEST2 > ——————————————————————————————————————————— Chapter 3 DO2(0)=0 4 WAIT DI3(4,3,2)=3 6 MOVE P,P0 ’ORIGIN 7 MOVE P,P1...

  • Page 157: User Function Key Display

    10. "PROGRAM" mode 10.2.6 User function key display User function keys make it easier to enter programs. NOTE When using this function, it is necessary to make a program named "FUNCTION" and then write command statements for registering functions. For information on how to register the function keys, refer to "10.3.9 Creating a sample program automatically"...

  • Page 158: Quitting Program Editing

    10. "PROGRAM" mode 10.2.7 Quitting program editing Press to quit program editing in "PROGRAM>EDIT" mode. 10.2.8 Specifying the copy/cut lines [Procedure] 1) In "PROGRAM>EDIT" mode, move the cursor to the line you want to copy or cut. Chapter 2) Press (SELECT) to select the line.

  • Page 159: Copying The Selected Lines

    10. "PROGRAM" mode 10.2.9 Copying the selected lines [Procedure] After selecting the lines in "10.2.8", press (COPY). The data on the selected lines are copied into the buffer. The " " marks then disappear. ■ Copying the selected lines PROGRAM >EDIT <TEST2 >...

  • Page 160: Pasting The Data

    10. "PROGRAM" mode 10.2.11 Pasting the data [Procedure] When (PASTE) is pressed in "PROGRAM>EDIT" mode, the data stored into the buffer by copy/cut operation is inserted just before the cursor line. ■ Pasting the data PROGRAM >EDIT <TEST2 > ——————————————————————————————————————————— Chapter 1 ’***** TEST2 PROGRAM ***** 2 ’...

  • Page 161: Line Jump

    10. "PROGRAM" mode 10.2.13 Line jump [Procedure] 1) In "PROGRAM>EDIT" mode, press (JUMP) to enter "PROGRAM>EDIT>JUMP" mode. The message "Enter line no. > " appears on the guideline. ■ Line jump Chapter PROGRAM >EDIT <TEST2 > ——————————————————————————————————————————— 1 ’***** TEST2 PROGRAM ***** GOTO *_’...

  • Page 162: Searching A Character String

    10. "PROGRAM" mode 10.2.14 Searching a character string [Procedure] 1) In "PROGRAM>EDIT" mode, press (FIND) to enter "PROGRAM>EDIT>FIND" mode. The message "Character string >" appears on the guideline. 2) Enter the character string you want to search for and press Chapter A maximum of 20 characters can be used.

  • Page 163: Directory

    10. "PROGRAM" mode 10.3 Director y When (DIR) is pressed in "PROGRAM" mode, information on each program appears as shown below. NOTE A maximum of 100 programs can be stored. ■ Program information (1) Chapter PROGRAM >DIR <TEST1 > Name Line Byte RW/RO...
  • Page 164 10. "PROGRAM" mode Contents of each item are shown below. Item Description Indicates the serial number of the program. The number of the program which is currently selected is highlighted (reversed background). Indicates the program name. The " * " mark (reversed background) shows this Name program is compiled and the object program exists.

  • Page 165: Cursor Movement

    10. "PROGRAM" mode 10.3.1 Cursor movement [Procedure] To select the program, use the cursor ( ↑ / ↓ ) keys in "PROGRAM>DIR" mode. The pointer cursor moves to the selected program number. The program name is displayed at the right end on the system line (1st line). 10.3.2 Registering a new program name Chapter...

  • Page 166: Directory Information Display

    10. "PROGRAM" mode 10.3.3 Director y information display [Procedure] In "PROGRAM>DIR" mode, press (INFO) to enter "PROGRAM>DIR>INFO" mode. The following information on the selected program appears. ■ Program information PROGRAM >DIR>INFO <TEST1 > Chapter Source(use/sum) 1316/364580 bytes Object(use/sum) 528/ 98304 bytes Sequence(use/sum) 4096 bytes Number of program...

  • Page 167: Copying A Program

    10. "PROGRAM" mode 10.3.4 Copying a program A program in the directory can be copied under a different name. NOTE Program names can be up to 8 characters and consist of a combination of alphanumeric characters (0 to 9, A to Z) and underscores ( _ ). [Procedure] 1) In "PROGRAM>DIR"...

  • Page 168: Erasing A Program

    10. "PROGRAM" mode 10.3.5 Erasing a program Unnecessary programs in the directory can be erased. CAUTION • Programs with an "RO (read only)" attribute cannot be erased. When these programs must be erased, change the attribute. • To change the program attribute, refer to "10.3.7 Changing the program attribute".

  • Page 169: Renaming A Program

    10. "PROGRAM" mode 10.3.6 Renaming a program To change the names of programs in the directory, proceed as follows. [Procedure] 1) In "PROGRAM>DIR" mode, use the cursor ( ↑ / ↓ ) keys to select the program to be renamed. 2) Press (RENAME) to enter "PROGRAM>DIR>RENAME"...

  • Page 170: Changing The Program Attribute

    10. "PROGRAM" mode 10.3.7 Changing the program attribute Editing and erasing the programs can be prohibited by specifying the program attribute. There are two program attributes: RW and RO. Each time a change is made a program attribute is alternately switched. 1.

  • Page 171: Displaying Object Program Information

    10. "PROGRAM" mode 10.3.8 Displaying object program information To display information on an executable object program, proceed as follows. [Procedure] 1) Press (OBJECT) to enter "PROGRAM>DIR>OBJECT" mode. 2) Object information appears as shown below. ■ Object program information Chapter PROGRAM >DIR>OBJECT <TEST2 >...

  • Page 172: Creating A Sample Program Automatically

    10. "PROGRAM" mode 10.3.9 Creating a sample program automatically This section explains the procedure of automatically creating a sample program for defining user function keys which can be used in "MANUAL" and "PROGRAM" modes. NOTE Use caution when creating a sample program automatically, since previously defined user function data will be rewritten.
  • Page 173 10. "PROGRAM" mode [Sample program listing] *** <FUNCTION> SAMPLE PROGRAM **** '*You can change any statements '*as you like. '*<FUNCTION> will help you in '*MANUAL and PROGRAM mode. '********************************************************* *M_F1:'DO(20)ALTERNATE DO(20)=~DO(20) *M_F2:'DO(21)ALTERNATE DO(21)=~DO(21) *M_F3:'DO(22)ALTERNATE Chapter DO(22)=~DO(22) *M_F4:'DO(23)ALTERNATE DO(23)=~DO(23) *M_F5:'DO(24)ALTERNATE DO(24)=~DO(24) *M_F6:'DO(25)MOMENTARY DO(25)=1 DO(25)=0...

  • Page 174: Compiling

    10. "PROGRAM" mode 10.4 Compiling To compile the program and create an executable object program, follow the procedure below. The object program allows you to check input errors or bugs after program editing. NOTE Even if the specified program is yet not compiled, it is compiled automatically when you move to "AUTO"...

  • Page 175: Line Jump And Character String Search

    10. "PROGRAM" mode 10.5 Line jump and character string search (JUMP), (FIND), (FIND+) and (FIND-) keys can be used in the same way as in "PROGRAM>EDIT" mode. Refer to "10.2.13 Line jump" and "10.2.14 Searching a character string" earlier in this chapter.) 10.6 Registering user function keys Chapter...
  • Page 176 10. "PROGRAM" mode ■ Registering "FUNCTION" program (2) PROGRAM >DIR <FUNCTION> Name Line Byte RW/RO TEST1 2 *TEST2 PARTS100 FUNCTION INFO Chapter 5) Press (EDIT) to enter "PROGRAM>EDIT" mode. A cursor appears on the first line. 6) Enter a command statement for registering function keys in the following format. The command statement format differs between the "PROGRAM"...
  • Page 177 10. "PROGRAM" mode When registering function keys for I/O commands in "MANUAL" mode NOTE • In one "FUNCTION" program, functions for program edit and I/O functions in "MANUAL" mode can be used together and defined. • Besides the above method, user functions can also be defined by the next method.
  • Page 178 10. "PROGRAM" mode Example) *M_F2:’MOMENT .. Character string "MOMENT" is assigned to DO (20) =1 ..DO (20) is turned ON when is pressed. DO (20) =0 ... DO (20) is turned OFF when is released. *M_F14:’ALTER ..Character string "ALTER" is assigned to Chapter DO (20) =~DO (20) ..

  • Page 179: Resetting An Error In The Selected Program

    10. "PROGRAM" mode 10.7 Resetting an error in the selected program If an error "9.1 Program destroyed" occurs in the selected program data, this function resets the error and allows you to continue editing. CAUTION This function resets an error, but does not restore the program data. A problem is probably occurring in the program, so check and correct the program in "PROGRAM>EDIT"...

  • Page 180: Manual" Mode

    11. "MANUAL" mode 11. "MANUAL" mode Point data and shift data coordinates can be defined and edited in "MANUAL" mode. The initial "MANUAL" mode screen is shown below. ■ "MANUAL" mode rSHIFT/HAND wManual movement qMode hierarchy /coordinate units speed tMessage line eRobot group yOnline command...
  • Page 181 11. "MANUAL" mode Current position This shows the current position of the robot. When an "M" letter is followed by a number it indicates the position in "pulse" units (integer display) and when an "x" to "a" letter follows, it indicates "mm" units (decimal point display). When an asterisk (*) appears at the left of the "M"...

  • Page 182: Manual Movement

    11. "MANUAL" mode 11.1 Manual movement In "MANUAL" mode, you can manually move the robot with the Jog keys as explained below. WARNING THE ROBOT STARTS TO MOvE WHEN A JOG KEY IS PRESSED. TO AvOID DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE. Chapter NOTE •...
  • Page 183 11. "MANUAL" mode If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error message "2.1: Over soft limit" appears and the robot does not move. When the current position is displayed in "mm" units: A letter "X"...
  • Page 184 11. "MANUAL" mode When return-to-origin is not complete CAUTION If return-to-origin is incomplete, the soft limits do not work correctly. NOTE If return-to-origin is incomplete, the current position always appears as "pulse" units when the controller is turned on. Chapter (1) When the current position is displayed in "pulse"...

  • Page 185: Displaying And Editing Point Data

    11. "MANUAL" mode 11.2 Displaying and editing point data Press (POINT) in "MANUAL" mode to enter "MANUAL>POINT" mode. This mode allows you to display and edit the point data. One point is made up of data from 6 axes (x, y, z, r, a, b). The RCX22 series uses only two axes (X, Y).
  • Page 186 11. "MANUAL" mode Valid keys and submenu descriptions in "MANUAL>POINT" mode are shown below. Valid keys Menu Function Cursor key Specifies the point data and scrolls the screen. ( ↑ / ↓ ) Page key Switches to other screens. EDIT Enters point data with keys.

  • Page 187: Point Data Input And Editing

    11. "MANUAL" mode 11.2.1 Point data input and editing [Procedure] 1) In "MANUAL>POINT" mode, use the cursor ( ↑ / ↓ ) keys to select the point to edit. 2) Press (EDIT) to enter "MANUAL>POINT>EDIT" mode. An edit cursor appears at the left end of the point line data that was selected. ■...

  • Page 188: Restoring Point Data

    11. "MANUAL" mode , cursor up/down ( ↑ / ↓ ) keys or page up/down ( 4) Press ) keys to finish the point data input. Press if you want to cancel the point data input. Valid keys and submenu descriptions in "MANUAL>POINT>EDIT" mode are shown below. Valid keys Menu Function...

  • Page 189: Point Data Input By Teaching

    11. "MANUAL" mode 11.2.2 Point data input by teaching The current position of the robot can be obtained as point data by teaching. NOTE Point data teaching cannot be performed when return-to-origin is incomplete. Perform point teaching after performing absolute reset. WARNING THE ROBOT STARTS TO MOvE WHEN A JOG KEY IS PRESSED.
  • Page 190 11. "MANUAL" mode ■ Point data teaching (2) MANUAL>POINT 50% [MG][S0H0X] ————————————x———————y———————z———————r——— = 100.00 250.00 0.00 0.00 50.00 100.00 0.00 0.00 122.62 -24.54 0.00 0.00 COMNT : [POS] 50.00 100.00 0.00 0.00 EDIT TEACH JUMP VEL+ VEL- Chapter 4) When point data is already allotted to the currently selected point number, a confirmation message appears on the guideline when (TEACH) is pressed.

  • Page 191: Point Data Input By Direct Teaching

    11. "MANUAL" mode 11.2.3 Point data input by direct teaching Point data can also be obtained by direct teaching (moving the robot by hand to the target point while the robot servo is off). WARNING WHEN YOU PERFORM DIRECT TEACHING, MAKE SURE THAT THE EMERGENCY STOP BUTTON IS PRESSED SO THAT THE SERvO WILL NOT TURN ON.

  • Page 192: Point Jump Display

    11. "MANUAL" mode 11.2.4 Point jump display [Procedure] 1) Press (JUMP) in "MANUAL>POINT" mode. The message "Enter point no.>" appears on the guideline. ■ Point jump (1) MANUAL>POINT 50%[MG][S0H0X] Chapter ————————————x———————y———————z———————r——— 100.00 250.00 0.00 0.00 50.00 100.00 0.00 0.00 = 122.62 -24.54 0.00 0.00...

  • Page 193: Copying Point Data

    11. "MANUAL" mode 11.2.5 Copying point data Point data can be copied under another point number. NOTE If a hand system flag is set in the point data, the hand system flag will also be copied. [Procedure] Chapter 1) Press (COPY) in "MANUAL>POINT"...
  • Page 194 11. "MANUAL" mode ■ Copying point data (2) MANUAL>POINT 50% [MG][S0H0X] ————————————x———————y———————z———————r——— = 100.00 250.00 0.00 0.00 50.00 100.00 0.00 0.00 = 122.62 -24.54 0.00 0.00 COMNT : [POS] 50.00 100.00 0.00 0.00 (30-34,50)Copy OK? Chapter 3) Press (YES) to make a copy. The point data in the selected range is copied onto the data lines starting from the specified copy destination number.

  • Page 195: Erasing Point Data

    11. "MANUAL" mode 11.2.6 Erasing point data [Procedure] 1) Press (ERASE) in "MANUAL>POINT" mode. The message "Erase (####-####)>" appears on the guideline. ■ Erasing point data (1) MANUAL >POINT 50% [MG][S0H0X] Chapter ————————————x———————y———————z———————r——— = 100.00 250.00 0.00 0.00 50.00 100.00 0.00 0.00 = 122.62...

  • Page 196: Point Data Trace

    11. "MANUAL" mode 11.2.7 Point data trace Point data positions can be checked by actually moving the robot. Refer to "9.7 Executing the point trace" earlier in this chapter for details. NOTE • In "AUTO>POINT" mode, pressing (MODIFY) returns to "MANUAL>POINT"...
  • Page 197 11. "MANUAL" mode Valid keys and submenu descriptions in "MANUAL > POINT" comment mode are shown below. Valid keys Menu Function Cursor key Specifies point data or scrolls the screen vertically. ( ↑ / ↓ ) Page key Switches to other screens. EDIT Edits point comments.

  • Page 198: Point Data Input By Teaching

    11. "MANUAL" mode 11.2.8.1 Point comment input and editing NOTE • For point comments, it is advisable to enter a character string that is easy to understand. • A point comment can be up to 15 characters. [Procedure] 1) In "MANUAL>POINT>COMMENT" mode, use the cursor ( ↑ / ↓ ) keys to select the point Chapter to edit or enter a comment.

  • Page 199: Jump To A Point Comment

    11. "MANUAL" mode 11.2.8.3 Jump to a point comment NOTE Valid point numbers are from 0 to 9999. [Procedure] 1) Press (JUMP) in "MANUAL>POINT>COMMENT" mode. The message "Enter point no. >" appears on the guideline. Chapter ■ Jumping to a point comment display (1) MANUAL>POINT>COMMENT 50%[MG][S0H0X] ————————————x———————y———————z———————r———...
  • Page 200 11. "MANUAL" mode 2) Use to enter the point number range for the copy source and the point number for the copy destination in the following format, and press "(copy start number) – (copy end number), (copy destination number)" For example, to copy the point comments between P7 and P16 onto the lines after P107, enter "7 - 16, 107"...

  • Page 201: Erasing Point Comments

    11. "MANUAL" mode 11.2.8.5 Erasing point comments Point comments already entered can be deleted. NOTE Valid point numbers are from 0 to 9999. [Procedure] 1) Press (ERASE) in "MANUAL>POINT>COMMENT" mode. The message "Erase(####-####)>" appears on the guideline. Chapter 2) Use to specify the point number range in the following format and press "(erase start number) - (erase end number)"...

  • Page 202: Point Comment Search

    11. "MANUAL" mode 11.2.8.6 Point comment search Point comments already entered can be located. NOTE A point comment can be up to 15 characters. [Procedure] 1) Press (FIND) in "MANUAL>POINT>COMMENT" mode. The message "Character string >" appears on the guideline. Chapter 2) Enter the character string you want to search for, and press A maximum of 15 characters can be used.

  • Page 203: Point Data Error Reset

    11. "MANUAL" mode 11.2.9 Point data error reset If an error "9.2 Point data destroyed" occurs in the point data, this function resets the error and allows you to continue editing. CAUTION This function resets an error, but does not restore the point data. A problem is probably occurring in the point data, so check and correct the point data in "MANUAL>POINT>EDIT"...

  • Page 204: Displaying, Editing And Setting Pallet Definitions

    11. "MANUAL" mode 11.3 Displaying, editing and setting pallet definitions Press (PALLET) in "MANUAL" mode to enter "MANUAL>PALLET" mode. This mode allows you to display, edit and set pallet definitions. A total of 20 pallets (definition numbers 0 to 19) can be defined to assign a point data area to each pallet.
  • Page 205 11. "MANUAL" mode ■ Pallet definition (2) MANUAL >PALLET 50%[MG][S0H0X] =SET =SET [POS] 400.00 0.00 0.00 0.00 EDIT METHOD VEL+ VEL- Chapter Pallet definition numbers marked "SET" mean that they have already been defined. Valid keys and submenu descriptions in "MANUAL>PALLET" mode are shown below. Valid keys Menu Function...

  • Page 206: Editing Pallet Definitions

    11. "MANUAL" mode 11.3.1 Editing pallet definitions NOTE The maximum number of points per pallet is 32767 (=NX*NY*NZ). [Procedure] 1) In "MANUAL>PALLET" mode, select the pallet number with the cursor ( ↑ / ↓ ) keys. Chapter 2) Press (EDIT) to enter "MANUAL>PALLET>EDIT" mode. 3) Use the cursor ( ↑...

  • Page 207: Point Setting In Pallet Definition

    11. "MANUAL" mode 11.3.1.1 Point setting in pallet definition In "MANUAL>PALLET>EDIT" mode, a screen like that shown below is displayed. NOTE • Each pallet is generated with 5 points for pallet definition. • These 5 points should be defined in order from P[1] to P[5]. See "11.3 Displaying, editing and setting pallet definitions".

  • Page 208: Editing The Point In Pallet Definition

    11. "MANUAL" mode 11.3.1.1.1 Editing the point in pallet definition NOTE • Each pallet is generated (outlined) with 5 points, so always specify these 5 points for pallet definition. • Point data in the pallet definition must be entered in "mm" units. •...

  • Page 209: Pallet Definition By Teaching

    11. "MANUAL" mode 11.3.2 Pallet definition by teaching NOTE Pallets cannot be defined by teaching if return-to-origin is incomplete. Perform teaching after performing absolute reset. [Procedure] 1) Select the pallet number in "MANUAL>PALLET" mode with the cursor ( ↑ / ↓ ) keys. Chapter 2) Press (METHOD) to enter "MANUAL>PALLET>METHOD"...
  • Page 210 11. "MANUAL" mode ■ Pallet definition by teaching (2) MANUAL >PALLET>METHOD 50%[MG][S0H0X] PALLET NO.=PL0 [XY] Move arm to P[1] and press ENTER key [POS] 50.00 100.00 0.00 0.00 VEL+ VEL– Chapter 5) Perform teaching at P[2], P[3], P[4] and P[5] (only when "3-D" is selected) as in step 4). 6) Enter the number of points NX between P[1] and P[2] on the pallet with a positive integer.
  • Page 211 11. "MANUAL" mode NOTE • Each pallet is generated with 5 points for pallet definition. • The 5 points should be defined in order from P[1] to P[5]. See "11.3 Displaying, editing and setting pallet definitions". Valid keys and submenu descriptions in "MANUAL>PALLET>METHOD" mode are shown below.

  • Page 212: Copying A Pallet Definition

    11. "MANUAL" mode 11.3.3 Copying a pallet definition NOTE • Valid pallet numbers are from 0 to 19. • Pallet definition cannot be copied if the currently selected pallet is undefined. [Procedure] 1) Select the pallet number in "MANUAL>PALLET" with the cursor ( ↑ / ↓ ) keys. Chapter 2) Press (COPY) and then enter the pallet number where you want to copy the...

  • Page 213: Deleting A Pallet Definition

    11. "MANUAL" mode 11.3.4 Deleting a pallet definition NOTE Pallet definition cannot be deleted if the currently selected pallet is undefined. [Procedure] 1) Select the pallet number in "MANUAL>PALLET" mode with the cursor ( ↑ / ↓ ) keys. Chapter 2) Press (ERASE).

  • Page 214: Changing The Manual Movement Speed

    11. "MANUAL" mode 11.4 Changing the manual movement speed Manual movement speed of the selected robot group can be set anywhere within the range from 1 to 100%. Movement speed in "MANUAL" mode is set separately from the "AUTO" mode movement speed. One-fifth of the maximum speed in "AUTO" mode is equal to the maximum movement speed in "MANUAL"...

  • Page 215: Displaying, Editing And Setting Shift Coordinates

    11. "MANUAL" mode 11.5 Displaying, editing and setting shift coordinates Press (SHIFT) in "MANUAL" mode to enter "MANUAL>SHIFT" mode. This mode allows you to display, edit and set shift coordinates. Shift coordinates cannot be used with MULTI type robots. NOTE Shift coordinates cannot be used with MULTI type robots since the SHIFT/ HAND selection display on the 1st line on the RPB screen appears blank.
  • Page 216 11. "MANUAL" mode When "MANUAL>SHIFT" mode is entered, a screen like that shown below appears. The currently selected shift coordinate number is highlighted. ■ "MANUAL>SHIFT" mode MANUAL>SHIFT 50% [MG][S1H0X] ————————————x———————y———————z———————r——— 0.00 0.00 0.00 0.00 300.00 0.00 0.00 0.00 = 300.00 -300.00 0.00 0.00 Chapter...

  • Page 217: Editing Shift Coordinates

    11. "MANUAL" mode 11.5.1 Editing shift coordinates [Procedure] 1) In the "MANUAL>SHIFT" mode, select a shift coordinate number with the cursor ( ↑ / ↓ ) keys. 2) Press (EDIT) to enter "MANUAL>SHIFT>EDIT" mode. Chapter 3) Use the cursor ( ← / → ) key to move the cursor to the position you want to change. 4) Use to enter the shift coordinate data.

  • Page 218: Restoring Shift Coordinates

    11. "MANUAL" mode 7) Press to quit editing and return to "MANUAL>SHIFT" mode. NOTE The shift coordinate data on which the cursor was positioned when returning to "MANUAL>SHIFT" mode is used as the shift coordinates for the currently selected robot group. Valid keys and submenu descriptions in "MANUAL>SHIFT>EDIT"...

  • Page 219: Editing The Shift Coordinate Range

    11. "MANUAL" mode 11.5.2 Editing the shift coordinate range By setting the shift coordinate range, the robot operating area can be restricted to the desired range on each shift coordinate. Moreover, setting the soft limit parameters allows you to specify the robot work area more precisely. Shift coordinate range data format •...
  • Page 220 11. "MANUAL" mode 2) Press (RANGE) to enter the "MANUAL>SHIFT>RANGE" mode. A cursor for editing the shift coordinate range appears. ■ Editing shift coordinate range (1) MANUAL>SHIFT>RANGE 50% [MG][S1H0X] ————————————x———————y———————z———————r——— Range of shift coorinate [mm/deg] 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00...

  • Page 221: Restoring A Shift Coordinate Range

    11. "MANUAL" mode 6) To continue editing the shift coordinate range on the minus side, repeat steps 3) to 5). 7) Press to quit editing and return to "MANUAL>SHIFT" mode. NOTE The shift coordinate number selected when returning to "MANUAL>SHIFT" mode is used as the shift coordinates for the currently selected robot group.

  • Page 222: Shift Coordinate Setting Method 1

    11. "MANUAL" mode 11.5.3 Shift coordinate setting method 1 This method sets the shift coordinate data by performing teaching at two points and then entering the plus/minus direction of those two points. The first teach point 1 (1st P) becomes the shift coordinate origin. ■...
  • Page 223 11. "MANUAL" mode NOTE Perform teaching carefully to obtain accurate points. Precise shift coordinates cannot be set if a point is inaccurate. 4) Press , and the current position is then obtained as "1st P". (This value becomes the shift coordinate origin.) ■...
  • Page 224 11. "MANUAL" mode Valid keys and submenu descriptions in "MANUAL>SHIFT>METHOD1" mode are shown below. Valid keys Menu Function Increases manual movement speed for the selected VEL+ robot group in steps. (1→5→20→50→100%) Decreases manual movement speed for the selected VEL- robot group in steps. (100→50→20→5→1%) Switches between the current display units (mm or UNITCHG pulses).

  • Page 225: Shift Coordinate Setting Method 2

    11. "MANUAL" mode 11.5.4 Shift coordinate setting method 2 This method sets the shift coordinate data by performing teaching at two points and then entering the coordinate values of those two points. ■ Shift coordinate setting method 2 (1) Chapter X’...
  • Page 226 11. "MANUAL" mode NOTE Perform teaching carefully to obtain accurate points. Precise shift coordinates cannot be set if a point is inaccurate. 4) Press to obtain the current position as "1st P". An edit cursor appears at the head of the "1st P" line. ■...
  • Page 227 11. "MANUAL" mode 6) Determine the teach point 2 with the same procedure as for point 1. NOTE The Z-direction shift value is automatically obtained when point 1 is determined, so the Z-axis data at point 2 is ignored. 7) When point 2 has been entered, the shift coordinates (dX, dY, dZ and dR) are automatically calculated and stored.

  • Page 228: Displaying, Editing And Setting Hand Definitions

    11. "MANUAL" mode 11.6 Displaying, editing and setting hand definitions Press (HAND) in "MANUAL" mode to enter "MANUAL>HAND" mode. This mode allows you to display, edit and set hand definitions. However, the standard coordinates must be set when a SCARA robot is used. Refer to "11.9 Setting the standard coordinates" for details.
  • Page 229 11. "MANUAL" mode When "MANUAL>HAND" mode is entered, a screen like that shown below appears. The currently selected hand definition number is highlighted. ■ Hand definition screen MANUAL>HAND 50% [MG][S0H1X] ————————————1———————2———————3———————4——— 0.00 0.00 0.00 100.00 0.00 90.00 100.00 100.00 Chapter 8000 100.00 100.00...
  • Page 230 11. "MANUAL" mode Movement of each robot type and the parameter contents are shown below. Setting units for each parameter are shown in parentheses. Cartesian robots 1) Hand attached to 2nd arm a. Robot movement • Hand "n" moves to a specified point. b.

  • Page 231: Editing Hand Definitions

    11. "MANUAL" mode 11.6.1 Editing hand definitions [Procedure] 1) Press (EDIT) in "MANUAL>HAND" mode. 2) Use the cursor ( ↑ / ↓ ) keys to select the hand definition you want to edit. An edit cursor appears at the left end of the selected hand definition line. ■...

  • Page 232: Restoring Hand Definitions

    11. "MANUAL" mode 7) Press to quit editing and return to "MANUAL>HAND" mode. NOTE The hand definition data with which the cursor was positioned when returning to "MANUAL>HAND" mode is used as the current hand definition. Valid keys and submenu descriptions in "MANUAL>HAND>EDIT" mode are shown below. Chapter Valid keys Menu...

  • Page 233: Hand Definition Setting Method 1

    11. "MANUAL" mode 11.6.2 Hand definition setting method 1 By using this method, a hand attached to the 2nd arm can be set to the current hand definition. NOTE Hand definition data is set by teaching the identical points that are used for hand working points and non-hand working points.
  • Page 234 11. "MANUAL" mode 5) Use the Jog keys to move the robot working point to point 2. (Position it accurately.) 6) Press to enter the teaching value. The hand definition setting ends and the screen returns to "MANUAL> HAND" mode. Valid keys and submenu descriptions in "MANUAL>HAND>METHOD1"...

  • Page 235: Changing The Display Units

    11. "MANUAL" mode 11.7 Changing the display units The units used to indicate the current position on the RPB screen can be switched to either "pulses" and "mm". If hand data for the R-axis is selected (hand definition is made), then "Tool coordinate"...

  • Page 236: Absolute Reset

    11. "MANUAL" mode 11.8 Absolute reset Absolute reset is an operation to find the origin position, when the position detector in the motor cannot identify the origin position (called "origin incomplete" from now on). Movement commands in robot language cannot be executed if the origin is incomplete. Always perform absolute reset if the origin is incomplete.

  • Page 237: Checking Absolute Reset

    11. "MANUAL" mode 11.8.1 Checking absolute reset Check the status of absolute reset on each axis of the robot controller. [Procedure] 1) Press (RST.ABS) in "MANUAL" mode to enter "MANUAL>RST.ABS" mode. ■ Checking absolute reset This screen shows the following information. Chapter MANUAL >RST.ABS...

  • Page 238: Absolute Reset On Each Axis

    11. "MANUAL" mode 11.8.2 Absolute reset on each axis This section explains how to perform absolute reset of each axis using the robot controller. The absolute reset method differs depending on the following settings for the "Origin detection method" parameter. 1.
  • Page 239 11. "MANUAL" mode Key operations to move to a position where absolute reset is possible For instance, when the current axis position is q (machine reference: 82%): Press (ADJ. +), and the axis moves to w and the machine reference will change to around 50%.
  • Page 240 11. "MANUAL" mode [Procedure] ■ Absolute reset of each axis (mark method) (1) MANUAL >RST.ABS 50% [MG] [SOHOJ] –––––––––––––––––––––––––––––––––––––––– Press F.key to get axis for ABSRST M1 = NG / Mark M5= no axis M2 = OK / Mark M6= no axis M3 = no axis M4 = no axis...
  • Page 241 11. "MANUAL" mode 2) In Servo-ON Use the Jog keys or (ADJ.+) and (ADJ.-) to move the selected axis to a position where absolute reset is possible. Set so that the machine reference is within a range of 44 to 56%. WARNING THE ROBOT STARTS TO MOvE WHEN A JOG KEY OR MOvEMENT KEY IS PRESSED.
  • Page 242 11. "MANUAL" mode ■ Absolute reset of each axis (mark method) (4) MANUAL >RST.ABS>M1 50% [MG] [SOHOJ] –––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG / M5= no axis M2 = M6= no axis no axis M3 = no axis M4 = ADJ.+...
  • Page 243 11. "MANUAL" mode When the stroke end or sensor method is used as the origin detection method When the selected axis uses the stroke end or sensor method, the servo must be turned on to perform return-to-origin. WARNING THE ROBOT STARTS TO MOvE WHEN ABSOLUTE RESET IS PERFORMED. TO AvOID DANGER, DO NOT ENTER THE ROBOT MOvEMENT RANGE.
  • Page 244 11. "MANUAL" mode 2) After return-to-origin is complete, the machine reference of the selected axis is displayed. ■ Absolute reset of each axis (stroke end / sensor method) (2) >RST.ABS MANUAL 50% [MG] [SOHOJ] –––––––––––––––––––––––––––––––––––––––– Machine reference (%) M2 = Chapter 3) When all axes have returned to origin, the dashed line (- - - -) on the message line changes to a solid line (——), and return-to-origin is now complete.

  • Page 245: Absolute Reset On All Axes

    11. "MANUAL" mode 11.8.3 Absolute reset on all axes This section explains how to perform absolute reset on all axes of the robot controller. The sequence for performing absolute reset of the axes is given below. 1. First, perform absolute reset at the current position, on all axes that use the mark method.
  • Page 246 11. "MANUAL" mode Absolute reset position and "0" pulse position When absolute reset is performed at position A, the position B (machine reference 38%) is reset as the "0" pulse position. This means that the robot will move to the "0" pulse position after performing absolute reset with the servo turned on.
  • Page 247 11. "MANUAL" mode 1) Press (ALL) in "MANUAL>RST.ABS" mode to enter "ABS RESET" mode for all axes. ■ Absolute reset of all axes (mark method) (2) This screen shows the following information. MANUAL >RST.ABS>ALL 50% [MG] [SOHOJ] –––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG / M5= no axis Chapter...
  • Page 248 11. "MANUAL" mode ■ Absolute reset of all axes (mark method) (3) MANUAL >RST.ABS>ALL 50% [MG] [SOHOJ] –––––––––––––––––––––––––––––––––––––––– Align axes with MARK,& Press ENTER M1 = NG / M5= no axis M2 = M6= no axis OK / no axis M3 = no axis M4 =...
  • Page 249 11. "MANUAL" mode 5) When absolute reset ends correctly on all axes using the mark method, a confirmation message appears on the guideline if axes using the stroke end or sensor methods are present. Press (YES) to perform absolute reset on axes using the stroke end or sensor method.
  • Page 250 11. "MANUAL" mode 7) When absolute reset of all axes ends correctly, the dashed line (- - - -) on the message line changes to a solid line (––––), and return-to-origin is now complete. Next press an axis movement key and the RPB screen will display the current position of each axis.

  • Page 251: Setting The Standard Coordinates

    11. "MANUAL" mode 11.9 Setting the standard coordinates The standard coordinates set for SCARA robots are treated as Cartesian coordinates using the X-axis rotating center as the coordinate origin. The following operations and functions are enabled on SCARA robots by setting the standard coordinates.

  • Page 252: Executing The User Function Keys

    11. "MANUAL" mode 11.10 Executing the user function keys User function keys allow you to perform various tasks easily when needed. For example, assigning operation of an air-driven unit connected to an output port to a function key will prove useful when performing point teaching in "MANUAL" mode. NOTE •...

  • Page 253: System" Mode

    12. "SYSTEM" mode 12. "SYSTEM" mode The "SYSTEM" mode controls all kinds of operating conditions for the overall robot system. The initial "SYSTEM" mode screen is shown below. ■ "SYSTEM" mode screen eMessage line qMode hierarchy wVersion display r Online command execution mark t Robot model SYSTEM...
  • Page 254 12. "SYSTEM" mode Other expanded configurations When expansion boards are installed into the option slot of the controller, the board type and mode setting appear here. Display Meaning An optional DIO with NPN specifications is installed. The number in DIO_N(m/n..) parentheses is an ID number.

  • Page 255: Parameters

    12. "SYSTEM" mode 12.1 Parameters This section explains various parameters relating to the controller setting and robot operation. There are 4 types of parameters: robot parameters and axis parameters for robot operation, controller setting parameters and option board parameters. [Procedure] 1) Press (PARAM) in "SYSTEM"...
  • Page 256 12. "SYSTEM" mode 5) Edit the selected parameter. There are two ways to edit parameters. The first is by entering data with the numeric keys, and the second is by selecting items with the function keys. When entering data with the numeric keys, values entered outside the allowable range are converted automatically to the upper or lower limit value.

  • Page 257: Parameter List

    12. "SYSTEM" mode 12.1.1 Parameter list ■ Robot parameters Refer to "12.1.2 Robot parameters" in this chapter for details on parameters. Setting Default Name Displayed name Identifier Unit range setting Tip weight *2 Tip weight [kg] WEIGHT 0 to 200 Robot type kg Return-to-origin Origin sequence...
  • Page 258 12. "SYSTEM" mode When robot type is "MULTIXY" • It is necessary to set the tip weight parameter for each axis. (Set the X-axis tip weight and Y-axis tip weight.) • Set the "Axis tip weight" axis parameter. • Acceleration will not change even if the "Tip weight" robot parameter is changed. When robot type is "COMPOXY"...

  • Page 259: Robot Parameters

    12. "SYSTEM" mode 12.1.2 Robot parameters On the RPB screen each robot parameter appears in the following format. Main group parameters Sub group parameters MG=<value> SG=<value> Main robot parameters Sub robot parameters MR=<value> SR=<value> Chapter NOTE A description and method for setting robot parameters No. 1 through No. 3 are listed in this manual.
  • Page 260 12. "SYSTEM" mode Tip weight [kg] /WEIGHT This parameter sets the tip weight of robot (workpiece weight + tool weight) in kg units. The maximum value is set when the parameters are initialized. The maximum allowable value is determined automatically according to the current robot model.
  • Page 261 12. "SYSTEM" mode Origin sequence /ORIGIN This parameter sets a sequence for performing absolute reset and return-to-origin on each axis of the robot. The numbers 3 1 2 4 5 6 are set automatically when the parameters are initialized. Enter axis numbers of the robot in the sequence for performing return-to-origin. For example, when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed in sequence from axis 1 to axis 6.
  • Page 262 12. "SYSTEM" mode R-axis orientation /RORIEN On SCARA robots, this parameter sets whether or not to maintain the R-axis direction (orientation) when moving manually across the XY axes. The R direction (orientation) is automatically set when the parameters are initialized. If the R-axis direction has been set (held) and the arm tip is moved in the X or Y directions, the R-axis automatically rotates to maintain its direction.

  • Page 263: Axis Parameters

    12. "SYSTEM" mode 12.1.3 Axis parameters Each axis parameter is displayed in the following format on the RPB screen. Main robot axis setting Sub robot axis setting M?=<value> S?=<value> Main auxiliary axis setting Sub auxiliary axis setting m?=<value> s?=<value> Chapter NOTE A description and method for setting axis parameters No.
  • Page 264 12. "SYSTEM" mode Accel coefficient [%] /ACCEL This parameter sets acceleration in "AUTO" mode in a range from 1 to 100% during movement by robot movement command. This is automatically set to 100% when the parameters are initialized. If the tip weight (workpiece weight + tool weight) is set correctly, then the actual acceleration is internally set in the control to be 100% at maximum performance.
  • Page 265 12. "SYSTEM" mode Decel. rate [%]/DECRAT This parameter sets the deceleration rate in a range from 1 to 100% during movement by robot movement command. This parameter value is a rate to the acceleration. A deceleration rate inherent to each axis is automatically set when the parameters are initialized.
  • Page 266 12. "SYSTEM" mode +Soft limit [pulse] /PLMT+ -Soft limit [pulse] /PLMT- These parameters set the plus (+) soft limits and minus (-) soft limits that determine the range the robot can move. Soft limits inherent to each axis are automatically set when the parameters are initialized.
  • Page 267 12. "SYSTEM" mode 5) Repeat the above steps 3) and 4) if necessary. 6) Press to quit the edit mode. Tolerance [pulse] /TOLE This parameter sets the tolerance range of the target position where robot movement ends. This is set to a value unique to each axis when initialized. Positioning on an axis is judged to be complete when the robot axis enters within the specified tolerance range.
  • Page 268 12. "SYSTEM" mode 4) Enter the value with , and and then press . If the value you input was a real number (number containing a decimal point), then the tolerance range is converted into "pulse" units. 5) Repeat the above steps 3) and 4) if necessary. 6) Press to quit the edit mode.
  • Page 269 12. "SYSTEM" mode Out position [pulse] /OUTPOS During PTP movement in a program, the next command can be executed when the robot enters the range specified by the Out position for the target position. This parameter sets the Out position range. When initialized, this is set to a value unique to each axis.
  • Page 270 12. "SYSTEM" mode 4) Enter the value with , and and then press . If the value you input was a real number (number containing a decimal point), then it is converted into pulse units. 5) Repeat the above steps 3) and 4) if necessary. 6) Press to quit the edit mode.
  • Page 271 12. "SYSTEM" mode Arch position [pulse] /ARCH When an arch motion command (optional PTP operation) is executed, arch movement begins when the robot enters the arch position range set by this parameter for the target position. This parameter is set to a value unique to each axis when initialized. When the axis specified for arch movement starts PTP movement toward the specified position and enters the arch position range, the other axes start to move.
  • Page 272 12. "SYSTEM" mode 3) Select the axis with cursor ( ↑ / ↓ ) keys. ■ Setting the "Arch position [pulse]" SYSTEM>PARAM>AXIS V9.00 7.Arch position[pulse] ( 0. 56mm) 2000 2000 Chapter [1-6144000] Enter >_ 2 000 4) Enter the value with , and and then press .
  • Page 273 12. "SYSTEM" mode Origin speed [pulse/ms] /ORGSPD This parameter sets the return-to-origin movement speed in pulses per millisecond. This speed is set to a value unique to each axis when initialized. CAUTION The maximum return-to-origin speed is determined by the motor. [Procedure] 1) Select "8.
  • Page 274 12. "SYSTEM" mode Manual accel [%] /MANACC This parameter sets the acceleration in a range from 1 to 100% during robot manual movement. The manual acceleration is automatically set to 100 when the parameters are initialized. If the tip weight (workpiece weight + tool weight) is set correctly, then the actual acceleration is automatically determined internally in the controller to obtain optimum performance at 100% NOTE...
  • Page 275 12. "SYSTEM" mode 10. Origin shift [pulse] /SHIFT This parameter is used to correct the origin position error when the motor has been replaced for some reason or the robot origin position has shifted due to mechanical shocks. This parameter is set to 0 when initialized. To correct the origin position error, enter the number of pulses required to move the origin back to the correct position.
  • Page 276 12. "SYSTEM" mode 11. Arm length [mm] /ARMLEN This parameter sets the X, Y axis arm length on SCARA robots. This is automatically determined according to the current robot type when initialized. The arm length is also determined automatically when standard coordinates are set. On XY robots and MULTI type robots, setting the axis length also automatically determines the weight of each axis.
  • Page 277 12. "SYSTEM" mode 12. Offset pulse /OFFSET On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at 0 pulses. When initialized, this is set to a value unique to each robot type that is currently set.
  • Page 278 12. "SYSTEM" mode 13. Axis tip weight [kg] /AXSTIP This parameter sets the weight of each axis tip (workpiece weight + tool weight) in kilogram units on MULTI type robots. A maximum value is set when the parameters are initialized. The maximum weight is automatically determined according to the currently used axis type.
  • Page 279 Chapter specified as the "mark" does not perform return-to-origin.) CAUTION • YAMAHA can accept no liability from problems arising due to changing the return-to-origin method without consulting YAMAHA beforehand. • Return-to-origin will be incomplete if this parameter is changed. [Procedure] 1) Select "14.
  • Page 280 "---" ..Axis returns to origin in the manual movement minus (-) direction. "+++" ..Axis returns to origin in the manual movement plus (+) direction. CAUTION • YAMAHA can accept no liability from problems arising due to changing the return-to-origin direction without consulting YAMAHA beforehand. Chapter •...
  • Page 281 NOTE This parameter cannot be changed while servo is on. CAUTION • YAMAHA can accept no liability from problems arising due to changing the axis polarity without consulting YAMAHA beforehand. • Return-to-origin will be incomplete if this parameter is changed.
  • Page 282 12. "SYSTEM" mode 17. Limitless motion / NOLMT This parameter specifies the axis that is allowed to perform the limitless motion. When the parameter is initialized, all axes become invalid. Invalid ... Makes the limitless motion of the set axis invalid. The movement range is limited by the soft limit as usual.

  • Page 283: Other Parameters

    12. "SYSTEM" mode 12.1.4 Other parameters When changing other parameters on the RPB, use the descriptions in this section. ■ Editing other parameters SYSTEM>PARAM>OTHERS V9.08 1.Display language(JPN/ENG) ENGLISH 2.Data display length 6char 3.Parameter display unit PULSE 4.DO cond. on EMG HOLD Chapter 5.Incremental Mode...
  • Page 284 12. "SYSTEM" mode Display language / DSPLNG This parameter sets the language for displaying messages on the RPB. NOTE This parameter will not change even if parameter initialization is performed. [Procedure] 1) Select "1. Display language (JPN/ENG)" in "SYSTEM>PARAM>OTHERS" mode. Chapter 2) Press (EDIT).
  • Page 285 12. "SYSTEM" mode Data display length/DATLEN This parameter sets the number of digits to display such as for point data. This is automatically set to "6char" (6 digits) when the parameters are initialized. [Procedure] 1) Select "2. Data display length" in "SYSTEM>PARAM>OTHERS" mode. 2) Press (EDIT).
  • Page 286 12. "SYSTEM" mode Parameter display unit/PDUNIT This parameter sets the units for showing axis parameters. This is automatically set to "pulses" when the parameters are initialized. [Procedure] 1) Select "3. Parameter display units" in "SYSTEM>PARAM>OTHERS" mode. 2) Press (EDIT). Chapter The function key menu changes.
  • Page 287 12. "SYSTEM" mode DO cond. on EMG /EMGCDO This parameter sets whether or not to hold output of the DO/MO/LO/TO/SO ports when an emergency stop signal is input to the controller. This is automatically set to "HOLD" when the parameters are initialized. CAUTION This parameter is invalid if the sequence program starts up.
  • Page 288 12. "SYSTEM" mode Incremental Mode /INCMOD This parameter sets whether to have origin incomplete status every time power to this controller is turned on. This is automatically set invalid when the parameters are initialized. NOTE • When this parameter is valid (enabled), return-to-origin will always be incomplete each time the controller power is turned on.
  • Page 289 12. "SYSTEM" mode DI noise filter/SCANMD This parameter sets whether to cancel external input signals (dedicated input signals, general-purpose input signals) that might appear like noise in the form of short pulses. When this parameter is set to "VALID", the on and off periods of input signals must be longer than 25msec since the controller does not respond to any signal input shorter than 25msec.
  • Page 290 12. "SYSTEM" mode TRUE condition / EXPCFG This parameter selects the operation when the conditional expression, which is used for the STOPON option in an IF (including ELSEIF), WHILE to WEND, WAIT, MOVE, or DRIVE statement, is a numeric expression. This parameter is set to "-1"...
  • Page 291 12. "SYSTEM" mode Unit select / PTUNIT This parameter selects the point data unit system to be used when the controller is started. For incremental specification robots and semi-absolute specification robots, the current position is displayed in "pulse" units at controller startup because return- to-origin is incomplete.
  • Page 292 12. "SYSTEM" mode Error output (DO & SO) / ERPORT This parameter selects the port used for error output. This parameter is set to "Off" when the parameters are initialized. The following ports can be used as error output ports: DO20 to DO27, SO20 to SO27. NOTE •...
  • Page 293 12. "SYSTEM" mode 10. MOVEI/DRIVEI start position /MOVIMD This parameter setting is used when a relative motion operation is stopped by an interlock or emergency stop, etc., and specifies whether motion is to occur to the original target position, or to a new target position referenced to the current position, when the motion command is re-executed.
  • Page 294 12. "SYSTEM" mode 11. Ser vo on when power on / SRVOON Use this parameter to select whether to start the controller with servo-on or servo-off when the controller power is turned on. When robot numbers are set by generation, this parameter is reset to "YES". Setting Meaning When SAFE mode setting or serial I/O setting is enabled, the...
  • Page 295 12. "SYSTEM" mode 12. Manual move mode /MOVMOD When an axis movement key is held down, inching movement switches to continuous movement. Use this parameter to shorten the time taken to switch to the continuous movement. This parameter can also be used for the online command @JOG and jog movement command of remote commands to shorten the time taken to switch from the inching movement to the continuous movement.
  • Page 296 12. "SYSTEM" mode 13. DO cond. on PGM reset / RESCDO Use this parameter to select whether to reset the DO/MO/LO/TO/SO port outputs when a program is reset or a HALT statement is executed. When initialized, this parameter is set to "RESET". NOTE This parameter is enabled from controllers with software version 9.34 onwards.
  • Page 297 12. "SYSTEM" mode Setting Meaning The DO/MO/LO/TO/SO port outputs are not reset even when any of the followings are executed. The outputs are not reset even: ■ When compile ended successfully in "PROGRAM" mode. ■ When a program was compiled in "AUTO" mode and the compile ended successfully.
  • Page 298 12. "SYSTEM" mode 15. Skip undefined parameters There are cases where new parameters are added according to the software upgrading for robot controllers. If you attempt to load the parameter file containing these new parameters into a controller of an earlier version, an error "10.14 Undefined parameters"...

  • Page 299: Parameters For Option Boards

    12. "SYSTEM" mode 12.1.5 Parameters for option boards This section explains how to set parameters for option boards from the RPB. Option boards are roughly divided into three types: option DIO boards, serial I/O boards and network board. For option DIO boards, there are 2 parameters to be set, including the parameter to enable or disable the DC 24V power input monitor.
  • Page 300 12. "SYSTEM" mode Option boards installed into the option slots are displayed on the RPB screen. Type Display Meaning An option DIO board of NPN specifications is DIO_N(n) installed. The number in parentheses is an ID number. Option DIO An option DIO board of PNP specifications is DIO_P(n) installed.

  • Page 301: Option Dio Setting

    12. "SYSTEM" mode 12.1.5.1 Option DIO setting Make the DIO option board setting as explained below. Parameter Meaning Sets whether to issue an error "12.31: DI DC24V disconnected" when the 24V power supply is not connected. When set to "INVALID", no error will be issued even if DC24V watching the DC 24V power supply is disconnected.

  • Page 302: Serial Io Setting

    12. "SYSTEM" mode 12.1.5.2 Serial IO setting Make the serial IO option board setting as explained below. NOTE • Emergency stop ready signal (DI00), interlock input (DI11) and service mode input (DI02) on the SAFETY connector are enabled even when the serial IO is enabled.
  • Page 303 12. "SYSTEM" mode Serial IO [Procedure] 1) In "SYSTEM>PARAM>OP. BRD" mode, select the serial I/O option board and press (SELECT). 2) Select the "1. Serial IO" parameter with the cursor ( ↑ / ↓ ) keys. Chapter 3) Press (EDIT). ■...
  • Page 304 12. "SYSTEM" mode Remote cmd/IO cmd (SI05) [Procedure] 1) In "SYSTEM>PARAM>OP. BRD" mode, select the serial I/O option board and press (SELECT). 2) Select the "2. Remote cmd / IO cmd (SI05)" parameter with the cursor ( ↑ / ↓ ) keys. Chapter 3) Press (EDIT).
  • Page 305 12. "SYSTEM" mode Output MSG to SOW(1) [Procedure] 1) In "SYSTEM>PARAM>OP. BRD" mode, select the serial I/O option board and press (SELECT). 2) Select the "3. Output MSG to SOW(1)" parameter with the cursor ( ↑ / ↓ ) keys. Chapter 3) Press (EDIT).
  • Page 306 12. "SYSTEM" mode IO size (DeviceNet only) NOTE This parameter is supported by controllers with a DeviceNet board installed and from Ver. 9.08 onwards. Earlier version controllers do not have this "4. IO size" parameter, so the number of occupied channels is the same as the "Large"...

  • Page 307: Setting The Network Parameters

    12. "SYSTEM" mode 12.1.5.3 Setting the network parameters When using Ethernet, you set five parameters including the parameter to enable or disable the Ethernet board. CAUTION When making the Ethernet settings to use TELNET, you will need to set any other parameters than those shown below.
  • Page 308 12. "SYSTEM" mode ■ Network setting (2) SYSTEM>PARAM>OP.BRD>SELECT V9.00 1.board condition VALID 2.IP address 192.168. 0. 2 3.Subnet mask 255.255.255. 0 4.gateway 192.168. 0. 1 5.port No EDIT JUMP 2) Select the parameter with the cursor ( ↑ / ↓ ) keys. Chapter CAUTION Changes you made to the IP address, subnet mask and gateway are...

  • Page 309: Communication Parameters

    12. "SYSTEM" mode 12.2 Communication parameters Set the following parameters for communication procedures when using the RS-232C interface. There are 8 kinds of communication parameters. 1. Communication mode 2. Data bit 3. Baud rate Chapter 4. Stop bit 5. Parity 6.
  • Page 310 12. "SYSTEM" mode 4) Set the parameter with the function keys. The selectable values or items appear as function key menus on the guideline. to quit the setting. To continue selecting other items, use the cursor ( ↑ / ↓ ) 5) Press keys.
  • Page 311 12. "SYSTEM" mode CMU (communication) mode This parameter sets the communication mode on the computer. NOTE • Online commands can be executed only in "ONLINE" mode. • The CMU (communication) mode can be changed with either ONLINE or OFFLINE statements in robot language. [Procedure] Chapter 1) Select "1.
  • Page 312 12. "SYSTEM" mode Data bits This parameter sets the data bit length. NOTE Katakana letters (Japanese phonetic) cannot be sent if data bit length was set to 7 bits. [Procedure] 1) Select "2. Data bits" in "SYSTEM>CMU" mode. Chapter 2) Press (EDIT).
  • Page 313 12. "SYSTEM" mode Baud rate This parameter sets the communication speed. NOTE Communication errors are more prone to occur at high communication speeds. If communication errors frequently occur, set a lower communication speed. [Procedure] Chapter 1) Select "3. Baud rate" in "SYSTEM>CMU" mode. 2) Press (EDIT).
  • Page 314 12. "SYSTEM" mode Stop bit This parameter sets the stop bit length. NOTE Set to 2 bits if communication errors frequently occur. [Procedure] 1) Select "4. Stop bit" in "SYSTEM>CMU" mode. Chapter 2) Press (EDIT). The function key menu changes. ■...
  • Page 315 12. "SYSTEM" mode Parity This parameter sets the parity check. NOTE Use the parity check as often as possible. [Procedure] 1) Select "5. Parity" in "SYSTEM>CMU" mode. Chapter 2) Press (EDIT). The function key menu changes. ■ Setting the "Parity" SYSTEM>CMU V9.00 1.CMU mode...
  • Page 316 12. "SYSTEM" mode Termination code This parameter sets the line feed code. [Procedure] 1) Select "6. Termination code" in "SYSTEM>CMU" mode. 2) Press (EDIT). The function key menu changes. Chapter ■ Setting the "Termination code" SYSTEM>CMU V9.00 3.Baud rate 9600 4.Stop bit 5.Parity 6.Termination code...
  • Page 317 12. "SYSTEM" mode Flow control This parameter sets communication flow control. NOTE Communication data omissions may occur if flow control is set to "NO". [Procedure] 1) Select "7. Flow control" in "SYSTEM>CMU" mode. Chapter 2) Press (EDIT). ■ Flow control setting SYSTEM>CMU V9.00 3.Baud rate...

  • Page 318: Option Parameters

    12. "SYSTEM" mode 12.3 OPTION parameters The OPTION parameters are used to set expanded controller functions. These parameters consist of 4 types: parameters for area check output, parameters relating to SAFE mode, parameters relating to the serial I/O, and parameters relating to double-carrier type robots. [Procedure] 1) In "SYSTEM"...

  • Page 319: Setting The Area Check Output

    12. "SYSTEM" mode 12.3.1 Setting the area check output This function checks whether the current robot position is within an area specified by the area check output parameter’s point data, and outputs the result to the specified port. A maximum of 4 areas can be checked with controllers prior to Ver. 9.22, while a maximum of 8 areas can be checked with controllers of Ver.
  • Page 320 12. "SYSTEM" mode NOTE • If the port used for area check output is the same as the output port used by the program, then the output data might be changed. So do not use the same output port. • If the same port is designated for a different area check output, OR will be output.
  • Page 321 12. "SYSTEM" mode When the comparison points are set as shown below, and the robot axis tip is moved between the marks, the output is off at and the output is on at . (When "5. Criterion selection for area check output" is set so that the area check output turns on when the robot enters a specified area.
  • Page 322 12. "SYSTEM" mode 3) Select the parameter items with the cursor ( ↑ / ↓ ) keys. ■ Selecting the area check output parameters SYSTEM >OPTION>POS.OUT V9.08 1.Output of area1 2.Output por1(DO & SO) 3.Compare Point number11 4.Compare Point number12 5.Condition Chapter EDIT...
  • Page 323 12. "SYSTEM" mode 3) Select the robot for the area check with (NO), (MAIN) or (SUB). Robot Details The area check output is not executed. MAIN The area check output is executed for the main robot. The area check output is executed for the sub robot. to quit the setting.
  • Page 324 12. "SYSTEM" mode 2) Press (EDIT). The function key menu changes. ■ Selecting the area check output port (controllers prior to Ver. 9.22) SYSTEM>OPTION>POS.OUT>SELECT V9.08 1.Output of area1 MAIN 2.Output por1(DO & SO) 3.Compare Point number11 Chapter 4.Compare Point number12 5.Condition 3) Select the output port with (DO(20)) through...
  • Page 325 12. "SYSTEM" mode Comparison point No. 1 Comparison point No. 2 Set the point numbers for determining the area to perform area check. Point numbers from P0 to P4000 can be used to specify an area for controllers prior to Ver. 9.39 while point numbers from P0 to P9999 can be used for controllers of Ver.
  • Page 326 12. "SYSTEM" mode 3) Enter the point number with and press 4) Select "4. Compare Point number n2" with the cursor ( ↑ / ↓ ) keys and enter point number as in step 3). to quit the setting. To continue selecting other items, use the cursor ( ↑ / ↓ ) 5) Press keys.
  • Page 327 12. "SYSTEM" mode Condition for area check output Selects the condition that allows the area check output to turn on, from either when the robot is within a specified area or when outside it. NOTE • This parameter is supported by controllers of Ver. 9.08 onwards. On earlier version controllers, the area check output turns on when the robot is within a specified area, and turns off when outside it.

  • Page 328: Setting The "Service" Mode

    NOTE The "SERVICE" mode functions can only be utilized when the necessary Chapter settings were made by YAMAHA prior to shipping. WARNING ALTHOUGH THE SERvICE MODE DEFAULT SETTINGS CAN BE CHANGED, SUCH CHANGES SHOULD BE MADE ONLY IN CASES WHERE THE USER HAS DETERMINED THAT DOING SO WILL POSE NO HAzARD, WITH ADEQUATE CARE TAKEN TO ENSURE SAFETY.
  • Page 329 12. "SYSTEM" mode Operating speed limits in "SERVICE" mode Specify the maximum robot operating speed. Description Sets robot operation within 3 % of maximum operating <3% speed. <100% Sets no limit on robot operating speed. * : These are default settings. Chapter WARNING RESTRICTION ON THE ROBOT MOvING SPEED IS NOT A SAFETY-RELATED FUNCTION.
  • Page 330 12. "SYSTEM" mode [Procedure] 1) Press (SERVICE) in "SYSTEM>OPTION" mode. The message, "Enter password" appears on the guideline. Enter "SAF" here and press ■ Entering the "SERVICE" mode setting password SYSTEM>OPTION V9.00 Chapter Enter password >_ 2) The following screen appears when the correct password is entered. ■...
  • Page 331 12. "SYSTEM" mode "SERVICE" mode level Set the service mode level by referring to the table below. NOTE The settings made here are only valid until the controller power is turned off. Save these settings if you want to use them again after power is turned off. WARNING ALTHOUGH SETTING CHANGES ARE POSSIBLE IF THE USER DETERMINES THAT Chapter...
  • Page 332 12. "SYSTEM" mode Operating speed limits in "SERVICE" mode Specify the maximum robot operating speed. NOTE The settings made here are only valid until the controller power is turned off. Save these settings if you want to use them again after power is turned off. WARNING •...
  • Page 333 12. "SYSTEM" mode Operating device in "SERVICE" mode Specify the operating device to use. NOTE The settings made here are only valid until the controller power is turned off. Save these settings if you want to use them again after power is turned off. WARNING ALTHOUGH SETTING CHANGES ARE POSSIBLE IF THE USER DETERMINES THAT Chapter...

  • Page 334: Saving The "Service" Mode Parameters

    12. "SYSTEM" mode 12.3.2.1 Saving the "SERVICE" mode parameters To save the parameter settings for "SERVICE" mode, follow the procedure below. The parameter settings made here are only valid until the controller power is turned off, unless you save those settings. WARNING ALTHOUGH THE SERvICE MODE DEFAULT SETTINGS CAN BE CHANGED, SUCH CHANGES SHOULD BE MADE ONLY IN CASES WHERE THE USER HAS...

  • Page 335: Help Display In "Service" Mode

    12. "SYSTEM" mode 12.3.2.2 Help display in "SERVICE" mode To display the help messages for "SERVICE" mode parameters, proceed as follows. [Procedure] 1) Press (HELP) in "SYSTEM>OPTION>SERVICE" mode. ■ Help display in "SERVICE" mode SYSTEM>OPTION>SERVICE>HELP V9.00 Chapter Security level of serv. mode LEVEL0 : No limit LEVEL1 : Hold to Run LEVEL2 : Prohibit operation in AUTO...

  • Page 336: Sio Settings

    12. "SYSTEM" mode 12.3.3 SIO settings The serial I/O unit allows the master station sequencer (PLC) to send and receive parallel port ON/OFF data in the robot controller I/O unit, regardless of the robot program. This function allows using I/O devices such as sensors and relays as serial-connected devices. NOTE •...
  • Page 337 12. "SYSTEM" mode Valid keys and submenu descriptions in this mode are shown below. Valid keys Menu Function Cursor key Selects the SIO parameter. ( ↑ / ↓ ) EDIT Changes the SIO parameter. JUMP Moves the cursor to the designated SIO parameter. Direct connection from SI n ( ) to DO n ( ) The serial port input can be directly connected to parallel port output.
  • Page 338 12. "SYSTEM" mode Direct connection from DI n ( ) to SO n ( ) Parallel port input can be directly connected to serial port output. The relation between serial and parallel ports that can be set is as follows. NOTE Output results might be incorrect if the SIO specified port is the same as the port used by the program.

  • Page 339: Double-Carrier Setting

    12. "SYSTEM" mode 12.3.4 Double-carrier setting This controller has a function to prevent two carriers (sliders) from colliding with each other, when the two carriers are installed on the same axis of double-carrier type robots. CAUTION The anti-collision function does not work if return-to-origin is incomplete. This function does not work correctly unless the lead length and deceleration ratio parameters are set correctly.

  • Page 340: Setting The Double-Carrier Parameters

    12. "SYSTEM" mode 12.3.4.2 Setting the double-carrier parameters [Procedure] 1) Press the (W.CARRIER) in "SYSTEM>OPTION" mode. ■ Double-carrier parameter setting (1) SYSTEM>OPTION>W.CARRIER V9.00 1.Stroke[mm] 0.00 Chapter 2.Carrier1 3.Carrier2 4.Control mode EDIT JUMP Valid keys and submenu descriptions in this mode are shown below. Valid keys Menu Function...
  • Page 341 12. "SYSTEM" mode 2) Enter the stroke in "mm" units and press . Up to 2 decimal places are allowed. Refer to the drawing below to determine the stroke. ■ Stroke setting Stroke Origin position Origin position Chapter Point where one carrier is closest to the other Carrier 1 setting Carrier 2 setting NOTE...
  • Page 342 12. "SYSTEM" mode Control mode setting Select the double-carrier functions. [Procedure] 1) Select "4. Control mode" and press (EDIT). ■ Double-carrier parameter setting (4) SYSTEM>OPTION>W.CARRIER>EDIT V9.00 1.Stroke[mm] 650.00 Chapter 2.Carrier1 3.Carrier2 4.Control mode WARNING The robot moves as follows according to the control mode setting. Valid keys Menu Function...

  • Page 343: Initialization

    12. "SYSTEM" mode 12.4 Initialization When initializing the parameter data you entered, follow the descriptions in this section. [Procedure] 1) Press (INIT) in "SYSTEM" mode. The initialization screen appears. ■ Initialization screen Chapter SYSTEM>INIT V9.00 PARAM MEMORY CLOCK 2) Select the item to initialize with (PARAM) to (CLOCK).

  • Page 344: Initializing The Parameters

    12. "SYSTEM" mode 12.4.1 Initializing the parameters To initialize the "robot" parameters, "axis" parameters and "other" parameters, follow the procedure below. The "Display language (JPN/ENG)" setting among "other" parameters is not changed by initialization. NOTE • Entire parameter is initialized. (Except for display letters.) •...

  • Page 345: Initializing The Memory

    12. "SYSTEM" mode 12.4.2 Initializing the memor y This initializes the program, point data, shift coordinates, hand definitions and pallet definitions. Before initializing, make sure that the currently input data is no longer needed. NOTE • External data must be input to restore the memory after it has been initialized.

  • Page 346: Initializing The Communication Parameters

    12. "SYSTEM" mode Valid keys and submenu descriptions in "SYSTEM>INIT>MEMORY" mode are shown below. Valid keys Menu Function PROGRAM Deletes the program data. POINT Deletes the point data. SHIFT Initializes the shift coordinate data. HAND Initializes the hand definition data. Deletes/initializes all data (program, point, shift coordinates, hand definition, pallet definition, point Chapter...

  • Page 347: Clock Setting

    12. "SYSTEM" mode 12.4.4 Clock setting A clock function is provided in the controller for setting the date and time. CAUTION The clock used in the controller might differ from the correct time. If this happens, set the correct time. [Procedure] Chapter 1) Press...

  • Page 348: System Generation

    To protect the equipment against Chapter such accidents, save the initial parameter data when shipped from YAMAHA and the parameter data from system upgrades onto an external PC storage device by way of the RS-232C.

  • Page 349: Self Diagnosis

    12. "SYSTEM" mode 12.5 Self diagnosis This function makes a check of the controller and displays the error history and battery voltages. [Procedure] 1) In "SYSTEM" mode, press (DIAGNOS) to enter "SYSTEM>DIAGNOS" mode ■ Self diagnosis Chapter SYSTEM>DIAGNOS V9.00 CHECK HISTRY BATTERY TOTAL...

  • Page 350: Controller Check

    12. "SYSTEM" mode 12.5.1 Controller check This makes a self-diagnosis check of the controller. NOTE • An error message will always appear if DC 24V is not supplied to STD.DIO. • An error message will always appear if DC 24V is not supplied to the option DIO.

  • Page 351: Error History Display

    12. "SYSTEM" mode 12.5.2 Error histor y display To display past errors that occurred, follow the procedure below. A maximum of 500 items may be stored in the error history. CAUTION • Errors are not recorded when identical to a preceding error that just occurred.

  • Page 352: Displaying The Absolute Battery Condition

    12. "SYSTEM" mode 12.5.3 Displaying the absolute batter y condition Use the following procedure to check whether the battery for retaining absolute data is low or not. [Procedure] 1) Press (BATTERY). ■ Displaying the absolute batter y condition Chapter SYSTEM>DIAGNOS>BATTERY V9.00 Absolute battery condition no axis...

  • Page 353: Displaying The Total Operation Time

    12. "SYSTEM" mode 12.5.4 Displaying the total operation time Use the following procedure to check the total controller operation time. [Procedure] 1) Press (TOTAL). ■ Displaying the total operation time SYSTEM>DIAGNOS>TOTAL V9.00 Chapter Total operation time (06/07/01, 12:05) YEAR DAY HOUR MIN Power-on time 0/ 14/ 10: 34 Run time...

  • Page 354: System Error Details Display

    12. "SYSTEM" mode 12.5.5 System error details display Details of important software errors that have occurred in the past can be displayed. NOTE All error information will be initialized when the error history is initialized. [Procedure] 1) Press (SYS. CHK). Chapter ■...

  • Page 355: Backup Processes

    12. "SYSTEM" mode 12.6 Backup processes The various data in the controller's internal memory can be backed up in the internal flash ROM or the SD memory card. [Procedure] 1) Press (BACKUP) in the "SYSTEM" mode. ■ Backup Chapter SYSTEM>BACKUP V9.00 SD CARD FROM...

  • Page 356: Sd Memory Card

    12. "SYSTEM" mode 12.6.1 SD memor y card Data in the controller can be saved on an SD memory card. The data can then be loaded into the controller from the SD memory card. CAUTION Do not remove the SD memory card while data is being saved on it or loaded from it.
  • Page 357 12. "SYSTEM" mode [Procedure] 1) Press (SD CARD) in "SYSTEM>BACKUP" mode. When the SD memory card is inserted in the slot, information on files stored on the SD memory card is displayed. If no SD memory card is inserted, a "15.21: Cannot find media"...

  • Page 358: Loading Files

    12. "SYSTEM" mode 12.6.1.1 Loading files Data stored on an SD memory card can be loaded back into the controller's internal memory. CAUTION Do not remove the SD memory card while data is being loaded from it. NOTE With a subdirectory selected, pressing (LOAD) will move to that Chapter subdirectory.
  • Page 359 12. "SYSTEM" mode File types that can be loaded The following file formats can be loaded. If an attempt was made to load a file with another format, then a "15.5 Illegal file type" error occurs. File name File type *.ALL ALL file *.PGM...

  • Page 360: Saving Files

    12. "SYSTEM" mode 12.6.1.2 Saving files Data in the controller's internal memory can be saved on an SD memory card. NOTE File names can be up to 8 characters consisting of a combination of alphanumeric characters (0 to 9, A to Z) and underscores ( _ ). CAUTION Do not remove the SD memory card while a file is being saved on it.
  • Page 361 12. "SYSTEM" mode 3) Enter the file name. ■ Saving a file (2) SYSTEM>BACKUP>SDCARD>SAVE V9.00 SD:\ FILE1 .ALL 102520 06/04/07 13:30 FILE2 .PGM 8528 06/04/12 17:07 SUBDIR <DIR> 06/03/27 15:21 FILE3 .PNT 1741 06/04/21 10:45 Enter file name >ABC .ALL Chapter 4) Press A confirmation message appears.

  • Page 362: Deleting Files

    12. "SYSTEM" mode 12.6.1.3 Deleting files The data stored on an SD memory card can be deleted if needed. NOTE Subdirectories cannot be deleted. CAUTION Do not remove the SD memory card while a file is being deleted from it. Chapter [Procedure] 1) In "SYSTEM>BACKUP>SD CARD"...

  • Page 363: Previewing Files

    12. "SYSTEM" mode 12.6.1.4 Previewing files The beginning of a file stored on an SD memory card can be previewed on the screen. NOTE The preview shows a maximum 512-bytes of information from the beginning of a file. [Procedure] 1) In "SYSTEM>BACKUP>SD CARD" mode, select the file to be previewed using the Chapter cursor up/down ( ↑...

  • Page 364: Internal Flash Rom

    12. "SYSTEM" mode 12.6.2 Internal flash ROM Various data can be backed up in the controller's internal flash ROM. The data backed up in the flash ROM can then be loaded back into the controller's internal memory. NOTE If the data in the internal memory is destroyed for any reason, it can be restored by loading the backup data from the internal flash ROM.

  • Page 365: Loading Files

    12. "SYSTEM" mode 12.6.2.1 Loading files The various data backed up in the controller's internal flash ROM can be loaded back into the controller's internal memory. NOTE If the data in the internal memory is destroyed for any reason, it can be restored by loading the backup data from the internal flash ROM.
  • Page 366 12. "SYSTEM" mode Valid keys and submenu descriptions in "SYSTEM>BACKUP>FROM>LOAD" mode are shown below. Valid keys Menu Function .ALL Files are loaded as ALL files. .PGM Only program files are loaded. .PNT Only point files are loaded. .SFT Only shift files are loaded. .HND Only hand files are loaded.

  • Page 367: Saving Files

    12. "SYSTEM" mode 12.6.2.2 Saving files The data in the controller's internal memory are saved as ALL files on the flash ROM. The data cannot be saved separately. If data is already saved, the new data cannot be saved until the files are initialized. NOTE If the data in the internal memory is destroyed for any reason, it can be restored by loading the backup data from the internal flash ROM.

  • Page 368: Initializing The Files

    12. "SYSTEM" mode 12.6.2.3 Initializing the files The data saved on the controller's flash ROM can be initialized. NOTE If the data in the internal memory is destroyed for any reason, it can be restored by loading the backup data from the internal flash ROM. We rec- ommend backing up the data in the internal flash ROM before starting the robot system.

  • Page 369: Monitor" Mode

    13. "MONITOR" mode 13. "MONITOR" mode The "MONITOR" mode displays the I/O status regardless of the current mode and level. The "MONITOR" mode display is overlapped onto the screen during normal operation. So the robot controller can still be operated even with the monitor screen displayed. NOTE I/O ports that do not actually exist are also displayed.
  • Page 370 13. "MONITOR" mode 3) Press again to display other monitor screens. Pressing shifts the monitor screen in the following sequence. DI monitor → DO monitor → MO monitor → LO/TO monitor → SI monitor → SO monitor → SIW monitor → SOW monitor → Variable monitor → Task monitor → Current monitor →...
  • Page 371 13. "MONITOR" mode ■ Example of task information display MANUAL>POINT 50% [MG][S0H0J] _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ x _ _ _ _ _ _ _ _ y _ _ _ _ _ _ _ _ z _ _ _ _ _ _ _ _ _ r _ _ _ Task monitor:Line(Status),Pri T1 = 6(RUN),32 T5 =...

  • Page 372: Utility" Mode

    14. "UTILITY" mode 14. "UTILITY" mode The "UTILITY" mode can be entered from any other mode regardless of the mode level. NOTE The current internal controller temperature is displayed on the right end of the 3rd line. [Procedure] Chapter 1) Press The "UTILITY"...
  • Page 373 14. "UTILITY" mode Valid keys and submenu descriptions in "UTILITY" mode are shown below. Valid keys Menu Function MOTOR Turns the motor power and servo on and off. SEQUENC Prohibits or permits executing the sequence program. ARMTYPE Sets the arm hand type. (Valid only on SCARA robots) RST.DO Clears the output port.

  • Page 374: Canceling Emergency Stop; Motor Power And Servo On/Off

    14. "UTILITY" mode 14.1 Canceling emergency stop; Motor power and servo on/off 14.1.1 Canceling emergency stop Emergency stop must be cancelled to turn the servo on and operate the robot again in the following cases. (1) When the emergency stop button was released after pressing the emergency stop button.

  • Page 375: Motor Power And Servo On/Off

    14. "UTILITY" mode 14.1.2 Motor power and ser vo on/off This is usually used with the motor power turned on. This operation is performed after emergency stop has been cancelled or when turning the servo on/off temporarily in order to perform direct teaching. CAUTION At axes with brakes, the brake can be released by pressing (Free)
  • Page 376 14. "UTILITY" mode 4) To set the servo of each axis to "On", "Off" or "Free", select the axis with the cursor ( ↑ / ↓ ) keys. When setting the servo to "On", the servo power for the axis must be turned on beforehand by the operation in step 2.

  • Page 377: Overload Error Reset And Motor And Servo Power On/Off

    14. "UTILITY" mode 14.2 Overload error reset and motor and servo power on/off 14.2.1 Emergency stop reset An emergency stop status is established when an overload error occurs. The procedure for resetting an emergency stop status is given in section "14.1.1 Canceling emergency stop". 14.2.2 Overload error reset After resetting the emergency stop status, the overload error must be reset in order to...

  • Page 378: Enabling/Disabling The Sequence Execution Flag

    14. "UTILITY" mode 14.3 Enabling/disabling the sequence execution flag To enable or disable execution of sequence programs, proceed as follows. NOTE The following conditions must be satisfied before executing a sequence program. 1. An object program must be made for sequence execution. 2.

  • Page 379: Resetting The Output Ports

    14. "UTILITY" mode 14.4 Resetting the output ports This resets the general-purpose output ports DO2() to DO27()/MO2() to MO27()/LO0()/ TO0()/SO2() to SO27()/SOW(2) to SOW(15). [Procedure] 1) Press (RST.DO) in "UTILITY" mode. A confirmation message appears on the guideline. ■ Resetting the output ports Chapter UTILITY >RST.DO...

  • Page 380: Changing The Execution Level

    14. "UTILITY" mode 14.5 Changing the execution level Program execution levels can be set as shown in the table below. However, the following commands are usable only when return-to-origin is complete. Movement commands : MOVE, MOVE2, MOVEI, MOVEI2, DRIVE, DRIVE2, DRIVEI, DRIVEI2, PMOVE, PMOVE2, PATH START Position acquisition command : WHERE, WHERE2, WHRXY, WHRXY2 NOTE...

  • Page 381: Changing The Execution Level

    14. "UTILITY" mode 14.5.1 Changing the execution level To change the execution level, proceed as follows. [Procedure] 1) Press ) twice to enter "UTILITY" mode, then press (EXECUTE). ■ Changing the execution level (1) Chapter UTILITY Date,Time : 06/06/01,12:36:37 (36°C) Execut level: LEVEL7 Access level: LEVEL0 EXECUTE ACCESS...

  • Page 382: Displaying The Help Message

    14. "UTILITY" mode 14.5.2 Displaying the Help message See the help message as needed. [Procedure] 1) Press (HELP). The first page of the Help screen appears. (NEXT P.) or cursor ( ↓ ) key to refer to the next page or press Press (PREV.

  • Page 383: Changing The Access Level (Operation Level)

    14. "UTILITY" mode 14.6 Changing the access level (operation level) Once the robot system is installed, anyone can change its program and point data. However, unauthorized changing of such data can be a source of trouble. To prevent such problems, the robot controller can be set to operating levels that permit or prohibit changing program and point data.

  • Page 384: Entering The Password

    14. "UTILITY" mode 14.6.1 Entering the password The password must be entered in order to change the access level. [Procedure] 1) Press (ACCESS) in "UTILITY" mode. A message "Enter password" appears on the guideline. Enter with "LVL" here and press Chapter ■...

  • Page 385: Changing The Access Level

    14. "UTILITY" mode 14.6.2 Changing the access level Change the access level as needed. [Procedure] 1) Set the access level with (LEVEL0) to (LEVEL3). ■ Setting the access level (3) UTILITY>ACCESS Chapter Access level: LEVEL2 LEVEL0 LEVEL1 LEVEL2 LEVEL3 HELP 4-287...

  • Page 386: Displaying The Help Message

    14. "UTILITY" mode 14.6.3 Displaying the Help message See the help message as needed. [Procedure] 1) Press (HELP). The first page of the Help screen appears. (NEXT P.) or cursor ( ↓ ) key to refer to the next page or press Press (PREV.

  • Page 387: Chapter 5 Parallel I/O Interface

    Chapter 5 PARALLEL I/O INTERFACE Contents Standard I/O interface overview ID setting Connector I/O signals Connector pin numbers Connecting the power supply 1.4.1 NPN/PNP power connector wiring Typical input signal connection Typical output signal connection 5-10 Dedicated I/O signals 5-11 1.7.1 Dedicated input signals 5-11...

  • Page 389: Standard I/O Interface Overview

    1. Standard I/O interface over view 1. Standard I/O interface over view To connect the RCX controller to an external device such as a PLC, signal input/output DIO option boards are available. Up to two DIO option boards can be installed in each unit of the RCX22 series.

  • Page 390: Id Setting

    1. Standard I/O interface over view ID setting Use the DIP switch on the DIO option board to set the board ID (1 to 4). This ID determines the correspondence between the I/O connector pins and the controller I/O signals. CAUTION When using two or more DIO option boards, set different IDs so that they do not overlap.

  • Page 391: Connector I/O Signals

    1. Standard I/O interface over view Connector I/O signals ■ I/O signals when ID = 1 Signal Remarks DI01 Servo ON Dedicated input DI10 Sequence program control Dedicated input DI03 Step run Dedicated input CHK1 Check input 1 Shorted to CHK2 DI05 I/O command run Dedicated input...
  • Page 392 1. Standard I/O interface over view ■ I/O signals when ID = 2, 3 or 4 Signal Spare DI40 DI70 DI120 General-purpose input Spare DI41 DI71 DI121 General-purpose input Spare Spare Spare DI50 DI100 DI130 General-purpose input DI51 DI101 DI131 General-purpose input DI52 DI102...
  • Page 393 1. Standard I/O interface over view ■ Pinout tables STD.IO DI01 Servo ON 26 DI12 DI10 SEQ control 27 DI13 AUTO DI03 STEP-R 28 DI14 ORIGIN CHK1 Check input 1 29 DI15 RESET DI05 IO command 30 DI16 MANUAL ABS (absolute) DI06 (Spare) 31 DI17...

  • Page 394: Connector Pin Numbers

    1. Standard I/O interface over view Connector pin numbers ■ Cable connector pin numbers as viewed from solder side Chapter Connector shell No. 10350-52A0-008 Sumitomo 3M Connector plug No. 10150-3000PE Sumitomo 3M...

  • Page 395: Connecting The Power Supply

    1. Standard I/O interface over view Connecting the power supply Connect a 24V DC power supply to the power connector on the DIO option board. Use the connector that comes with the DIO option board to make the wiring. ■ Power connector (viewed from cable insertion side) Chapter Connector type No.

  • Page 396: Npn/Pnp Power Connector Wiring

    1. Standard I/O interface over view 1.4.1 NPN/PNP power connector wiring l Length of exposed wire lead Strip the wire to expose 7 mm of bare lead. l Wiring Terminate the wiring as shown in the following photos. ■ When using the lever to make the connection Chapter (1) Using your finger, press (2) Insert the wire lead all the...

  • Page 397: Typical Input Signal Connection

    1. Standard I/O interface over view Typical input signal connection ■ NPN specifications DC24V Chapter ■ PNP specifications DC24V...

  • Page 398: Typical Output Signal Connection

    1. Standard I/O interface over view Typical output signal connection ■ NPN specifications DC24V Chapter CAUTION • When an inductive load (solenoid, relay, etc.) is used, always connect a diode in parallel as a surge killer. • In the case of NPN specifications, do not short DO output to DC 24v since this will damage the internal circuitry.

  • Page 399: Dedicated I/O Signals

    1. Standard I/O interface over view Dedicated I/O signals These signals are used to control the robot controller from an external device. 1.7.1 Dedicated input signals These input signals are used to control the robot controller from an external device. The input status can be checked from the robot program or sequence program.
  • Page 400 1. Standard I/O interface over view DI10 Sequence permit Allows or prohibits the execution of a sequence program. In "AUTO" or "MANUAL" mode, a sequence program is executed while this signal is on. However, no sequence program is executed unless a sequence object (complied sequence program) exists and "Sequence"...

  • Page 401: Dedicated Output Signals

    1. Standard I/O interface over view DI17 ABS (absolute) reset Performs absolute reset on the absolute specification axes. In MANUAL mode, at the rising edge of this signal, absolute reset is performed on each axis in the return-to-origin order specified by parameter. If no absolute specification axis exists, an error "0.11: ABS.
  • Page 402 1. Standard I/O interface over view DO10 "AUTO" mode This signal is on while the controller is in "AUTO" mode. DO11 Return-to-origin complete This signal is on when return-to-origin has been completed on all incremental axes and semi-absolute axes and absolute reset has been performed on all absolute axes. DO12 Sequence program in progress This signal is on while a sequence program is being executed.

  • Page 403: General-Purpose I/O Signals

    1. Standard I/O interface over view General-purpose I/O signals These general-purpose I/O signals are available to the user and can be connected to external devices such as sensors, valves and PLC. The I/O status can be checked from the robot program or sequence program. Any desired value can be output from the general- purpose outputs.

  • Page 404: Dedicated I/O Signal Timing Charts

    1. Standard I/O interface over view ■ The SWI command was executed by (DIRECT) in "AUTO" mode. (Reset (off) does not occur if the SWI statement was executed in the program.) ■ The online commands @RESET, @INIT PGM, @INIT MEM, @INIT ALL, or @SWI were executed.
  • Page 405 1. Standard I/O interface over view ■ Turning the power on (while emergency stop input is off) Approx. 3 sec. Control power DI00 Emergency stop (in SAFETY ready signal connector) Emergency stop DO00 contact monitor MPRDY Main power ON (in SAFETY ready Chapter connector)

  • Page 406: Emergency Stop And Servo On

    1. Standard I/O interface over view 1.9.2 Emergency stop and ser vo ON ■ Emergency stop and ser vo ON DI00 Emergency stop (in SAFETY ready signal connector) DO00 Emergency stop contact monitor MPRDY Main power ON (in SAFETY ready connector) Main power Chapter...

  • Page 407: Abs (Absolute) Reset

    1. Standard I/O interface over view 1.9.3 ABS (absolute) reset ■ Absolute reset Conditions: MANUAL mode and servo ON DI00 Emergency stop (in SAFETY ready signal connector) DO00 Emergency stop contact monitor DO02 Servo-on state DO03 Alarm Chapter DO10 AUTO mode DI11 Interlock input (in SAFETY...

  • Page 408: Mode Switching

    1. Standard I/O interface over view 1.9.4 Mode switching ■ Mode switching DI13 AUTO mode switching DI16 MANUAL mode switching DO10 AUTO mode • "AUTO" and "MANUAL" modes can be switched independent of DI00 (Emergency Chapter stop ready signal) and DI11 (Interlock input) status. •...

  • Page 409: Automatic Operation

    1. Standard I/O interface over view 1.9.5 Automatic operation ■ Automatic operation DI00 Emergency stop (in SAFETY ready signal connector) DO00 Emergency stop contact monitor DO02 Servo-on state DO03 Alarm Chapter DO10 AUTO mode DI11 Interlock input (in SAFETY connector) DI12 Auto operation start DO13...

  • Page 410: Ratings

    2. Ratings 2. Ratings CAUTION See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications. 1. Input ■ NPN specifications DC input (positive common type) Method Photocoupler insulation method Chapter Input power DC 24V±10%, 7mA/point OFF voltage: 20.0V min (2.0mA) Load ON voltage: 3.0V max (5.0mA)

  • Page 411: Precautions

    3. Precautions 3. Precautions 1. When using a dual-lead proximity sensor as an input signal, check whether or not it is within input signal specifications. If the sensor has a high residual voltage during on and off, this might cause malfunctions.
  • Page 412 MEMO 5-24...

  • Page 413: Chapter 6 Safety I/O Interface

    Chapter 6 SAFETY I/O INTERFACE Contents SAFETY I/O interface overview Power Connector I/O signals Connector terminal numbers Emergency stop input signal connections Dedicated input signal connections 6-10 Dedicated output signal connections 6-11 Input signal description 6-13 Meaning of output signals 6-14...

  • Page 415: Safety I/O Interface Overview

    1. SAFETY I/O interface over view 1. SAFETY I/O interface over view The robot controller is provided with SAFETY I/O interfaces for compatibility with the system used by the customer. A description of the I/O terminals and connection methods are explained below. Connect the I/O terminals correctly for effective operation. The input signal is referred to as DI and the output signal as DO.

  • Page 416: Connector I/O Signals

    1. SAFETY I/O interface over view Connector I/O signals I/O symbol Name Remarks DI.COM Dedicated input common INTERLOCK (DI11) Interlock input Photocoupler input DC24V, 7mA SERVICE (DI02) SERVICE mode input Photocoupler input DC24V, 7mA DO.COM Dedicated output common Mechanical relay contact output MPRDY Main power supply ready DC24V, 1A...

  • Page 417: Connector Terminal Numbers

    1. SAFETY I/O interface over view Connector terminal numbers ■ Connector exploded view Chapter...

  • Page 418: Emergency Stop Input Signal Connections

    1. SAFETY I/O interface over view Emergency stop input signal connections CAUTION External emergency stop and the RPB emergency stop button are disabled when pins 11 and 12 on the SAFETY connector are directly shorted to each other. Make connections to ensure the system including the robot controller will always operate safely.
  • Page 419 1. SAFETY I/O interface over view ■ Emergency stop input signal connection (2) Connection when using the RPB-E (provided with an enable switch) with an external emergency stop circuit Enable switch RPB-E RPB connector Selector Chapter 1 DI.COM External service mode 3 SERVICE stop circuit 8 KEY1...
  • Page 420 1. SAFETY I/O interface over view ■ Emergency stop input signal connection (3) Connection when using the standard RPB with an external emergency stop circuit RPB connector External service mode stop circuit 1 DI.COM Chapter External 24V power supply 3 SERVICE SAFETY connector 13 E-STOPIN1...
  • Page 421 1. SAFETY I/O interface over view Operation description: • The RPB emergency stop switch and external emergency stop switch are connected in series. a. In normal operation, E-STOP24V is connected to E-STOPRDY via the RPB emergency stop switch and SAFETY connector, and the controller internal motor power relay turns on.
  • Page 422 1. SAFETY I/O interface over view CAUTION External emergency stop and the RPB emergency stop button are disabled when pins 11 and 12 on the SAFETY connector are directly shorted to each other. Make connections to ensure the system including the robot controller will always operate safely.
  • Page 423 1. SAFETY I/O interface over view Operation description: • The RPB-E emergency stop switch and external emergency stop switch are connected in series. The enable switch is also connected in series to the RPB-E emergency stop switch, but can be bypassed with the service key switch. 1.

  • Page 424: Dedicated Input Signal Connections

    1. SAFETY I/O interface over view Dedicated input signal connections CAUTION See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications. ■ NPN specifications Photocoupler 1 DI.COM External 24V power supply 3 SERVICE Chapter 2 INTERLOCK ■...

  • Page 425: Dedicated Output Signal Connections

    1. SAFETY I/O interface over view Dedicated output signal connections ■ NPN specifications 4 DO.COM 5 MPRDY Mechanical relay External 24V power supply Chapter 6 SERVO OUT Photorelay Main power supply on/off circuit 6-11...
  • Page 426 1. SAFETY I/O interface over view ■ PNP specifications 4 DO.COM 5 MPRDY Mechanical relay External 24V power supply Chapter 6 SERVO OUT Photorelay Main power supply on/off circuit 6-12...

  • Page 427: Input Signal Description

    1. SAFETY I/O interface over view Input signal description CAUTION See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications. NOTE • NPN and PNP specifications are determined by the DI.COM and DO.COM inputs. • A 7mA input current is required. 1.

  • Page 428: Meaning Of Output Signals

    1. SAFETY I/O interface over view 3. DI00 Emergency stop inputs (E-STOP24V, E-STOPRDY: DI00, E-STOPIN1, 2, 3, 4) Emergency stop signal inputs are used when making the interlock circuit to ensure the system including the robot controller will operate safely. Contacts must be closed for the system to function normally.

  • Page 429: Chapter 7 Rs-232C Interface

    Chapter 7 RS-232C INTERFACE Contents Communication overview Communication function overview Communication specifications Connector Transmission mode and communication parameters 7-5 Communication flow control 3.3.1 Flow control during transmit 3.3.2 Flow control during receive Other caution items Character code table Connecting to a PC 7-10...

  • Page 431: Communication Overview

    1. Communication over view 1. Communication over view Chapter The robot controller can communicate with external devices in the following two modes using the RS-232C interface. These modes can be used individually or jointly in a variety of applications using the RS- 232C interface.

  • Page 432: Communication Function Overview

    2. Communication function over view 2. Communication function over view Chapter There are two types of robot controller communication modes, "ONLINE" and "OFFLINE". "OFFLINE" mode In "OFFLINE" mode, the communication between the robot and external unit is executed with SEND commands in the program. •...

  • Page 433: Communication Specifications

    3. Communication specifications 3. Communication specifications Chapter Connector The RS-232C interface connector is located on the front panel of the robot controller as shown below. ■ RS-232C interface OP.1 RGEN RCX222 E-STOP MOTOR TEMP ACIN OP.2 SAFETY EXT.E-STOP PIN11-12 SD/COM Specifications of the RS-232C interface connector installed on the robot controller are shown below.
  • Page 434 3. Communication specifications 3. Connection cable examples a. Cable capable of hardware busy control Chapter Controller External device b. Cable not using control wire Controller External device * For signal wire layout on the external device, refer to the instruction manual for that device.

  • Page 435: Transmission Mode And Communication Parameters

    3. Communication specifications Transmission mode and communication parameters Chapter Transmission mode Full duplex Synchronous system Start-stop synchronization 4800, [9600], 19200, 38400, 57600 Baud rate [bps] Character length [bit] [8], 7 Stop bit [bit] [1], 2 [Odd], even, none Parity Termination code [CRLF], CR Flow control [XON/XOFF], RTS/CTS, none...

  • Page 436: Communication Flow Control

    3. Communication specifications Communication flow control Software flow control (XON/XOFF) and hardware flow control (RTS/CTS) methods can be Chapter selected by specifying the communication parameters. NOTE When flow control is set to "XON/XOFF" or "none", CTS status does not affect transmission.

  • Page 437: Other Caution Items

    3. Communication specifications Other caution items 1) The controller allows receiving data as long as the receive buffer has a free area. Chapter The receive buffer is cleared in the following cases. • When the power was turned off and turned back on. •...
  • Page 438 ■ Problems caused by poor connections Improper ground wire connection Chapter might cause electrical shock if connector metal parts are touched. External device * RCX222 AC100 to 200V Connector metal parts Potential Malfunction or breakdown might Ground wire was not at ground Failure to use occur when making connection potential or not connected.

  • Page 439: Character Code Table

    3. Communication specifications Character code table HEX. Chapter ー ﾀ ﾐ 。 ｱ ﾁ ﾑ " 「 ｲ ﾂ ﾒ STOP XOFF 」 ｳ ﾃ ﾓ 、 ｴ ﾄ ﾔ ｵ ﾅ ﾕ & ｦ ｶ ﾆ ﾖ ｧ ｷ ﾇ...

  • Page 440: Connecting To A Pc

    3. Communication specifications Connecting to a PC The following are examples of connecting to a PC using the YAMAHA communication Chapter cable. 1) Using the PC's COM port ■ COM port * Communication cable and conversion adapter are options. OP.1...
  • Page 441 Chapter 8 SPECIFICATIONS Contents Controller basic specifications Controller basic functions Controller external view RCX222 external view RCX222HP external view RPB basic specifications and external view 8-6...

  • Page 443: Controller Basic Specifications

    Acceleration/deceleration setting Setting by accel coefficient and decel. rate parameters (1% steps) (Can be changed by programming.) Program language YAMAHA BASIC conforming to JIS B8439 (SLIM language) Multitask 8 tasks maximum Sequence program 1 program 364KB (Total of program and point data) (Available size for...
  • Page 444 1. Controller basic specifications Item RCX222 RCX222 HP Input Dedicated 10 points, general-purpose 16 points STD.DIO Output Dedicated 12 points, general-purpose 8 points Emergency stop input Service mode input Input Chapter Interlock input SAFETY Enable switch input (enabled only when RPB-E is used)

  • Page 445: Controller Basic Functions

    2. Controller basic functions 2. Controller basic functions Function Description AUTO mode (Major functions: program execution, step execution, etc.) PROGRAM mode (Major functions: program creation and editing, etc.) Chapter Operation modes MANUAL mode (Major functions: jog movement, point data teaching, etc.) SYSTEM mode (Major functions: parameter editing, data initializing, etc.) UTILITY mode (Major functions: motor power supply control, etc.) Array declaration commands (DIM statement)

  • Page 446: Controller External View

    Bottom view 6-M3 (22) OP.1 RCX222 RGEN E-STOP MOTOR TEMP ACIN OP.2 SAFETY EXT.E-STOP PIN11-12 SD/COM unit: mm ■ RCX222 with RG2 option installed Bottom view 6-M3 (22) OP.1 RCX222 RGEN E-STOP MOTOR RGEN TEMP ACIN TEMP OP.2 SAFETY EXT.E-STOP...

  • Page 447: Rcx222Hp External View

    3. Controller external view RCX222HP external view ■ RCX222HP (High power version) Bottom view Chapter 6-M3 (22) OP.1 RCX222 RGEN E-STOP MOTOR TEMP ACIN OP.2 SAFETY EXT.E-STOP PIN11-12 SD/COM unit: mm ■ RCX222HP with RG2 option installed Bottom view 6-M3 (22) OP.1...

  • Page 448: Rpb Basic Specifications And External View

    ■ RPB basic specifications Item RPB-E Chapter Liquid crystal display (40 characters × 15 lines) Display screen * Effective number of lines for RCX222: 8 lines Emergency stop button Normally-closed contract (with lock function) Enable switch Not provided 3-position type...
  • Page 449 4. RPB basic specifications and external view ■ RPB-E external view Selector switch Chapter 50.2 Enable switch unit: mm...
  • Page 450 MEMO...
  • Page 451 Chapter 9 TROUBLESHOOTING Contents Error Messages Robot controller error messages [ 0] Warnings and messages [ 1] Warnings (error history entry) [ 2] Robot operating area errors [ 3] Program file operating errors 9-10 [ 4] Data entry and edit errors 9-12 [ 5] Robot language syntax (compiling) errors 9-13...

  • Page 453: Error Messages

    1. Error Messages 1. Error Messages Robot controller error messages When an error occurs, an error message appears on the message line (second line) of the RPB screen. Error messages comprise the following elements. Chapter 12.1: Emg.stop on Message Error classification No. Error No.
  • Page 454 = ON *3 ... Ser vo stop • Turn the power ON again in "UTILITY" mode to reset. DO 02a (SERVO ON) = OFF DO 03a (ALARM) = ON CAUTION When an error cannot be cancelled, contact your YAMAHA sales dealer.

  • Page 455: 0] Warnings And Messages

    [ 0] Warnings and messages [ 0] Warnings and messages : Undefined error Code : &H0000 Meaning/Cause : Undefined system error. Action : Contact our company. Chapter : Origin incomplete * If the cause of the Origin incomplete error can be pinpointed, an error code will be attached in parentheses at the end.
  • Page 456 [ 0] Warnings and messages : Busy Code : &H0005 Meaning/Cause : Data is being saved on a memory card or internal ROM. Action : --- : Program suspended by "HOLD" Chapter Code : &H0006 Meaning/Cause : Program execution was interrupted by a HOLD command. Action : Press to cancel hold condition and start running the...

  • Page 457: 1] Warnings (Error History Entry)

    [ 1] Warnings (error histor y entr y) 0.14 : Stop executed Code : &H000E Meaning/Cause : Stop was commanded while executing a direct command so operation was stopped. Action : --- 0.15 : Can't execute while servo on Chapter Code : &H000F Meaning/Cause : Writing in "ALL"...

  • Page 458: 2] Robot Operating Area Errors

    [ 2] Robot operating area errors 1.34 ABS.Backup fin Code : &H0122 Meaning/Cause : Finished making backup of robot position data during power cutoff. Action : --- Chapter [ 2] Robot operating area errors : Over soft limit Code : &H0201 Meaning/Cause : Soft limit value preset in the parameter for operation position was exceeded.
  • Page 459 [ 2] Robot operating area errors : Movable range cal. failed Code : &H0208 Meaning/Cause : a. Calculation of movement path failed. b. Current position is not within movement range. Action : 1. Change to a correct movement point. 2. Change current position to within movement range. Chapter : Overlap soft limit Code...
  • Page 460 [ 2] Robot operating area errors 2.19 : LEFTY now selected Code : &H0213 Meaning/Cause : On SCARA type robots, arm will now use the left-handed system for starting Cartesian movement. Action : --- 2.20 : Illegal hand type Chapter Code : &H0214 Meaning/Cause : An R-axis hand definition was attempted on a robot not having...

  • Page 461: 3] Program File Operating Errors

    [ 3] Program file operating errors 2.26 : Collision in W. carrier Code : &H021A Meaning/Cause : Failed to move the double-carrier axis, because one carrier will interfere with the other carrier. Action : If this error occurred during MANUAL mode: 1.
  • Page 462 [ 3] Program file operating errors [ 3] Program file operating errors : Too many programs Code : &H0301 Meaning/Cause : Making of a new program was attempted after number of programs exceeded 100. Action : Make a new program after deleting an unnecessary program. Chapter (Make a backup if necessary.) : Program already exists...
  • Page 463 [ 3] Program file operating errors 3.10 : Object program doesn't exist Code : &H030A Meaning/Cause : The object program name is not registered. Action : Make an object program. 3.11 : Cannot use function Chapter Code : &H030B Meaning/Cause : Unable to execute or unneeded hierarchy was selected. Action : --- 3.12 : Cannot overwrite...

  • Page 464: 4] Data Entry And Edit Errors

    [ 4] Data entr y and edit errors 3.17 : Cannot erase current program Code : &H0311 Meaning/Cause : Currently selected program cannot be deleted. Action : 1. Cancel deletion of program. 2. Change the specified program. 3.18 : Duplicated Breakpoint Chapter Code : &H0312...

  • Page 465: 5] Robot Language Syntax (Compiling) Errors

    [ 5] Robot language syntax (compiling) errors [ 5] Robot language syntax (compiling) errors : Syntax error Code : &H0501 Meaning/Cause : Syntax error found in program. Action : Change to the correct syntax. Chapter : Data error Code : &H0502 Meaning/Cause : Data entered in wrong format.
  • Page 466 [ 5] Robot language syntax (compiling) errors : Illegal axis name Code : &H0507 Meaning/Cause : Robot axis name is wrong. Action : Change to the correct axis name. : Illegal order Code : &H0508 Chapter Meaning/Cause : Wrong bit specified for input/output port. Action : Change to ascending order starting from right.
  • Page 467 [ 5] Robot language syntax (compiling) errors 5.16 : WEND without WHILE Code : &H0510 Meaning/Cause : There is no WHILE statement corresponding to the WEND statement. Action : 1. Delete the WEND statement. 2. Add a WHILE statement corresponding to the WEND statement.
  • Page 468 [ 5] Robot language syntax (compiling) errors 5.22 : IF without ENDIF Code : &H0516 Meaning/Cause : There is no ENDIF statement corresponding to IF statement. Action : 1. Delete the IF statement. 2. Add an ENDIF statement corresponding to the IF statement. 5.23 : ELSE without ENDIF Chapter Code...
  • Page 469 [ 5] Robot language syntax (compiling) errors 5.29 : Undefined array Code : &H051D Meaning/Cause : Assignment/reference was made for undefined array. Action : Define the undefined array. 5.30 : Undefined identifier Chapter Code : &H051E Meaning/Cause : An undefined identifier was used. Action : Define an identifier for undefined identifier.
  • Page 470 [ 5] Robot language syntax (compiling) errors 5.37 : Specification mismatch Code : &H0525 Meaning/Cause : Cannot execute command under present robot specifications. Action : Change command for execution. 5.38 : Illegal option Chapter Code : &H0526 Meaning/Cause : Error is present in command option. Action : Change to a correct option.
  • Page 471 [ 5] Robot language syntax (compiling) errors 5.44 : Cannot use external label Code : &H052C Meaning/Cause : Command cannot use an external label. Action : 1. Change to an internal label. 2. Change execution command. 5.45 : Illegal program name Chapter Code : &H052D...
  • Page 472 [ 5] Robot language syntax (compiling) errors 5.49 : SELECT without END SELECT Code : &H0531 Meaning/Cause : There is no END SELECT statement corresponding to SELECT statement. Action : 1. Delete the SELECT statement. 2. Add an END SELECT statement corresponding to the SELECT Chapter statement.

  • Page 473: 6] Robot Language Execution Errors

    [ 6] Robot language execution errors 5.55 : ELSEIF without ENDIF Code : &H0537 Meaning/Cause : There is no ENDIF statement corresponding to ELSEIF statement. Action : 1. Delete the ELSEIF statement. 2. Add an ENDIF statement corresponding to the ELSEIF statement.
  • Page 474 [ 6] Robot language execution errors : Subscript out of range Code : &H0606 Meaning/Cause : A subscript of an array variable has exceeded the range defined in DIM statement. Action : Change the subscript of array variable to within the defined range.
  • Page 475 [ 6] Robot language execution errors 6.13 : RESTART without SUSPEND Code : &H060D Meaning/Cause : RESTART command was executed for a task not executed by SUSPEND command. Action : Confirm execution of SUSPEND command. 6.14 : Task number error Chapter Code : &H060E...
  • Page 476 [ 6] Robot language execution errors 6.19 : SUB without CALL Code : &H0613 Meaning/Cause : SUB command was executed without executing CALL command. Action : Confirm execution of CALL command. 6.20 : Not execute CALL Chapter Code : &H0614 Meaning/Cause : CALL command was not executed.
  • Page 477 [ 6] Robot language execution errors 6.26 : No sufficient memory for OUT Code : &H061A Meaning/Cause : Failed to run an OUT command due to insufficient memory caused by multiple OUT commands that were run in succession. Action : Check the number of OUT commands. The maximum number of OUT commands that can be run in parallel is 16.

  • Page 478: 9] Memory Errors

    [ 9] Memor y errors 6.32 : PATH execute error Code : &H0620 Meaning/Cause : Cannot execute PATH motion. a. Acceleration zone distance is too short. b. Speed is too high in the position where the direction changes. Chapter Action : 1.
  • Page 479 [ 9] Memor y errors : Memory destroyed Code : &H0903 Meaning/Cause : Error or malfunction occurred in the memory. Action : Initialize memory. : Parameter destroyed Code : &H0904 Chapter Meaning/Cause : Part or all of the parameter data has been destroyed. Action : Initialize the parameter data.
  • Page 480 [ 9] Memor y errors 9.33 : Sys. generation destroyed Code : &H0921 Meaning/Cause : Part or all of the system generation data has been destroyed. Action : Remake the system generation data correctly. 9.34 : Sys. generation mismatch Chapter Code : &H0922 Meaning/Cause : Mistake made in specifying the robot type/axis number of...

  • Page 481: System Setting Or Hardware Errors

    [10] System setting or hardware errors 9.41 : Local variable memory full Code : &H0929 Meaning/Cause : Number of local variables defined within subroutine has exceeded upper limit. Action : 1. Reduce number of local variables defined in the subroutine. 2.
  • Page 482 [10] System setting or hardware errors 10.9 : Cannot set no axis Code : &H0A09 Meaning/Cause : A no-axis setting was attempted on an axis which cannot accept it. The following axes cannot be set to no-axis. • X and Y axes except on MULTI type robots Chapter Action : 1.

  • Page 483: I/O And Option Board Errors

    [12] I/O and option board errors [12] I/O and option board errors 12.1 : Emg.stop on Code : &H0C01 Meaning/Cause : a. Emergency stop button was pressed. b. Emergency stop terminals on SAFETY connector are open Chapter (emergency stop status). c.
  • Page 484 [12] I/O and option board errors 12.11 : CC-Link communication error Code : &H0C0B Meaning/Cause : a. Error in cable for CC-Link system. b. Wrong communication setting for CC-Link system. c. Master station sequencer power is turned off, has stopped operating or is damaged.
  • Page 485 [12] I/O and option board errors 12.18 : Incorrect DeviceNet setting Code : &H0C12 Meaning/Cause : a. The MacID or communication speed setting is incorrect. Action : 1. Check the MacID and communication speed settings. 12.19 : DeviceNet link error(Explicit) Chapter Code : &H0C13...
  • Page 486 [12] I/O and option board errors 12.34 : POS.OUT Point not exist Code : &H0C22 Meaning/Cause : Comparison point data does not exist. Action : Set comparison point data correctly. 12.35 : POS.OUT Point unit error Chapter Code : &H0C23 Meaning/Cause : Comparison points 1 and 2 do not use the same unit system.

  • Page 487: Rpb Errors

    [13] RPB errors 12.75 : Illegal remote command Code : &H0C4B Meaning/Cause : a. The remote command or command data is incorrect. Action : 1. Check the remote command or command data. [13] RPB errors Chapter 13.1 : RPB communication error Code : &H0D01 Meaning/Cause : Error occurred in communication with RPB.

  • Page 488: Rs-232C Communication Errors

    [14] RS-232C communication errors [14] RS-232C communication errors 14.1 : Communication error Code : &H0E01 Meaning/Cause : a. During external communication via the RS-232C, an error occurred. Chapter b. An overrun error or framing error occurred via the RS-232C. c. Power supply for external device turned on or off after connecting communication cable with the external device.
  • Page 489 [14] RS-232C communication errors 14.21 : No return code (C/R) Code : &H0E15 Meaning/Cause : 1. Character string in 1 line exceeded 75 letters. 2. CR code (0Dh) was not added at end of line. Action : 1. Limit number of characters in 1 line to 75 letters. 2.

  • Page 490: Memory Card Errors

    [15] Memor y card errors [15] Memory card errors 15.1 : Invalid file attribute Code : &H0F01 Meaning/Cause : a. Directory was accessed. b. Read/write protected file was accessed. Chapter Action : 1. Change to a file which can be accessed. 2.
  • Page 491 [15] Memor y card errors 15.11 : Directory full Code : &H0F0B Meaning/Cause : The file storage capacity was exceeded. Action : 1. Use a new memory card. 2. Change the directory to save. 3. Delete unnecessary files. Chapter 15.12 : Disk full Code : &H0F0C Meaning/Cause : Write failed.

  • Page 492: Motor Control Errors

    [17] Motor control errors 15.23 : Aborted Code : &H0F17 Meaning/Cause : The key was pressed during reading/writing from or into memory card, and the operation halted. Action : --- Chapter 15.24 : Media hardware error Code : &H0F18 Meaning/Cause : a. Memory card is defective b.
  • Page 493 [17] Motor control errors 17.2 : Watchdog error (DRIVER) Code : &H1102 Meaning/Cause : a. Malfunction occurred in driver unit due to external noise. b. Controller is defective. Action : 1. Turn the power on again. 2. Replace the controller. Dedicated output : *2 Chapter 17.3 : Over current...
  • Page 494 [17] Motor control errors 17.5 : Over heat Code : &H1105 Meaning/Cause : Temperature in power module of driver unit exceeded 80｡C. Action : 1. Improve the equipment environment. 2. Check that cooling fan is working correctly. 3. Lower the robot duty cycle and decrease the amount of heat Chapter generated.
  • Page 495 [17] Motor control errors 17.11 : Feedback error 2 Code : &H110B Meaning/Cause : Motor cable is broken. Action : Replace the motor cable or encoder cable. Dedicated output : *2 17.16 : Over velocity 1 Chapter Code : &H1110 Meaning/Cause : Axis movement speed exceeded the limit during linear interpolation, circular interpolation or manual orthogonal movement.
  • Page 496 [17] Motor control errors 17.21 : Bad origin sensor Code : &H1115 Meaning/Cause : a. Origin sensor is defective. b. Origin sensor wiring is broken. Action : 1. Replace the origin sensor. 2. Replace the ROB I/O cable. Chapter 17.22 : Bad PZ Code : &H1116 Meaning/Cause : a.
  • Page 497 [17] Motor control errors 17.31 : Servo off Code : &H111F Meaning/Cause : Movement command was attempted in servo OFF state. Action : Change status to servo ON. 17.33 : Busy now Chapter Code : &H1121 Meaning/Cause : a. Servo-Off command was attempted while the driver was stopped.
  • Page 498 [17] Motor control errors 17.42 : Cannot reset position Code : &H112A Meaning/Cause : ABSINIT or ABSINIT2 statement was executed at a position where the current position cannot be reset. Action : Move to a position where the current position can be reset, and then execute the ABSINIT or ABSINIT2 statement.
  • Page 499 [17] Motor control errors 17.85: Backup position data error 2 Code : &H1155 Meaning/Cause : Failed to read out the robot position data during start-up of the controller. Action : Perform absolute reset. 17.90 : DRIVE2 module type error Chapter Code : &H115A Meaning/Cause : Motor specifications do not match current sensor specifications.

  • Page 500: Yc-Link (Sr1) Related Error

    [19] YC-Link (SR1) related error 17.94 : ABS. battery low voltage Code : &H115E Meaning/Cause : Battery for retaining absolute data is low or not installed. Action : 1. Replace battery. 2. Install battery. Dedicated output : DO15 (Battery alarm output) turns on when absolute battery is low. Chapter 17.112 : Current limit error Code...
  • Page 501 [19] YC-Link (SR1) related error 19.2 : OVER CURRENT Code : &H1302 Meaning/Cause : a. Short-circuit, earth fault or wire breakage occurred in motor cable. b. Motor failure. c. Controller board is defective. d. Robot number setting is incorrect. Chapter Action : 1.
  • Page 502 [19] YC-Link (SR1) related error 19.7 : P.E. COUNTER OVER Code : &H1307 Meaning/Cause : Deviation counter error. Action : − − − 19.11 : SYSTEM FAULT Chapter Code : &H130B Meaning/Cause : a. Driver was not recognized correctly at power-on. b.
  • Page 503 [19] YC-Link (SR1) related error 19.16 : ABNORMAL VOLTAGE Code : &H1310 Meaning/Cause : a. AC power line voltage is too high. b. Regenerative unit (RG1) connection is incorrect. c. Temperature of regenerative absorption resistance is too high (above 120°C). d.
  • Page 504 [19] YC-Link (SR1) related error 19.23 : ABS.BAT.L-VOLTAGE Code : &H1317 Meaning/Cause : Absolute battery voltage is less than 3.1V. Action : Replace the absolute battery. 19.24 : ABS.DATA ERROR Chapter Code : &H1318 Meaning/Cause : Absolute search for "semi-absolute" ended abnormally. Action : Register the correct stroke length (PRM102).
  • Page 505 [19] YC-Link (SR1) related error 19.28 : COORD.VAL. ERROR Code : &H131C Meaning/Cause : a. Poor connection of communication cable b. Open-circuit fault of communication cable c. Data destruction due to external noise Action : 1. Connect the communication cable correctly. 2.

  • Page 506: Major Software Errors

    [21] Major software errors 19.40 : ABS.OS ERROR Code : &H1328 Meaning/Cause : − − − Action : − − − 19.41 : ABS.RO ERROR Chapter Code : &H1329 Meaning/Cause : ROB I/O cable broke during power-off. Action : − − − 19.42 : ABS.RE ERROR Code : &H132A...
  • Page 507 [21] Major software errors 21.3 : System error (TaskID) Code : &H1503 Meaning/Cause : Software error occurred. Action : Contact our company with details of this problem. 21.4 : System error (drcom) Code : &H1504 Chapter Meaning/Cause : Software error occurred. Action : Contact our company with details of this problem.

  • Page 508: Major Hardware Errors

    [22] Major hardware errors 21.14 : DPRAM error (PTP data) Code : &H150E Meaning/Cause : 1. Failed to write PTP command data into driver. Action : 1. Replace the driver. 2. Replace the controller. 21.41 : System error (EXCEPTION) Chapter Code : &H1529 Meaning/Cause : a.
  • Page 509 [22] Major hardware errors 22.9 : Abnormal over voltage Code : &H1609 Meaning/Cause : a. Output voltage for motor power supply exceeded 420 volts. b. Regenerative unit not connected to controller. c. Regenerative unit safety device triggered due to temperature rise (120 °...
  • Page 510 [22] Major hardware errors 22.13 : Bus interface overtime Code : &H160D Meaning/Cause : Could not acquire access rights to dual port RAM. Action : Replace the controller. Dedicated output : *1 22.14 : Abnormal DRIVER unit error Chapter Code : &H160E Meaning/Cause : Error occurred in hardware.
  • Page 511 [22] Major hardware errors 22.41 : OPT.1 interface overtime Code : &H1629 Meaning/Cause : 1. Failed to acquire access privilege for interface with option board connected to option slot 1. Action : 1. Replace the option board connected to option slot 1. : 2.
  • Page 512 [22] Major hardware errors 22.50 : YC-Link disconnect Code : &H1632 Meaning/Cause : The secondary station connection test failed at primary station startup. a. The secondary station power is OFF. b. The YC-link communication cable and terminal resistor are Chapter disconnected.
  • Page 513 [22] Major hardware errors 22.54 : YC-Link parameter error Code : &H1636 Meaning/Cause : Mismatch between the secondary station parameter and the setting. a. The secondary station parameter setting was changed, or the controller was replaced. Action : 1. Verify that the correct SR1 is connected. Chapter 2.

  • Page 514: Rpb Error Messages

    1. Error Messages RPB Error Messages When a hardware error or a software error occurs in the RPB, the following messages are highlighted (shown with reversed background) on the guideline of the lowest line of the screen. RPB TRAP!! Chapter Contents : Undefined operation code was executed.
  • Page 515 1. Error Messages RPB Transmit Error!! (Time Out Error) Contents : Transmitting to controller is impossible. Cause : a. The cable is broken or disconnected. b. No response from controller due to problem in CPU unit. Action : 1. Replace RPB cable. 2.

  • Page 516: Troubleshooting

    Item Description Chapter • Controller model name and serial No. example: RCX222 + regenerative unit • Robot model name + serial No. What happened example: YK250X • Controller version No. example: V9.00 R1050 •...

  • Page 517: Acquiring Error Information

    2. Troubleshooting Acquiring error information Error history (log) information is stored inside the robot controller. The following two methods are available for checking this information. 2.2.1 Acquiring information from the RPB [Procedure] Chapter 1) Press (DIAGNOS) in "SYSTEM" mode. 2) To check controller error status, press (DIAGNOS).

  • Page 518: Troubleshooting Checkpoints

    2. Troubleshooting Troubleshooting checkpoints 1. Installation and power supply Symptom Possible cause Check items Corrective action Controller won't • Power not supplied. • Check power input • Connect power turn on even with terminal connection input terminal power supplied. (L/N/L1/N1/FG). correctly.
  • Page 519 2. Troubleshooting 2. Robot operation Symptom Possible cause Check items Corrective action Controller turns • Interlock signal. • Check the interlock • Connect the on but can't signal of the interlock signal of execute program SAFETY I/O the SAFETY I/O and manual interface connector interface...
  • Page 520 2. Troubleshooting Symptom Possible cause Check items Corrective action Position deviation • Position sensor • Move axis in • Replace motor if occurred. device is defective. emergency stop count is incorrect. and check the pulse count. • There are 2 •...
  • Page 521 2. Troubleshooting 3. I/O operation Symptom Possible cause Check items Corrective action Won't operate • No DC24V supply. • Check that DC 24V • Supply DC 24V. even when is supplied from I/O dedicated input interface connector signal is (STD.DIO). supplied.
  • Page 522 All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.
  • Page 524 882 Soude, Nakaku, Hamamatsu, Shizuoka, 435-0054, Japan Tel. 81-53-460 - 6103 Fax. 81 - 53 - 460 - 6811 Robot manuals can be downloaded from our company website. Please use the following for more detailed information. http://global.yamaha-motor.com/business/robot/ YAMAHA MOTOR CO., LTD.

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