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Yamaha RCX142 User Manual

Manual is about: 4-AXIS ROBOT CONTROLLER

Summary of RCX142

  • Page 1

    User’s manual english e yamaha 4-axis robot controller e92-ver. 1.09 rcx142.

  • Page 3: Introduction

    1 2 introduction our sincere thanks for your purchase of this yamaha robot controller. This manual explains how to install and operate the robot controller. Be sure to read this manual carefully as well as related manuals and comply with their instructions for using the yamaha robot controllers safe...

  • Page 4: Safety Precautions

    2 2 safety precautions (be sure to read before using) before using the yamaha robot controller, be sure to read this manual and related manu- als, and follow their instructions to use the robot controller safely and correctly. Warning and caution items listed in this manual relate to yamaha robot co...

  • Page 5

    3 2 [system design safety points] w warning • refer to this manual for details on the operating status of the robot controller and to related instruction manuals. Design and configure the system including the robot controller so that it will always work safely. • the robot controller has an emergenc...

  • Page 6

    4 2 [start-up and maintenance safety points] w warning • only personnel trained in safety and robot operation may operate it. • never allow anyone to enter the robot movement range when the robot controller is turned on. Serious accidents including fatal injury or death might otherwise result. • thi...

  • Page 7

    5 2 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 abnor...

  • Page 8: Overview of The Rcx Series

    6 2 overview of the rcx series the yamaha rcx series robot controllers were developed based on years of yamaha experience and proven achievements in robotics and electronics. These controllers are specifically designed to operate yamaha industrial robots efficiently and accurately. Despite their com...

  • Page 9: Contents

    I contents chapter 1 safety 1. Safety .........................................................................................1-1 1.1 safety precautions during robot operation ........................................... 1-2 1.2 safety precautions during maintenance ....................................

  • Page 10: Chapter 4 Operation

    Ii 6. Connecting the mpb programming box ...................................3-10 7. I/o connections ....................................................................... 3-11 8. Connecting a host computer ....................................................3-12 9. Connecting the absolute battery ....

  • Page 11

    Iii 9. “auto” mode .........................................................................4-25 9.1 automatic operation ......................................................................... 4-27 9.2 stopping the program ........................................................................ 4-...

  • Page 12

    Iv 11. “manual” mode ...................................................................4-71 11.1 manual movement ............................................................................ 4-74 11.2 displaying and editing point data ..................................................... 4-77 11.2.1...

  • Page 13: Chapter 5 Two-Robot Setting

    V 12.2 communication parameters ............................................................ 4-187 12.3 option parameters ....................................................................... 4-193 12.3.1 setting the area check output ..................................................................

  • Page 14

    Vi 2.2.3.1 point data input by teaching .............................................................................. 5-9 2.2.3.2 input by point data direct teaching .................................................................. 5-10 2.2.4 pallet definition ........................................

  • Page 15: Chapter 8 Rs-232C Interface

    Vii 2.7.1 general-purpose input signals ........................................................................ 6-20 2.7.2 general-purpose output signals ...................................................................... 6-20 2.7.3 general-purpose output signal reset (off) ........................

  • Page 16

    Viii [ 3] program file operating errors ................................................................................... 10-9 [ 4] data entry and edit errors ..................................................................................... 10-11 [ 5] robot language syntax (compiling) errors ....

  • Page 17: Chapter 1 Safety

    Chapter 1 safety contents 1. Safety ............................................................................................... 1-1 1.1 safety precautions during robot operation ............................................... 1-2 1.2 safety precautions during maintenance ...........................

  • Page 18: Memo

    Memo.

  • Page 19: 1. Safety

    1- 1 1 safety 1. Safety please observe all safety rules and cautions to ensure safe and correct use of the yamaha robot. Also, bear in mind that not all safety items can be listed in detail, so that accurate judgment by the operator or service personnel is essential for operating the robot and contr...

  • Page 20: 1.1

    1- 2 safety 1 1. Safety 1.1 safety precautions during robot operation a. The robot must be operated by a person who has received the proper training on safety and operation from yamaha or an authorized yamaha sales dealer. B. During operation of the robot, be sure to stay out of the work area of the...

  • Page 21: 1.4

    1- 3 1 safety 1. Safety 1.4 warning labels the warning labels shown below are affixed to the controller. To use the yamaha robot and controller safely and correctly, be sure to observe the instructions and caution on the labels. A. “electric hazard” label ! C a u t i o n electric hazard ■ this label...

  • Page 22: 2. Warranty

    1- 4 safety 1 2. Warranty the yamaha robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description: if a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this yamaha r...

  • Page 23: 3. Operating Environment

    1- 5 1 safety 3. Operating environment operating temperature the ambient temperature should be maintained within a range of 0 to 40 ° c during operation. This is the range in which continuous operation of the robot controller is guaranteed according to the initial specifications. If the robot contro...

  • Page 24: Memo

    1- 6 memo.

  • Page 25: Chapter 2 System Overview

    Chapter 2 system overview contents 1. System overview .............................................................................. 2-1 1.1 main system configuration ...................................................................... 2-1 1.2 axis definition for the rcx142 series ...................

  • Page 26: Memo

    Memo.

  • Page 27: 1. System Overview

    2- 1 2 system overview 1. System overview the rcx series controllers are designed for use with a scara robot or cartesian robot, mainly for assembly and pick-and-place applications. Applications also include various inspection instruments, sealers and spray equipment utilizing linear and circular in...

  • Page 28

    2- 2 system overview 2 1. System overview configuration 2: system for controlling one robot and auxiliary axes example: mxyx+t9+t9 axes 1 and 2 on the robot controller are used as the main robot axes and axes 3 and 4 are used as the main auxiliary axes. Fig. 2-1-2 system for controlling one robot an...

  • Page 29: 1.2

    2- 3 2 system overview 1. System overview 1.2 axis definition for the rcx142 series axis definitions for the yamaha rcx142 series robot controller are shown below. Robot controller (rc) main robot axis (m?) main robot auxiliary axis (m?) sub robot axis (s?) sub robot auxiliary axis (s?) main robot (...

  • Page 30: 2. Part Names and Functions

    2- 4 system overview 2 2. Part names and functions 2.1 rcx142 (maximum number of axes: 4 axes) fig. 2-2-1 rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy rob i/o zr op.1 op.3 op.2 op.4 200-230v~ 50-60hz max.2500va batt zr xy model. Ser. No. Manufactured facto...

  • Page 31: 3. Controller System

    2- 5 2 system overview 3. Controller system the basic block diagram of the rcx robot controller system is shown below. 3.1 rcx142 fig. 2-3-1 l n acin rgen ac/dc 24v ac/dc 5v, ± 12v xm zm rm ym motor rob i/o xy rob i/o zr safety std.Dio com op.Board op.Board op.Board op.Board cn2 cn12 heatsink th1 (f...

  • Page 32: 3.2

    2- 6 system overview 2 3.2 rcx142-t fig. 2-3-2 l n acin d power board assy driver2 board assy driver1 board assy cpu board assy rgen xm zm rm ym motor rob i/o xy rob i/o zr safety std.Dio com op.Board op.Board cn2 cn12 heatsink th1 (fg) cn8 cn5 cn7 cn5 cn5 cn4 cn2 cn1 cn1 cn3 cn1 cn3 cn4 cn6 cn7 cn4...

  • Page 33: 4. Optional Devices

    2- 7 2 system overview 4. Optional devices 4.1 mpb programming box the mpb is a hand-held device used to perform all robot operations, including manual operations, program input and editing, teaching and parameter settings. Fig. 2-4-1 emergency stop button 4.2 expansion i/o board the expansion i/o b...

  • Page 34

    2- 8 system overview 2 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 rcx142 series safely, correctly and effectively. Before beginning the work, read this user's manual thoroughly. Install t...

  • Page 35: Chapter 3 Installation

    Chapter 3 installation contents 1. Unpacking ........................................................................................ 3-1 1.1 packing box .......................................................................................... 3-1 1.2 unpacking ........................................

  • Page 36: Memo

    Memo.

  • Page 37: 1. Unpacking

    3- 1 3 installation 1. Unpacking 1.1 packing box 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. 1...

  • Page 38: 2.1

    3- 2 installation 3 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. 2.1 installation fig. 3-2-1 rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l...

  • Page 39: 2.2

    3- 3 3 installation 2. Installing the robot controller 2.2 installation methods there are 4 methods for installing the robot controller as explained below. 1) using the rubber feet (attached as standard parts) fig. 3-2-2-1 san yod enk i 2) attaching the l-type brackets (supplied as standard accessor...

  • Page 40

    3- 4 installation 3 2. Installing the robot controller 3) attaching the l-type brackets (supplied as standard accessories) to the rear fig. 3-2-2-3 rcx142 mot or xm ym zm rm pwr srv err safe ty mpb com std .Dio rge n acin p n l n rob i/o xy rob i/o zr op. 1 op. 3 op. 2 op. 4 200- 230 v~ 50- 60hz ma ...

  • Page 41: 3. Connector Names

    3- 5 3 installation 3. Connector names connector names, locations and functions are shown below. Fig. 3-3-1 rcx connectors rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy rob i/o zr op.1 op.3 op.2 op.4 200-230v~ 50-60hz max.2500va batt zr xy model. Ser. No. M...

  • Page 42: 4. Connecting to The Power

    3- 6 installation 3 4. Connecting to the power connect ring-tongue terminals to the power cable and screw them to the terminal block on the front panel of the controller as shown below. 4.1 ac200 to 230v single-phase specifications remarks wiring thickness 2.0mm 2 or more tightening torque 1.4nm gro...

  • Page 43

    3- 7 3 installation 4. Connecting to the power (3) when connected to 3 axes (cartesian robot and/or multi-axis robot) axis current sensor value x-axis 05 10 20 10 20 20 10 20 20 20 y-axis 05 05 05 10 10 20 10 10 20 20 z-axis 05 05 05 05 05 05 10 10 10 20 power capacity (va) 700 900 1200 1000 1300 16...

  • Page 44: 4.3

    3- 8 installation 3 4. Connecting to the power 4.3 installing an external leakage breaker since the robot controller drives the motors by pwm control of igbt, leakage current flows at high frequencies. This might cause the external leakage breaker to malfunction. When installing an external leakage ...

  • Page 45

    3- 9 3 installation 5. Connecting the robot cables connect the robot cables to the mating connectors on the front panel of the controller as shown below. The “xm”, “ym” and “rob i/o xy” connectors are for axes 1 and 2, while the “zm”, “rm” and “rob i/ o zr” connectors are for axes 3 and 4. The robot...

  • Page 46

    3- 10 installation 3 6. Connecting the mpb programming box as shown in the figure below, the mpb should be connected to the mpb connector on the front panel of the robot controller. If not connecting the mpb, plug an mpb terminator (supplied as an accessory) into the mpb connector. Fig. 3-6-1 mpb pr...

  • Page 47: 7. I/o Connections

    3- 11 3 installation 7. I/o connections the various input/output (i/o) signals from peripheral equipment can be connected to the robot con- troller. 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 chapte...

  • Page 48

    3- 12 installation 3 8. Connecting a host computer as a standard feature, the robot controller has an rs-232c interface port for data communication with a host computer. Most computer models having an rs-232c port can be interfaced to the robot controller, by connecting between the com connector on ...

  • Page 49

    3- 13 3 installation 9. Connecting the absolute battery the absolute batteries are fully charged at factory prior to shipping. However, the battery connectors are left disconnected to prevent discharge. After installing the controller, always be sure to connect the absolute battery as shown in this ...

  • Page 50

    3- 14 installation 3 ● parallel connection 1) connect the absolute battery connectors to the "batt xy/zr" connectors on the front right of the controller as shown below. In this case, connect the two absolute batteries each to the "batt xy" and/or "batt zr" connectors, even if not using one of the c...

  • Page 51

    3- 15 3 installation for controller equipped with regenerative unit: 1) pass the absolute battery cords along the groove of the stay so that they come out of the front of the controller. Fig. 3-9-3 rcx142 mot or xm ym zm rm pwr srv err saf ety mpb com std .Dio rgen acin p n l n rob i/o xy rob i/o zr...

  • Page 52

    3- 16 installation 3 10. Replacing the absolute battery the absolute battery will wear down and must be replaced as needed. For example, replace the bat- tery when its service life has expired or when problems with backing up data occur even when the battery charge time was long enough. Though batte...

  • Page 53

    3- 17 3 installation 11. Connecting a regenerative unit when a regenerative unit (rgu-2) is required, connect it between the rgen connector on the front panel of the controller and the rgen connector on the rgu-2 regenerative unit, by using the cable that comes with the regenerative unit. Fig. 3-11 ...

  • Page 54: 12.1 Wiring Methods

    3- 18 installation 3 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. 1) keep the i/o cables,...

  • Page 55

    3- 19 3 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 ...

  • Page 56: 13.1 Cable Connection

    3- 20 installation 3 13.Checking the robot controller operation this section explains how to check the controller operation using a special connector that comes with the controller and an applicable robot. Before beginning this check, finish making connections to the following items. • power supply ...

  • Page 57

    3- 21 3 installation c caution external emergency stop and the mpb emergency stop button are disabled when pin 13 and pin 14 are directly shorted to each other on the safety connector. Make connections to ensure the system including the robot controller will always operate safely. 13. Checking the r...

  • Page 58: 13.3 Operation Check

    3- 22 installation 3 13.3 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 “pwr” and “srv” led lamps on the front panel of the controller light up. The “err” led l...

  • Page 59: Chapter 4 Operation

    Chapter 4 operation contents 1. Operation overview ......................................................................... 4-1 2. The rcx robot controller ................................................................. 4-2 2.1 part names .............................................................

  • Page 60

    9. “auto” mode ............................................................................... 4-25 9.1 automatic operation ........................................................................... 4-27 9.2 stopping the program .........................................................................

  • Page 61

    11.“manual” mode .......................................................................... 4-71 11.1 manual movement .............................................................................. 4-74 11.2 displaying and editing point data ........................................................ 4-...

  • Page 62

    12.1.4 parameters for option boards .............................................................. 4-181 12.1.4.1 option dio setting ............................................................................... 4-182 12.1.4.2 serial i/o setting ........................................................

  • Page 63: 1. Operation Overview

    4- 1 4 operation 1. Operation overview the controller configuration and main functions are shown below. Set up the equipment as needed according to the operation to be performed. Fig. 4-1-1 operation overview parallel i/o interface robot power input external circuit ac power input terminal programmi...

  • Page 64: 2. The Rcx Robot Controller

    4- 2 operation 4 2. The rcx robot controller 2.1 part names controller front panel fig. 4-2-1 part names and layout rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy rob i/o zr op.1 op.3 op.2 op.4 200-230v~ 50-60hz max.2500va batt zr xy model. Ser. No. Manufact...

  • Page 65: 3. Mpb Programming Box

    4- 3 4 operation 3. Mpb programming box the mpb is connected to the robot controller and allows you to edit or execute robot programs. 3.1 part names fig. 4-3-1 mpb programming box q display (liquid crystal screen) e emergency stop button r mpb connector w sheet key u display contrast adjustment tri...

  • Page 66: 3.2

    4- 4 operation 4 3.2 main functions q display (liquid crystal screen) this is a liquid crystal display (lcd) with 40 characters × 8 lines, showing various types of information. The screen contrast is adjustable. W sheet keys use these keys to operate the robot or edit programs. The sheet keys are gr...

  • Page 67: 3.3

    4- 5 4 operation 3.3 connection to the robot controller connect the mpb programming box to the mpb connector on the front panel of the robot controller. Connect the cable securely since poor connections might cause malfunctions or breakdowns. Fig. 4-3-2 robot controller connection rcx142 motor xm ym...

  • Page 68: 4. Turning Power On and Off

    4- 6 operation 4 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 69: 5. Operation Keys

    4- 7 4 operation 5. Operation keys 5.1 mpb screen the mpb screen display is composed of 4 areas as shown below. 1) system line (1st line) the current mode and its hierarchy are displayed on the 1st line at the top left of the screen. Fig. 4-5-1 shows that you are in “program > edit” mode. When the m...

  • Page 70: 5.2

    4- 8 operation 4 5. Operation keys 5.2 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 fig. 4-5-2 sheet key layout control key function key data key.

  • Page 71: 5.3

    4- 9 4 operation 5. Operation keys 5.3 basic key operation 1) each operation key has 3 different functions as shown below. Use the upper or lower key as needed to enable various functions. Fig. 4-5-3 key configuration # @ , shift 1 shift 2 shift 3 2) there are 3 ways (shift 1 to shift 3) to use each...

  • Page 72: 5.4

    4- 10 operation 4 5. Operation keys 5.4 function keys to operate the mpb, 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 point pallet vel + vel - shift hand unitchg vel ++ vel -- abs.Rst coo...

  • Page 73

    4- 11 4 operation 5. Operation keys relation of function keys to menus fig. 4-5-4 function keys and menus manual 50%[mg][s0h0j] current position point pallet vel+ vel- ↓ ↓ ↓ ↓ ↓ [f1] [f2] [f3] [f4] [f5] ∧ shift hand unitchg vel++ vel— ↓ ↓ ↓ ↓ ↓ [f6] [f7] [f8] [f9] [f10] ...Upper ∨ abs.Rst coordi ↓ ↓...

  • Page 74: 5.5

    4- 12 operation 4 5. Operation keys 5.5 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. (1) mode selection keys mode : displays the mode me...

  • Page 75

    4- 13 4 operation 5. Operation keys (5) edit keys these keys are enabled when the editing cursor is displayed. Ins : toggles between insert and overwrite modes. The cursor “_” appears in overwrite mode and “ ” appears in insert mode. Del : deletes one character at the cursor position. L.Ins : insert...

  • Page 76: 5.6

    4- 14 operation 4 5. Operation keys #6+ : moves axis 6 in the + direction. #6- : moves axis 6 in the - direction. 5.6 data keys the data keys are used for data input, programming and data editing. There are 2 kinds of data keys. (1) alphanumeric keys 0 to 9 : enters numbers. A to z : enters alphabet...

  • Page 77: 6. Emergency Stop

    4- 15 4 operation 6. Emergency stop if for some reason you want to stop the robot immediately during operation, press the emergency stop button on the mpb. Pressing the emergency stop button cuts off power to the robot to stop operation. A message as shown below appears on the mpb screen. The highli...

  • Page 78: 6.1

    4- 16 operation 4 6.1 emergency stop reset to return to normal operation after emergency stop, emergency stop must be reset. 1) cancel the emergency stop button on the mpb. Emergency stop is released by turning the emergency stop button clockwise. 2) press the lower key while holding down the utilit...

  • Page 79

    4- 17 4 operation 5) press the f 1 (on) key to turn on the motor power. At the same time, the servomotor sets to hold status. The mode name “utility” on the system line (1st line) is highlighted. Fig. 4-6-5 “utility>motor” mode (2) utility >motor motor power: on d1=m1: servo d5=m5: no axis d2=m2: se...

  • Page 80: 7. Mode Configuration

    4- 18 operation 4 7. Mode configuration the robot operation mode consists of the following modes. “service” mode basic operation modes “auto” mode “manual” mode “program” mode “system” mode “di/do monitor” mode “utility” mode “service” mode can be used only when “safe” mode is enabled. 7.1 basic ope...

  • Page 81: 7.2

    4- 19 4 operation 7. Mode configuration (3) “program” mode select this mode to create and edit robot programs. Robot programs can be edited on the mpb screen. (4) “manual” mode select this mode to move the robot manually or perform point teaching. Return-to- origin and manual movement can be execute...

  • Page 82: 7.3

    4- 20 operation 4 7. Mode configuration 7.3 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 th...

  • Page 83

    4- 21 4 operation 7. Mode configuration functions are switched with the upper and lower shift keys. The menu display changes while this shift key is pressed. Fig. 4-7-3 shift keys upper lower fig. 4-7-4 function switching reset task dir vel+ vel- ↓ ↓ ↓ ↓ [f1] [f3] [f4] [f5] ∧ point direct break vel+...

  • Page 84

    4- 22 operation 4 7. Mode configuration mode hierarchy diagram f1 edit f4 vel+ f5 vel- f6 method1 f8 unitchg f9 vel++ f10 vel-- f1 m1 f2 m2 f3 m3 f4 m4 (f5 m5) (f6 m6) f11 all f1 4points f2 3points f5 simple f1 auto f1 edit f2 teach f3 jump f4 vel+ f5 vel- f6 copy f7 erase f8 unitchg f9 vel++ f10 ve...

  • Page 85

    4- 23 4 operation 7. Mode configuration f1 robot f2 axis f3 other f5 op. Brd f10 passwrd f1 edit f2 jump f1 pos.Out f2 service f3 sio f4 system f1 edit f2 jump f1 edit f2 jump f1 edit f2 jump f1 edit f2 jump f1 edit f2 jump f4 save f5 help f1 edit f2 jump f1 param f2 cmu f3 option f4 init f5 diagnos...

  • Page 86: 8. “Service” Mode

    4- 24 operation 4 8. “service” mode “service” mode can be used only when “safe” mode is enabled. Use “service” mode to perform safe maintenance work with the mpb while within the safety enclosure of the robot system. This mode can be selected by turning di02 (“service” mode) off. 8.1 operation devic...

  • Page 87: 9. “Auto” Mode

    4- 25 4 operation 9. “auto” mode “auto” mode executes robot language programs and related tasks. The initial “auto” mode screens are shown in fig. 4-9-1 and fig. 4-9-2. Fig. 4-9-1 “auto” mode (one-robot setting) auto [t1] 100% s@ ————————————————————————————————————— 1 ’***** test1 program ***** 2 s...

  • Page 88

    4- 26 operation 4 9. “auto” mode y online command execution mark when an online command is being executed, an “@” mark is displayed in the second column on the second line. This mark changes to a dot ( . ) when the online command ends. U sequence program execution mark when a sequence program is bei...

  • Page 89

    4- 27 4 operation 9. “auto” mode valid keys and submenu descriptions in “auto” mode are shown below. Robot ( + ) lower mode valid keys cursor key ( ↑ / ↓ ) page key ( / ) f1 f2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 function scrolls the program listing. Switches to other screens. Resets the program. C...

  • Page 90: 9.1

    4- 28 operation 4 9. “auto” mode 9.1 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 th...

  • Page 91: 9.2

    4- 29 4 operation 9. “auto” mode 9.2 stopping the program [procedure] 1) press the stop key during program execution to stop the program. Fig. 4-9-4 program stop screen auto [t1] 100% reset task dir vel+ vel- 2) press the esc key to display the program listing. The pointer indicates the next command...

  • Page 92: 9.3

    4- 30 operation 4 9. “auto” mode 9.3 resetting the program to restart a program stopped with the stop key from the beginning, reset the program. [procedure] fig. 4-9-5 program reset auto [t1] 100% 1 ’***** test1 program ***** 2 start *subtask,t2 3 do2(0)=0 4 wait di3(4,3,2)=3 5 move p,p0 reset task ...

  • Page 93

    4- 31 4 operation 9. “auto” mode when the program “_select” exists: 1) press the f 1 (reset) key in “auto” mode. The following message appears on the guideline when “_select” exists among the programs. Press the f 4 (yes) key to reset the selected program by switching it to “_select”, or press the f...

  • Page 94: 9.4

    4- 32 operation 4 9. “auto” mode 9.4 switching task display when a program executing multiple tasks is stopped, the program listing for each task can be displayed. [procedure] 1) press the stop key during program execution to stop the program. 2) press the esc key to display the program listing. The...

  • Page 95: 9.5

    4- 33 4 operation 9. “auto” mode 9.5 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. [procedure] 1) press the f 3 (dir) key in “auto” mode. Program information appears. A pointer is displayed on the line number o...

  • Page 96: 9.6

    4- 34 operation 4 9. “auto” mode 9.6 changing the automatic movement speed automatic movement speed for the selected robot group can be set within the range of 1 to 100%. [procedure] 1) press the f 4 (vel+) or f 5 (vel-) key in “auto” mode to change the speed in steps. Each time the f 4 (vel+) or f ...

  • Page 97

    4- 35 4 operation 9. “auto” mode valid keys and submenu descriptions in “auto > point” mode are shown below. F1 f2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f14 f15 ptp/arch/ linear a.Pos jump vel+ vel- a.Axis+ a.Axis- unitchg vel++ vel- - modify axis ← axis → switches the point number and scrolls the screen. Sw...

  • Page 98

    4- 36 operation 4 9. “auto” mode 9.7.1 ptp motion mode 1. When no auxiliary axis is specified: [procedure] 1) press the f 1 key in “auto>point” mode to display a screen like that shown below, then press the f 1 (ptp) key to select the ptp motion mode. Fig. 4-9-13 point trace screen in ptp motion mod...

  • Page 99

    4- 37 4 operation 9. “auto” mode 2. When auxiliary axis is specified: [procedure] 1) press the f 1 key in “auto>point” mode to display a screen like that shown below, then press the f 1 (ptp) key. Fig. 4-9-15 point trace screen in ptp motion mode (with auxiliary axis) auto >point [righty] 50 /100% [...

  • Page 100

    4- 38 operation 4 9. “auto” mode 9.7.2 arch motion mode 1. When no auxiliary axis is specified: [procedure] 1) press the f 1 key in “auto>point” mode to display a screen like that shown below, then press the f 2 (arch) key. Fig. 4-9-18 point trace screen in arch motion mode (with no auxiliary axis) ...

  • Page 101

    4- 39 4 operation 9. “auto” mode 2. When auxiliary axis is specified: [procedure] 1) press the f 1 key in “auto>point” mode to display a screen like that shown below, then press the f 2 (arch) key. Settings in steps 2) and 3) are not required when performing point trace using an auxiliary axis. Fig....

  • Page 102

    4- 40 operation 4 9. “auto” mode 9.7.3 linear interpolation motion mode 1. When no auxiliary axis is specified: [procedure] 1) press the f 1 key in “auto>point” mode to display a screen like that shown below, then press the f 3 (linear) key. Fig. 4-9-24 point trace screen in linear interpolation mot...

  • Page 103

    4- 41 4 operation 9. “auto” mode 2. When auxiliary axis is specified: [procedure] 1) press the f 1 key in “auto>point” mode to display a screen like that shown below, then press the f 3 (linear) key. Fig. 4-9-26 point trace screen in linear interpolation motion mode (with auxiliary axis) auto >point...

  • Page 104: 9.8

    4- 42 operation 4 9. “auto” mode 9.8 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 the f 7 (direct) key in “auto” mode. The screen switches to “auto>direct” mode and the cursor appears on the scr...

  • Page 105: 9.9

    4- 43 4 operation 9. “auto” mode 9.9 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 the...

  • Page 106

    4- 44 operation 4 9. “auto” mode 9.9.2 deleting break points break points can be deleted. Press the f 3 (search) key 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 the f 2 (cancel) key. The “...

  • Page 107: 9.10 Executing A Step

    4- 45 4 operation 9. “auto” mode 9.10 executing a step [procedure] 1) press the f 11 (step) key in “auto” mode. 2) each time this key is pressed, the command statement of the highlighted line number is executed. After execution, the pointer moves to the next line. If the command statement is a sub-r...

  • Page 108: 10. “Program” Mode

    4- 46 operation 4 10. “program” mode robot language programs can be edited, deleted and managed in “program” mode. The initial “program” mode screen is shown in fig. 4-10-1. On entering “program” mode, the currently selected program appears on the screen. Fig. 4-10-1 “program” mode q mode hierarchy ...

  • Page 109

    4- 47 4 operation 10. “program” mode valid keys and submenu descriptions in “program” mode are shown below. F1 f3 f5 f6 f7 f8 f9 f13 edit dir compile jump find find+ find- err.Rst selects the program and scrolls the screen. Switches the page display. Edits the program. Displays the program data. Com...

  • Page 110: 10.2 Program Editing

    4- 48 operation 4 10. “program” mode 10.2 program editing [procedure] 1) press the f 1 (edit) key in “program” mode. A cursor appears on the top line of a program listing as shown in fig. 4-10-2, allowing program editing. 2) use the cursor keys to move the cursor to the position to be edited and ent...

  • Page 111

    4- 49 4 operation 10. “program” mode valid keys and submenu descriptions in “program > edit” mode are shown below. Ins l.Ins del l.Del user esc key f1 f2 f3 f4 f5 f6 f7 f8 f9 select copy cut paste bs jump find find+ find- moves the cursor and scrolls the screen. Switches the page display. Switches b...

  • Page 112

    4- 50 operation 4 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 ( , >> ...

  • Page 113

    4- 51 4 operation 10. “program” mode 2) press the ins key again. The cursor changes back to a thick line (■), and the screen returns to overwrite mode. In overtype mode, the input character replaces the character at the cursor position. Fig. 4-10-5 overtype mode program >edit 3 do2(0)=0 4 wait di3(4...

  • Page 114

    4- 52 operation 4 10. “program” mode 10.2.5 deleting a line [procedure] pressing the l.Del (= lower + del ) key in the “program > edit” mode deletes one line at the cursor position. The program lines after the cursor position then move upward. For example, deleting one line on the screen in fig. 4-1...

  • Page 115

    4- 53 4 operation 10. “program” mode 10.2.7 quitting program editing press the esc key 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. 2) press the f 1 (select) key to sel...

  • Page 116

    4- 54 operation 4 10. “program” mode 10.2.10 cutting the selected lines [procedure] after selecting the lines in “10.2.8”, press the f 3 (cut) key. The data on the selected lines are cut and stored into the buffer. The “ c “ marks then disappear. Fig. 4-10-11 cutting the selected lines program >edit...

  • Page 117

    4- 55 4 operation 10. “program” mode 10.2.13 line jump [procedure] 1) in “program>edit” mode, press the f 6 (jump) key to enter “program>edit>jump” mode. The message “enter line no. > “ appears on the guideline. Fig. 4-10-13 line jump program >edit 1 ’***** test2 program ***** 2 goto *_’ 3 do2(0)=0 ...

  • Page 118

    4- 56 operation 4 10. “program” mode 10.2.14 searching a character string [procedure] 1) in “program>edit” mode, press the f 7 (find) key 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 the k...

  • Page 119: 10.3 Directory

    4- 57 4 operation 10. “program” mode 10.3 directory when the f 3 (dir) key is pressed in “program” mode, information on each program appears as shown below. Fig. 4-10-17 program information (1) program >dir > no. 1 test1 55 952 rw 2 * test2 50 907 rw 3 parts100 38 843 rw 4 test100 100 1968 rw new in...

  • Page 120

    4- 58 operation 4 10. “program” mode valid keys and submenu descriptions in “program >dir” mode are shown below. Valid keys cursor key ( ↑ / ↓ ) cursor key ( ← / → ) page key ( / ) f1 f5 f6 f7 f8 f10 f11 f15 menu new info copy erase rename attrbt object example function selects the program or scroll...

  • Page 121

    4- 59 4 operation 10. “program” mode fig. 4-10-19 registering a new program program >dir > no. Rw/ro 1 test1 55 952 rw 2 * test2 50 907 rw 3 parts100 38 843 rw 4 test100 100 1968 rw enter program name >abc123_ name line byte 3) press the key to register the program name. 10.3.3 directory information...

  • Page 122

    4- 60 operation 4 10. “program” mode 10.3.4 copying a program a program in the directory can be copied under a different name. [procedure] 1) in “program>dir” mode, use the cursor ( ↑ / ↓ ) keys to select the program to be copied. 2) press the f 6 (copy) key to enter “program>dir>copy” mode. The mes...

  • Page 123

    4- 61 4 operation 10. “program” mode 10.3.5 erasing a program unnecessary programs in the directory can be erased. [procedure] 1) in “program>dir” mode, use the cursor ( ↑ / ↓ ) keys to select the program to be erased. 2) press the f 7 (erase) key to enter “program>dir>erase” mode. A confirmation me...

  • Page 124

    4- 62 operation 4 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 the f 8 (rename) key to enter “program>dir>rename” mo...

  • Page 125

    4- 63 4 operation 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. Rw (read or write...

  • Page 126

    4- 64 operation 4 10. “program” mode 10.3.9 creating a sample program automatically this section explains the procedure of automatically creating a sample program for defin- ing user function keys which can be used in “manual” and “program” modes. [procedure] 1) in “program>dir” mode, press the f 15...

  • Page 127

    4- 65 4 operation 10. “program” mode [sample program listing] *** sample program **** '*you can change any statements * '*as you like. * '* will help you in * '*manual and program mode. * '********************************************************* *m_f1:'do(20)alternate do(20)= ~ do(20) *m_f2:'do(21)...

  • Page 128: 10.4 Compiling

    4- 66 operation 4 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. [procedure] 1) in “program>dir” mode, select the program to compile with ...

  • Page 129

    4- 67 4 operation 10. “program” mode 10.5 line jump and character string search the f 6 (jump), f 7 (find), f 8 (find+) and f 9 (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 r...

  • Page 130

    4- 68 operation 4 10. “program” mode fig. 4-10-31 registering “function” program (2) program >dir no. Rw/ro 1 test1 55 952 rw 2 *test2 50 907 rw 3 parts100 38 843 rw 4 function 1 1 rw new info name line byte 5) press the f 1 (edit) key to enter “program>edit” mode. A cursor appears on the first line...

  • Page 131

    4- 69 4 operation 10. “program” mode when registering function keys for i/o commands in “manual” mode *m_f:’ ............................... Function key number to be registered (n=1 to15) ........ Character string to be assigned to the function key (displayed on the screen). ........ Command statem...

  • Page 132

    4- 70 operation 4 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. [procedure] 1) press the f 13 (err. Rst) key in “program” mode. A confirmat...

  • Page 133: 11. “Manual” Mode

    4- 71 4 operation 11. “manual” mode point data and shift data coordinates can be defined and edited in “manual” mode. The initial “manual” mode screens are shown in fig. 4-11-1, fig. 4-11-2 and fig. 4- 11-3. Fig. 4-11-1 “manual” mode (one-robot setting) o guideline manual 50%[mg][s0h0x] s@ —————————...

  • Page 134

    4- 72 operation 4 11. “manual” mode q mode hierarchy shows the current mode hierarchy. When the highest mode (“manual” in this case) is highlighted it means the servomotor power is on. When not highlighted it means the servomotor power is off. W manual movement speed shows the robot movement speed s...

  • Page 135

    4- 73 4 operation 11. “manual” mode valid keys and submenu descriptions in “manual” mode are shown below. Valid keys jog key f1 f2 f4 f5 f6 f7 f8 f9 f10 f13 f15 menu point pallet vel+ vel- shift hand unitchg vel++ vel-- rst.Abs coordi function moves the robot manually. Switches to the point data pro...

  • Page 136: 11.1 Manual Movement

    4- 74 operation 4 11. “manual” mode 11.1 manual movement in “manual” mode, you can manually move the robot with the jog keys as explained below. 1. Manual movement when return-to-origin has been completed (1) when the current position is displayed in “pulse” units: a letter "j" is displayed on the u...

  • Page 137

    4- 75 4 operation 11. “manual” mode 1) when "x" is displayed (when not in "tool coordinate" mode) when a jog key is pressed, the robot arm tip moves in the corresponding direction on the cartesian coordinates. If auxiliary axis setting is made, then the robot moves only along the corresponding axis....

  • Page 138

    4- 76 operation 4 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. Likewise, if robot movement beyond the shift coordinate range is attempted, the error message “2.11: exceeded...

  • Page 139

    4- 77 4 operation 11. “manual” mode 11.2 displaying and editing point data press the f 1 (point) key 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). Note that the hand system flag can...

  • Page 140

    4- 78 operation 4 11. “manual” mode valid keys and submenu descriptions in “manual>point” mode are shown below. Valid keys cursor key ( ↑ / ↓ ) page key ( / ) f1 f2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 f14 f15 menu edit teach jump vel+ vel- copy erase unitchg vel++ vel-- trace comment err.Rst axis ←...

  • Page 141

    4- 79 4 operation 11. “manual” mode 3) use the 0 to 9 , + , – , . And space keys to enter the point data. Enter a space to separate between the data for x, y, z, r, a, b. The data input formats are as follows. • to enter the data in joint coordinates (“pulse” units) enter an integer of up to 8 digit...

  • Page 142

    4- 80 operation 4 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. When no auxiliary axis is used: [procedure] 1) in “manual> point” mode, use the cursor ( ↑ / ↓ ) keys to select the point number to obtain point data. ...

  • Page 143

    4- 81 4 operation 11. “manual” mode 4) when point data is already allotted to the currently selected point number, a confirma- tion message appears on the guideline when the f 2 (teach) key is pressed. Fig. 4-11-12 point data teaching (with no auxiliary axis [3]) manual >point>teach 50%[mg][s0h0x] —...

  • Page 144

    4- 82 operation 4 11. “manual” mode 2) use the cursor ( ↑ / ↓ ) keys, f 14 (axis ← ) or f 15 (axis → ) key to select the axes to perform point teaching. As shown below, the point number at the left end should be highlighted when teaching on all axes. When teaching on the standard axes, their point d...

  • Page 145

    4- 83 4 operation 11. “manual” mode 4) when the axis arrives at the target point, press the f 2 (teach) key. Teaching is performed so that the current robot position data is allotted to the currently selected point. The format for point data input by teaching is set to the currently selected coordin...

  • Page 146

    4- 84 operation 4 11. “manual” mode fig. 4-11-20 point data teaching (with auxiliary axis [8]) when teaching on auxiliary axis manual >point 100%[mg][s0h0x] p7 = 100.00 250.00 15.00 30.00 p8 = 220.00 150.00 115.00 86.86 p9 = 400.00 200.00 15.00 -30.00 [pos] 212.43 152.31 100.26 86.86 edit teach jump...

  • Page 147

    4- 85 4 operation 11. “manual” mode 2) enter the point number to jump to, and press the key. A jump is made so that the point data is displayed from the designated point number. Fig. 4-11-22 point jump (2) manual >point 50%[mg][s0h0x] ————————————x———————y———————z———————r——— p100 = 0.00 0.00 0.00 0....

  • Page 148

    4- 86 operation 4 11. “manual” mode 2) use the 0 to 9 , – and , keys to enter the point number range for the copy source and the point number for the copy destination in the following format and press the key. “(copy start number) – (copy end number), (copy destination number)” for example, to copy ...

  • Page 149

    4- 87 4 operation 11. “manual” mode 2) use the 0 to 9 and – keys to specify the point number range in the following format and press the key. “(erase start number) - (erase end number)” for example, to erase the data between p30 and p34, enter “30-34” and press the key. A confirmation message appear...

  • Page 150

    4- 88 operation 4 11. “manual” mode 11.2.8 point comment input and editing press the f 12 (comment) key in “manual>point” mode. The data display on the screen does not change (same as “manual>point” mode). The 5-digit area on the left shows point numbers, with the currently selected point num- ber h...

  • Page 151

    4- 89 4 operation 11. “manual” mode 11.2.8.1 point comment input and editing [procedure] 1) in “manual>point>comment” mode, use the cursor ( ↑ / ↓ ) keys to select the point to edit or enter a comment. 2) press the f 1 (edit) key in “manual>point>comment” mode. An edit cursor appears on the guidline...

  • Page 152

    4- 90 operation 4 11. “manual” mode 11.2.8.3 jump to a point comment [procedure] 1) press the f 3 (jump) key in “manual>point>comment” mode. The message “enter point no. >” appears on the guideline. Fig. 4-11-29 manual >point>comment 50%[mg][s0h0x] ————————————x———————y———————z———————r——— p7 = 100.0...

  • Page 153

    4- 91 4 operation 11. “manual” mode 11.2.8.4 copying a point comment point comments can be copied under another point number. [procedure] 1) press the f 6 (copy) key in “manual>point>comment” mode. The message “copy(####-####,####)>“ appears on the guideline. 2) use the 0 to 9 , – and , keys to ente...

  • Page 154

    4- 92 operation 4 11. “manual” mode 11.2.8.5 erasing point comments point comments already entered can be deleted. [procedure] 1) press the f 7 (erase) key in “manual>point>comment” mode. The message “erase(####-####)>” appears on the guideline. 2) use the 0 to 9 and – keys to specify the point numb...

  • Page 155

    4- 93 4 operation 11. “manual” mode 11.2.8.6 point comment search point comments already entered can be located. [procedure] 1) press the f 11 (find) key in “manual>point>comment” mode. The message “character string >” appears on the guideline. 2) enter the character string you want to search for, a...

  • Page 156

    4- 94 operation 4 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. [procedure] 1) press the f 13 (err. Rst) key in “manual>point” mode. A confirmation message appears on...

  • Page 157

    4- 95 4 operation 11. “manual” mode 11.3 displaying, editing and setting pallet definitions press the f 2 (pallet) key in “manual” mode to enter “manual>pallet” mode. This mode allows you to display, edit and set pallet definitions. However, the standard coordinates must be set when a scara robot is...

  • Page 158

    4- 96 operation 4 11. “manual” mode valid keys and submenu descriptions in “manual>pallet” mode are shown below. Cursor key ( ↑/↓) page key ( / ) f1 f2 f4 f5 f6 f7 f9 f10 f15 edit method vel+ vel- copy erase vel++ vel-- passwd specifies the pallet definition number. Switches to other screens. Edits ...

  • Page 159

    4- 97 4 operation 11. “manual” mode 11.3.1 editing pallet definitions [procedure] 1) in “manual>pallet” mode, select the pallet number with the cursor ( ↑ / ↓ ) keys. 2) press the f 1 (edit) key to enter “manual>pallet>edit” mode. 3) use the cursor ( ↑ / ↓ ) keys to move the cursor to the position y...

  • Page 160

    4- 98 operation 4 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. Fig. 4-11-41 manual >pallet>edit 50%[mg][s0h0x] point=p3996(p[1])-p4000(p[5]) p[1] = 98.87 -24.54 12.35 -23.11 p[2] = 122.62 -24.54 12.35 -23.11 ...

  • Page 161

    4- 99 4 operation 11. “manual” mode 11.3.1.1.1 editing the point in pallet definition [procedure] 1) press the f 1 (edit) key in “manual>pallet>edit>point” mode. Fig. 4-11-42 manual >pallet>edit 50%[mg][s0h0x] point=p3996(p[1])-p4000(p[5]) p[1] = _98.87 -24.54 12.35 -23.11 p[2] = 122.62 -24.54 12.35...

  • Page 162

    4- 100 operation 4 11. “manual” mode 11.3.2 pallet definition by teaching [procedure] 1) select the pallet number in “manual>pallet” mode with the cursor ( ↑ / ↓ ) keys. 2) press the f 2 (method) key to enter “manual>pallet>method” mode. 3) select the dimension of the pallet to be defined from “2-d”...

  • Page 163

    4- 101 4 operation 11. “manual” mode 7) enter the number of points ny and nz (only when “3-d” is selected) as in step 6). 8) a confirmation message then appears after setting the number of points. Press the f 4 (yes) key to determine the setting. Press the f 5 (no) key if you want to cancel the sett...

  • Page 164

    4- 102 operation 4 11. “manual” mode 11.3.3 copying a pallet definition [procedure] 1) select the pallet number in “manual>pallet” with the cursor ( ↑ / ↓ ) keys. 2) press the f 6 (copy) key and then enter the pallet number where you want to copy the currently selected pallet definition. Fig. 4-11-4...

  • Page 165

    4- 103 4 operation 11. “manual” mode 11.3.4 deleting a pallet definition [procedure] 1) select the pallet number in “manual>pallet” mode with the cursor ( ↑ / ↓ ) keys. 2) press the f 7 (erase) key. A confirmation message then appears asking if the currently selected pallet definition is to be delet...

  • Page 166

    4- 104 operation 4 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...

  • Page 167

    4- 105 4 operation 11. “manual” mode 11.5 displaying, editing and setting shift coordinates press the f 6 (shift) key in “manual” mode to enter “manual>shift” mode. This mode allows you to display, edit and set shift coordinates. However, the standard coordinates must be set when a scara robot is us...

  • Page 168

    4- 106 operation 4 11. “manual” mode upon entering “manual>shift” mode, a screen like that shown in fig. 4-11-51, fig. 4-11-52 or fig. 4-11-53 appears. The currently selected shift coordinate number is highlighted. Fig. 4-11-51 “manual>shift” mode (one-robot setting) manual >shift 50% [mg][s1h0x] ——...

  • Page 169

    4- 107 4 operation 11. “manual” mode valid keys and submenu descriptions in “manual>shift” mode are shown below. Cursor key ( ↑ / ↓ ) page key ( / ) f1 f2 f4 f5 f6 f7 f9 f10 valid keys edit range vel+ vel- method1 method2 vel++ vel-- menu function specifies the shift coordinate number. Switches to o...

  • Page 170

    4- 108 operation 4 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 the f 1 (edit) key to enter “manual>shift>edit” mode. 3) use the cursor ( ← / → ) key to move the cursor to the po...

  • Page 171

    4- 109 4 operation 11. “manual” mode 11.5.1.1 restoring shift coordinates [procedure] during shift coordinate data editing, pressing the f 1 (undo) key reverses the last data input and restores the preceding data. This function is enabled only on lines that are not yet complete. 11.5.2 editing the s...

  • Page 172

    4- 110 operation 4 11. “manual” mode 2) press the f 2 (range) key to enter the “manual>shift>range” mode. A cursor for editing the shift coordinate range appears. Fig. 4-11-56 editing shift coordinate range (1) manual >shift>range 50% [mg][s1h0x] ————————————x———————y———————z———————r——— range of shi...

  • Page 173

    4- 111 4 operation 11. “manual” mode 11.5.2.1 restoring a shift coordinate range [procedure] during editing of shift coordinate range data, pressing the f 1 (undo) key reverses the last data input and restores the preceding data. This function is enabled only on lines that are not yet complete. 11.5...

  • Page 174

    4- 112 operation 4 11. “manual” mode 3) use the jog keys to move the robot arm tip to teach point 1. (position it accurately.) 4) press the key, and the current position is then obtained as “1st p”. (this value becomes the shift coordinate origin.) fig. 4-11-60 shift coordinate teaching manual >shif...

  • Page 175

    4- 113 4 operation 11. “manual” mode 11.5.4 shift coordinate setting method 2 this method sets the shift coordinate data by performing teaching at 2 points and then entering the coordinate values of those 2 points the z value of teach point 1 becomes the z value of the shift coordinate. Fig. 4-11-62...

  • Page 176

    4- 114 operation 4 11. “manual” mode 4) press the key to obtain the current position as “1st p”. An edit cursor appears at the head of the “1st p” line. Fig. 4-11-64 shift coordinate setting manual >shift>method2 50% [mg][s0h0x] ————————————x———————y———————z———————r——— enter the point data [mm] 1st ...

  • Page 177

    4- 115 4 operation 11. “manual” mode 11.6 displaying, editing and setting hand definitions press the f 7 (hand) key 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. ...

  • Page 178

    4- 116 operation 4 11. “manual” mode fig. 4-11-66 hand definition screen (two-robot setting [1]) main robot group is selected: manual >hand 50 /50% [mg][s0h1x] ————————————1———————2———————3———————4——— h0 = 0 0.00 0.00 h1 = 0.00 100.00 0.00 r h2 = 90.00 100.00 100.00 r h3 = 8000 100.00 100.00 [pos] 6...

  • Page 179

    4- 117 4 operation 11. “manual” mode movement of each robot type and the parameter contents are shown below. (1) scara robots 1) hand attached to 2nd arm a. Robot movement • imaginary 2nd arm of hand “n” moves to a specified point as if it were the actual 2nd arm. • imaginary 2nd arm of hand “n” det...

  • Page 180

    4- 118 operation 4 11. “manual” mode 2) hand attached to r-axis a. Robot movement hand “n” moves towards a specified point while changing its movement direction. The direction to be changed is set for the specified point with an r value. Obstacles can therefore be avoided by changing the r value. B....

  • Page 181

    4- 119 4 operation 11. “manual” mode (2) cartesian robots 1) hand attached to 2nd arm a. Robot movement • hand “n” moves to a specified point. B. Parameter descriptions : specify the x-axis offset amount of hand “n” with a real number. (unit: mm) : specify the y-axis offset amount of hand “n” with a...

  • Page 182

    4- 120 operation 4 11. “manual” mode 2) hand attached to r-axis a. Robot movement hand “n” moves towards a specified point while changing its movement direction. The direction to be changed is set for the specified point with an r value. Obstacles can therefore be avoided by changing the r value. B....

  • Page 183

    4- 121 4 operation 11. “manual” mode 11.6.1 editing hand definitions [procedure] 1) press the f 1 (edit) key 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. Fig. 4-11-...

  • Page 184

    4- 122 operation 4 11. “manual” mode w warning the robot starts to move when a jog key is pressed. To avoid danger, do not enter the robot movement range. N note to perform teaching at point 1 with a scara robot, always move in the right-hand system. To perform teaching at point 2 with a scara robot...

  • Page 185

    4- 123 4 operation 11. “manual” mode 5) use the jog keys to move the robot working point to point 2. (position it accurately.) 6) press the key 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>...

  • Page 186

    4- 124 operation 4 11. “manual” mode 11.7 changing the display units the units used to indicate the current position on the mpb 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" mode can also be used. [proced...

  • Page 187: 11.8 Absolute Reset

    4- 125 4 operation 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 ori...

  • Page 188

    4- 126 operation 4 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 f 13 (rst.Abs) in “manual” mode to enter “manual>rst.Abs” mode. Fig. 4-11-81 this screen shows the following information. Manual >rst.Abs ...

  • Page 189

    4- 127 4 operation 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. Mark method 2. St...

  • Page 190

    4- 128 operation 4 11. “manual” mode absolute reset position and "0" pulse position when absolute reset is performed at position a, 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 wit...

  • Page 191

    4- 129 4 operation 11. “manual” mode 2) in servo-on use the jog keys or f 1 (adj.+) and f 2 (adj.-) keys 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%. Fig. 4-11-86 manual >rst.Abs>m1 50% [mg] [sohoj] ––––––...

  • Page 192

    4- 130 operation 4 11. “manual” mode 4) if the servo is on when performing absolute reset, the robot will move to the "0" pulse position after reset. 5) when all axes have returned to their origins, the dashed line (- - - -) on the message line changes to a solid line (——), and return-to-origin is n...

  • Page 193

    4- 131 4 operation 11. “manual” mode w warning the robot starts to move when absolute reset is performed. To avoid danger, do not enter the robot movement range. N note when the "origin detection method" parameter is set to the stroke end method: each axis moves in the specified return-to-origin dir...

  • Page 194

    4- 132 operation 4 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...

  • Page 195

    4- 133 4 operation 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...

  • Page 196

    4- 134 operation 4 11. “manual” mode 2) the axis using the mark method appears highlighted on the lcd screen. Use the cursor ( ↑ / ↓ ) keys to select the axis. Use the jog keys or the f 1 (adj.+) and f 2 (adj.-) keys to move the selected axis to a position for performing absolute reset. Set at this ...

  • Page 197

    4- 135 4 operation 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 the f 4 (yes) key to perform absolute reset on axes using the stroke end or ...

  • Page 198

    4- 136 operation 4 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 s...

  • Page 199

    4- 137 4 operation 11. “manual” mode the following parameters are automatically set when the standard coordinates are entered. 1) “arm length [mm]” m1= ###.## ...... X-axis arm length (distance to rotation center x-axis and y-axis) m2= ###.## ...... Y-axis arm length (distance to rotation center of ...

  • Page 200

    4- 138 operation 4 11. “manual” mode fig. 4-11-100 x-axis offset pulse y-axis offset pulse r-axis offset pulse x y y-axis arm length x-axis arm length press the f 15 (coordi) key in “manual” mode. This mode allows setting the standard coordinates. Fig. 4-11-101 manual >coordi 50% [mg][ j] ——————————...

  • Page 201

    4- 139 4 operation 11. “manual” mode 11.9.1 setting the standard coordinates by 4-point teaching fig. 4-11-102 p [ 2 ] p [ 1 ] p [ 3 ] p [ 4 ] 4-point teaching precondition: coordinate values made for p[2], p[3], p[4] must be accurate when p[1] is set as the origin position. [procedure] 1) in “manua...

  • Page 202

    4- 140 operation 4 11. “manual” mode 2) use the jog keys to move the robot arm tip to teach point p[1] and press the key. 3) perform teaching at point p[2] as in step 2). 4) enter the position of teach point p[2] in millimeters, relative to p[1] set as the origin. Fig. 4-11-104 manual >coordi>4point...

  • Page 203

    4- 141 4 operation 11. “manual” mode 11.9.2 setting the standard coordinate by 3-point teaching fig. 4-11-106 p[2] p[3] p[1] l l precondition: all 3 points p[1], p[2] and p[3] must be on a straight line, with p[2] set at the midpoint between p[1] and p[3]. [procedure] 1) in “manual>coordi” mode, pre...

  • Page 204

    4- 142 operation 4 11. “manual” mode 3) perform teaching at points p[2] and p[3] as in step 2). 4) use the f 1 (+x) to f 4 (-y) keys to set the direction from p[1] to p[3]. Fig. 4-11-109 manual >coordi>3points 50% [mg][ j] press f.Key to get direction +———————————+———> p[1] p[3] [pos] -9654 48567 0 ...

  • Page 205

    4- 143 4 operation 11. “manual” mode 11.9.3 setting the standard coordinates by simple teaching fig. 4-11-112 +y direction +x direction [procedure] 1) in “manual>coodi” mode, press the f 5 (simple) key to enter the mode for simple standard coordinate setting. Fig. 4-11-113 manual >coordi>simple 50% ...

  • Page 206

    4- 144 operation 4 11. “manual” mode 4) enter the y arm length and press the key. Fig. 4-11-115 manual >coordi>simple 50% [mg][ j] enter the length of y arm [mm] [1-1000] enter >175.00_ ————————————x———————y———————z———————r——— 5) a message for checking the arm length and offset pulse value appears o...

  • Page 207

    4- 145 4 operation 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 ...

  • Page 208: 12. “System” Mode

    4- 146 operation 4 12. “system” mode the “system” mode controls all kinds of operating conditions for the overall robot system. The initial screen in “system” mode is shown in fig. 4-12-1. Fig. 4-12-1 “system” mode q mode hierarchy e message line w version display t r robot model name online command...

  • Page 209

    4- 147 4 operation 12. “system” mode i other expanded configurations when expansion boards are installed into the option slot of the controller, the board type and mode setting appear here. Display dio_n(m/n..) dio_p(i/j..) cclnk(n/m) d_net(n/m) profi(n/m) e_net yclnk(mn) meaning an optional dio wit...

  • Page 210: 12.1 Parameters

    4- 148 operation 4 12. “system” mode 12.1 parameters this section explains various parameters relating to the controller setting and robot op- eration. There are 4 types of parameters: robot parameters and axis parameters for robot operation, controller setting parameters and option board parameters...

  • Page 211

    4- 149 4 operation 12. “system” mode valid keys and submenu descriptions in “sustem>param” mode are shown below. F1 f2 f3 f5 f10 valid keys robot axis others op. Brd passwrd menu function sets robot parameters for robot operation. Sets axis parameters for robot operation. Sets other parameters for s...

  • Page 212

    4- 150 operation 4 12. “system” mode 12.1.1 robot parameters on the mpb screen each robot parameter appears in the following format. Main group parameters sub group parameters mg= sg= main robot parameters sub robot parameters mr= sr= fig. 4-12-4 robot parameter setting (one-robot setting) system >p...

  • Page 213

    4- 151 4 operation 12. “system” mode 1. Tip weight [kg] /weight this parameter sets the tip weight of robot (workpiece weight + tool weight) in kg units. However, set the tip weight in 0.1 kg units when the currently set robot is yk120x, yk150x, yk180x or yk220x. The maximum value is set when the pa...

  • Page 214

    4- 152 operation 4 12. “system” mode 2. 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 seque...

  • Page 215

    4- 153 4 operation 12. “system” mode 3. 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 (orienta- tion) is automatically set when the parameters are initialized. If ...

  • Page 216

    4- 154 operation 4 12. “system” mode 4. Armtype at pgm reset/armtyp on scara robots, it is necessary to set left-handed or right-handed system when moving along xy coordinates or converting point data. This parameter is used to set the initial hand system when the program is reset. The right-handed ...

  • Page 217

    4- 155 4 operation 12. “system” mode 12.1.2 axis parameters each axis parameter is displayed in the following format on the mpb screen. Main robot axis setting sub robot axis setting m?= s?= main auxiliary axis setting sub auxiliary axis setting m?= s?= fig. 4-12-10 axis parameter setting (one-robot...

  • Page 218

    4- 156 operation 4 12. “system” mode 1. 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 ...

  • Page 219

    4- 157 4 operation 12. “system” mode 2. 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 pa...

  • Page 220

    4- 158 operation 4 12. “system” mode 3. +soft limit [pulse] /plmt+ 4. -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 initia...

  • Page 221

    4- 159 4 operation 12. “system” mode 5. 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...

  • Page 222

    4- 160 operation 4 12. “system” mode 6. 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 ...

  • Page 223

    4- 161 4 operation 12. “system” mode 7. 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...

  • Page 224

    4- 162 operation 4 12. “system” mode 8. 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. [procedure] 1) select “8. Origin speed [pulse/ms]” in “system>param>axis” mode...

  • Page 225

    4- 163 4 operation 12. “system” mode 9. 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...

  • Page 226

    4- 164 operation 4 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 ...

  • Page 227

    4- 165 4 operation 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 x...

  • Page 228

    4- 166 operation 4 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 cur- rently set. • x-axis offset pulses ........... Angle formed by x ...

  • Page 229

    4- 167 4 operation 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 or auxiliary axes. A maximum value is set when the parameters are initialized. The maximum weight is automatica...

  • Page 230

    4- 168 operation 4 12. “system” mode 14.Origin method /orgsns this parameter selects the method for performing return-to-origin on the robot. When initialized, this is automatically set according to the current robot model. Three methods are available as follows: “sensor” ....... : origin is detecte...

  • Page 231

    4- 169 4 operation 12. “system” mode 15.Origin direction /orgdir this parameter specifies the direction for return-to-origin. When initialized, this is automatically set according to the current robot model. “---” ............. : axis returns to origin in the manual movement minus (-) direction. “++...

  • Page 232

    4- 170 operation 4 12. “system” mode 16.Motor direction /motdir this parameter specifies the robot movement direction. When initialized, this is set automatically according to the current robot model. “---” ............. : motor minus (-) direction is set as the - direction. “+++” ........... : moto...

  • Page 233

    4- 171 4 operation 12. “system” mode 12.1.3 other parameters when changing other parameters on the mpb, use the descriptions in this section. Fig. 4-12-30 editing other parameters system >param>others v8.35 1.Display language(jpn/eng) english 2.Data display length 6char 3.Parameter display unit puls...

  • Page 234

    4- 172 operation 4 12. “system” mode 2. 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” ...

  • Page 235

    4- 173 4 operation 12. “system” mode 4. 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. [procedure] 1) select “4. D...

  • Page 236

    4- 174 operation 4 12. “system” mode 6. Incremental mode control /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. [procedure] 1) select “6. Incremental mode co...

  • Page 237

    4- 175 4 operation 12. “system” mode 8. 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...

  • Page 238

    4- 176 operation 4 12. “system” mode 9. 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 239

    4- 177 4 operation 12. “system” mode 10.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 star...

  • Page 240

    4- 178 operation 4 12. “system” mode 11.Error output (do & so) / erport if an error has occurred in the controller, that error can be output by turning on a general-purpose output do and so, except for those with an error group number beginning with “0” (ex. 0.1: origin incomplete). This parameter s...

  • Page 241

    4- 179 4 operation 12. “system” mode n note • this parameter is supported by controller ver.8.66 and later. In earlier versions, relative motion to a new target position referenced to the current position occurs when operation is re-executed after a relative motion interruption. • this parameter’s f...

  • Page 242

    4- 180 operation 4 12. “system” mode 13.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....

  • Page 243

    4- 181 4 operation 12. “system” mode 12.1.4 parameters for option boards this section explains how to set parameters for option boards from the mpb. Option boards are roughly divided into three types: option dio boards, serial i/o boards and network board. For option dio boards, set the parameter to...

  • Page 244

    4- 182 operation 4 12. “system” mode 12.1.4.1 option dio setting the following parameter for option dio (npn or pnp specifications) boards is used to enable or disable monitoring of the dc 24v supply input. 1. Parameter board condition meaning enables or disables monitoring of the 24v supply input. ...

  • Page 245

    4- 183 4 operation 12. “system” mode 12.1.4.2 serial i/o setting for serial i/o boards (cc-link/devicenet/profibus), there are 3 parameters (4 parameters for devicenet only) to be set, including the parameter to enable or disable the serial i/o unit monitor. 1. 2. 3. 4. Parameter board condition rem...

  • Page 246

    4- 184 operation 4 12. “system” mode 2) select the parameter with the cursor ( ↑/↓) keys. Fig. 4-12-50 system >param>op.Brd>select v8.63 1.Board condition valid 2.Remote cmd / io cmd(si05) valid 3.Output msg to sow(1) invalid edit jump 4.Io size large 3) press the f 1 (edit) key. Fig. 4-12-51 system...

  • Page 247

    4- 185 4 operation 12. “system” mode c caution when making the ethernet settings to use telnet, you will need to set any other parameters than those shown on the right. For more details, see the ethernet manual. 12.1.4.3 setting the network parameters when using ethernet, you set four parameters inc...

  • Page 248

    4- 186 operation 4 12. “system” mode 3) the currently set parameters are displayed. When changing the "board condition" parameter, press f 1 (invalid) to disable the ethernet unit or press f 2 (valid) to enable the ethernet unit. When changing other parameters, use the 0 to 9 and . Keys to make the ...

  • Page 249

    4- 187 4 operation 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 4. Stop bit 5. Parity 6. Termination code 7. Xo...

  • Page 250

    4- 188 operation 4 12. “system” mode valid keys and submenu descriptions in “system>cmu” mode are shown below. Cursor key ( ↑/↓) page key ( / ) f1 f2 valid keys edit jump menu function moves the cursor up and down. Switches to other screens. Edits the parameter. Moves the cursor to the designated pa...

  • Page 251

    4- 189 4 operation 12. “system” mode 2. Data bits this parameter sets the data bit length. [procedure] 1) select “2. Data bits” in “system>cmu” mode. 2) press the f 1 (edit) key. The function key menu changes. Fig. 4-12-57 setting the “data bits” system >cmu v8.35 1.Cmu mode online 2.Data bits 8 3.B...

  • Page 252

    4- 190 operation 4 12. “system” mode 4. Stop bit this parameter sets the stop bit length. [procedure] 1) select “4. Stop bit” in “system>cmu” mode. 2) press the f 1 (edit) key. The function key menu changes. Fig. 4-12-59 setting the “stop bit” system >cmu v8.35 1.Cmu mode online 2.Data bits 8 3.Baud...

  • Page 253

    4- 191 4 operation 12. “system” mode 6. Termination code this parameter sets the line feed code. [procedure] 1) select “6. Termination code” in “system>cmu” mode. 2) press the f 1 (edit) key. The function key menu changes. Fig. 4-12-61 setting the “termination code” system >cmu v8.35 3.Baud rate 960...

  • Page 254

    4- 192 operation 4 12. “system” mode n note data omissions may occur if data flow control is not performed. Make use of data flow control as much as possible. 8. Rts/cts control this parameter sets whether to control the data flow using rts/cts signal. [procedure] 1) select “8. Rts/cts control> in “...

  • Page 255: 12.3 Option Parameters

    4- 193 4 operation 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 ...

  • Page 256

    4- 194 operation 4 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 this f...

  • Page 257

    4- 195 4 operation 12. “system” mode [procedure] 1) press f 1 (pos.Out) in “system>option” mode to enter the area check output mode. Fig. 4-12-66 selecting the area check output number system >option>pos.Out 1.Output of area1 no 2.Output of area2 no 3.Output of area3 no 4.Output of area4 no select v...

  • Page 258

    4- 196 operation 4 12. “system” mode 1. Area check output on/off this parameter sets whether or not to use the area check output function. [procedure] 1) select “1. Output of area n” in “system>option>pos.Out>select” mode. 2) press the f 1 (edit) key. The function key menu changes. Fig. 4-12-68 sele...

  • Page 259

    4- 197 4 operation 12. “system” mode 3) select the output port with the f 1 (20) through f 8 (27) keys. 4) press the esc key to quit the setting. To continue selecting other items, use the cursor ( ↑/↓) keys. 3. Comparison point no. 1 4. Comparison point no. 2 set the point numbers for determining t...

  • Page 260

    4- 198 operation 4 12. “system” mode n note • this parameter is supported by controllers of ver. 8.63 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. • any point on the boundary of the specified area is...

  • Page 261

    4- 199 4 operation 12. “system” mode 12.3.2 setting the “service” mode when using “service” mode to safely perform tasks with the mpb within the robot system safety enclosure, make parameter settings and set the mode level as explained in this section. Parameter settings made here are only valid unt...

  • Page 262

    4- 200 operation 4 12. “system” mode [procedure] 1) press f 2 (service) in “system>option” mode. The message, “enter password” appears on the guideline. Enter “saf” here and press the key. Fig. 4-12-73 entering the "service" mode setting password system >option v8.35 enter password >_ 2) the followi...

  • Page 263

    4- 201 4 operation 12. “system” mode 1. “service” mode level set the service mode level by referring to the table below. Level 3 prohibited disabled level 2 allowed enabled level 1 allowed disabled level 0 auto mode operation hold to run function description enabled prohibited [procedure] 1) select ...

  • Page 264

    4- 202 operation 4 12. “system” mode 2. Operating speed limits in “service” mode specify the maximum robot operating speed. Description sets robot operation within 3 % of maximum operating speed. Sets no limit on robot operating speed. [procedure] 1) select “2. Movement vel” in “system>option>servic...

  • Page 265

    4- 203 4 operation 12. “system” mode 3. Operating device in “service” mode specify the operating device to use. All mpb/com mpb/di mpb description only mpb operation is allowed. Allows mpb and dedicated input. Allows mpb and online commands. Allows operation by all devices. [procedure] 1) select “3....

  • Page 266

    4- 204 operation 4 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. [procedure] 1) p...

  • Page 267

    4- 205 4 operation 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...

  • Page 268

    4- 206 operation 4 12. “system” mode 1. Direct connection from si n ( ) to do n ( ) the serial port input can be directly connected to parallel port output. The relation between parallel and serial ports that can be set is as follows. Do2() do3() do4() do5() si2() si3() si4() si5() do port ← si port...

  • Page 269

    4- 207 4 operation 12. “system” mode 2. Direct connection from di n ( ) to so n ( ) parallel port input can be directly connected to serial port output. The relation be- tween serial and parallel ports that can be set is as follows. Di port → so port di2() di3() di4() di5() so2() so3() so4() so5() i...

  • Page 270

    4- 208 operation 4 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. Fig. 4-12-84 double-carrier type robot the anti-col...

  • Page 271

    4- 209 4 operation 12. “system” mode 12.3.4.2 setting the double-carrier parameters [procedure] 1) press the f 4 (w.Carrier) in "system>option" mode. Fig. 4-12-86 double-carrier parameter setting (1) system >option>w.Carrier v8.58 1.Stroke[mm] 0.00 2.Carrier1 m1 3.Carrier2 m2 4.Control mode off edit...

  • Page 272

    4- 210 operation 4 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. Fig. 4-12-88 stroke setting origin position origin position point where one carrier is closest to the other stroke 2. Carrier 1 s...

  • Page 273

    4- 211 4 operation 12. “system” mode 4. Control mode setting select the double-carrier functions. [procedure] 1) select "4. Control mode" and press f 1 (edit). Fig. 4-12-90 double-carrier parameter setting (4) system >option>w.Carrier>edit v8.58 1.Stroke[mm] 650.00 2.Carrier1 m1 3.Carrier2 m2 4. Con...

  • Page 274: 12.4 Initialization

    4- 212 operation 4 12. “system” mode 12.4 initialization when initializing the parameter data you entered, follow the descriptions in this section. [procedure] 1) press the f 4 (init) key in “system” mode. The initialization screen appears. Fig. 4-12-91 initialization screen system >init v8.35 param...

  • Page 275

    4- 213 4 operation 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. [procedure] 1) press...

  • Page 276

    4- 214 operation 4 12. “system” mode 12.4.2 initializing the memory this initializes the program, point data, shift coordinates, hand definitions and pallet defi- nitions. Before initializing, make sure that the currently input data is no longer needed. [procedure] 1) press the f 2 (memory) key in “...

  • Page 277

    4- 215 4 operation 12. “system” mode valid keys and submenu descriptions in “system>init>memory” mode are shown below. F1 f2 f3 f4 f5 f6 f7 valid keys program point shift hand all pallet comment menu function deletes the program data. Deletes the point data. Initializes the shift coordinate data. In...

  • Page 278

    4- 216 operation 4 12. “system” mode 12.4.4 clock setting a clock function is provided in the controller for setting the date and time. [procedure] 1) press the f 4 (clock) key in “system>init” mode. The present date and time are displayed. Fig. 4-12-97 initializing the clock system >init>clock v8.3...

  • Page 279

    4- 217 4 operation 12. “system” mode 12.4.5 system generation in system generation in the robot controller, the specifications for the robot being con- nected and the axis configurations are set prior to shipment. The user does not normally need to set the system generation with the f 6 (generat) ke...

  • Page 280: 12.5 Self Diagnosis

    4- 218 operation 4 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 the f 5 (diagnos) key to enter “system>diagnos” mode fig. 4-12-98 self diagnosis system >diagnos v8.35 ch...

  • Page 281

    4- 219 4 operation 12. “system” mode 12.5.2 error history display to display past errors that occurred, follow the procedure below. A maximum of 500 items may be stored in the error history. [procedure] 1) press the f 2 (histry) key to enter “system>diagnos> histry” mode. Fig. 4-12-100 error history...

  • Page 282

    4- 220 operation 4 12. “system” mode n note all error information will be initialized when the error history is initialized. 12.5.3 displaying the total operation time use the following procedure to check the total controller operation time. [procedure] 1) press the f 5 (total) key. Fig. 4-12-101 di...

  • Page 283: 12.6 Backup Processes

    4- 221 4 operation 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. [procedure] 1) press the f 9 (backup) key in the "system" mode. Fig. 4-12-103 backup system >backup v8.35 ram card from valid keys and submenu d...

  • Page 284

    4- 222 operation 4 12. “system” mode 12.6.1.1 loading files the various data backed up in the controller's internal flash rom can be loaded back into the controller's internal memory. [procedure] 1) press the f 1 (load) key in the "system>backup>from" mode. The types of files will appear in the guid...

  • Page 285

    4- 223 4 operation 12. “system” mode 12.6.1.2 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. [procedure] 1) press the f 2 (...

  • Page 286: 13. “Monitor” Mode

    4- 224 operation 4 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. [procedur...

  • Page 287

    4- 225 4 operation 13. “monitor” mode 3) press the display key again to display other monitor screens. Pressing the display key 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 m...

  • Page 288

    4- 226 operation 4 13. “monitor” mode fig. 4-13-6 current command monitor display manual >point 50% [mg][s0h0j] current monitor(100% = max torque) d1 = 20 d5 = 0 d2 = –5 d6 = 0 d3 = 3 d7 = 0 d4 = 0 d8 = 0 edit teach jump vel+ vel- ________________ x ________ y ________ z _________ r ___ display form...

  • Page 289: 14.“Utility” Mode

    4- 227 4 operation 14.“utility” mode the “utility” mode can be entered from any other mode regardless of the mode level. [procedure] 1) press the utility ( lower + esc ) key. The “utility” mode screen is displayed. Fig. 4-14-1 “utility” mode utility date,time : 04/07/20,18:59:37 (36 °c) motor power ...

  • Page 290

    4- 228 operation 4 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 t...

  • Page 291

    4- 229 4 operation 14. “utility” mode 14.1.2 motor power and servo 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. [procedure] 1) press th...

  • Page 292

    4- 230 operation 4 14. “utility” mode 14.2 enabling/disabling the sequence execution flag to enable or disable execution of sequence programs, proceed as follows. [procedure] 1) press the f 2 (sequenc) key in “utility” mode. 2) to enable execution of sequence programs, press the f 1 (enable) key. To...

  • Page 293: 14.3 Changing The Arm Type

    4- 231 4 operation 14. “utility” mode 14.3 changing the arm type to set the hand type on scara robots that move using cartesian coordinate data, follow the procedure below. The right-handed system is selected when the parameters are initialized. (arm type can be changed only for scara robots.) [proc...

  • Page 294

    4- 232 operation 4 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 the f 5 (rst.Do) key in “utility” mode. A confirmation message appears on the guidel...

  • Page 295

    4- 233 4 operation 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, ...

  • Page 296

    4- 234 operation 4 14. “utility” mode 14.5.1 changing the execution level to change the execution level, proceed as follows. [procedure] 1) press the utility ( lower + esc ) key twice to enter “utility” mode, then press the f 1 (execute) key. Fig.4-14-9 utility date,time : 04/07/23,12:36:37 (36 °c) ...

  • Page 297

    4- 235 4 operation 14. “utility” mode 14.5.2 displaying the help message see the help message as needed. [procedure] 1) press the f 15 (help) key. The first page of the help screen appears. Press the f 1 (next p.) key or cursor ( ↓) key to refer to the next page or press the f 2 (prev. P.) or cursor...

  • Page 298

    4- 236 operation 4 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. How- ever, unauthorized changing of such data can be a source of trouble. To prevent such problems, the robot controller can be set...

  • Page 299

    4- 237 4 operation 14. “utility” mode 14.6.2 changing the access level change the access level as needed. [procedure] 1) set the access level with the f 1 (level0) to f 4 (level3) keys. Fig. 4-14-15 setting the access level (3) utility >access access level: level2 level0 level1 level2 level3 help 14...

  • Page 300: Memo

    4- 238 memo.

  • Page 301: Chapter 5

    Chapter 5 two-robot setting contents 1. Explanation of two-robot setting ...................................................... 5-1 1.1 two-robot setting .................................................................................. 5-1 1.2 system configuration example .............................

  • Page 302: Memo

    Memo.

  • Page 303: 1.1

    5- 1 5 t wo-robot setting 1. Explanation of two-robot setting 1.1 two-robot setting the two-robot setting refers to a configuration in which two robots are controlled by a single controller. In the two-robot setting, the multi-task function can be used to operate two robots in an asynchronous manner...

  • Page 304: 1.2

    5- 2 t wo-robot setting 5 1. Explanation of two-robot setting 1.2 system configuration example configuration example 1 example: sxyx + sxyx mxyx + mxyx fig. 5-1-2 system configuration example rcx142 moto r xm ym zm rm pwr srv err saf ety mpb com std .Dio rge n acin p n l n rob i/o xy rob i/o zr op. ...

  • Page 305: 2.1

    5- 3 5 t wo-robot setting 2. Operations and data when using the two-robot setting the operations, data types and enabled functions unique to the two-robot setting are explained in this section. This explanation consists of excerpts from chapter 4 "operation" and chapter 10 "troubleshooting" which re...

  • Page 306

    5- 4 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2) use the f 4 (vel+), f 5 (vel-), f 9 (vel++), f 10 (vel--) keys to change the speed for the currently selected group. 2.1.2 executing the point trace the point trace is executed in a group-specific manner. Before exe...

  • Page 307: 2.2

    5- 5 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.2 "manual" mode the robot to be operated must be selected when performing the following operations in the "manual" mode: • manual movement • point data input by direct teaching • input by point data direct teaching •...

  • Page 308

    5- 6 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2.2.2 manual movement manual movement is executed in a group-specific manner. Before executing this function, be sure to verify the currently selected group. The selected group can be changed by the procedure described...

  • Page 309

    5- 7 5 t wo-robot setting 2. Operations and data when using the two-robot setting fig. 5-2-10 "mm" units (x) example (two-robot setting: sub group selected) manual 50/ 50 %[sg][s0h4x] ————————————————————————————————————————— current position *mx= 0.00 *my= 0.00 *sx= 0.00 *sy= 0.00 point pallet vel+...

  • Page 310

    5- 8 t wo-robot setting 5 2. Operations and data when using the two-robot setting fig. 5-2-12 robot motion in "mm" units (x) (ex) rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy rob i/o zr op. 1 op.3 op. 2 op.4 200-230v~ 50-60hz max.2500va batt zr xy model. S...

  • Page 311

    5- 9 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.2.3.1 point data input by teaching point data input by direct teaching consists of registering the currently selected group's coordinate values as point data. Before executing this function, be sure to verify the cur...

  • Page 312

    5- 10 t wo-robot setting 5 2. Operations and data when using the two-robot setting 5) when the axis reaches the target point, press the f 2 (teach) key. The specified point is "taught" as the current position of the selected group. Point data teaching inputs are made in the currently selected coordi...

  • Page 313

    5- 11 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.2.4.1 setting the point in pallet definition by teaching setting the point in pallet definition by teaching consists of registering the currently selected group's coordinates as point data. Before executing this fun...

  • Page 314

    5- 12 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2.2.5 changing the manual movement speed manual movement speed settings are made in a group-specific manner. [procedure] 1) press the ( lower + mode ) robot keys to toggle between the groups (the selected group is hig...

  • Page 315

    5- 13 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.2.6 shift coordinates when in the two-robot setting, the same shift data is used by both robots. However, shift numbers are specified in a robot-specific manner. Shift coordinate data is disabled when in the "multi ...

  • Page 316

    5- 14 t wo-robot setting 5 2. Operations and data when using the two-robot setting [ex.2] s1 = 50.00 100.00 0.00 0.00 s3 = 0.00 150.00 0.00 0.00 if the main group's shift number is set as "s1", and the sub group's shift number is set as "s3", the main group's point data operation position is shifted...

  • Page 317

    5- 15 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.2.6.1 shift coordinates setting method 1 the "shift coordinates setting method 1" function allows shift coordinate data to be set by teaching 2 points, and then entering the coordinate direction. Point teaching occu...

  • Page 318

    5- 16 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2.2.6.2 shift coordinates setting method 2 the "shift coordinates setting method 2" function allows shift coordinate data to be set by teaching 2 points, and then entering that 2-point shift coordinate value. Point te...

  • Page 319

    5- 17 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.2.7 hand definition in the two-robot setting, the same hand data is used by both robots. Hand definition numbers h0 to h3 can be used at the main robot, and h4 to h7 can be used at the sub robot. Hand definition dat...

  • Page 320

    5- 18 t wo-robot setting 5 2. Operations and data when using the two-robot setting fig. 5-2-29 shift coordinate setting method (two-robot setting: sub group selected) manual >hand 50/ 50 % [sg] [s0h4x] —————————————1————————2————————3————————4——— h1 = 0.00 0.00 0.00 h2 = 0.00 0.00 0.00 h3 = 0.00 0.0...

  • Page 321

    5- 19 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.2.8 absolute reset the "absolute reset" function is used to teach the origin position when the motor's position sensor cannot identify the origin position (a condition hereafter referred to as "origin incomplete"). ...

  • Page 322

    5- 20 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2.2.8.2 absolute reset on each axis (mark method) this function performs an absolute reset only at the specified mark method axis. Return- to-origin methods are not possible when performing return-to-origin methods us...

  • Page 323

    5- 21 5 t wo-robot setting 2. Operations and data when using the two-robot setting 4) when all axes have returned to their origins, the dashed line (- - - -) on the message line changes to a solid line (——), and return-to-origin is now complete. 2.2.8.3 absolute reset on each axis (stroke end method...

  • Page 324

    5- 22 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2.2.8.4 absolute reset on all axes this function performs an absolute reset on all the controller axes. This absolute reset is performed in the following axis order: q absolute reset executed at the current position o...

  • Page 325

    5- 23 5 t wo-robot setting 2. Operations and data when using the two-robot setting 4) when the absolute reset is completed normally for all "mark method" axes, a message displays on the guidance line if "stroke end method / sensor method" axes exist. To perform an absolute reset for the "stroke end ...

  • Page 326: 2.3

    5- 24 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2.3 "system" mode the "system" mode screen format for the two-robot setting varies slightly from that of the one-robot setting. Screen "system" mode initial screen robot parameters screen axis parameters screen refere...

  • Page 327

    5- 25 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.3.2 robot parameters screen format the system>param>robot mode's robot parameter format for the two-robot setting is shown below. Fig. 5-2-40 robot parameter setting screen system >param>robot v8.66 1.Tip weight[kg]...

  • Page 328

    5- 26 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2.3.4 setting the area check output the area check output function performs area checks based on the robot's current position and the point data area specified by the area check output parameters. The check result is ...

  • Page 329

    5- 27 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.3.5 double-carrier collision prevention when two carriers or arms are installed on the same axis of double-carrier type robots, this function prevents the two carriers from colliding with each other. This function i...

  • Page 330

    5- 28 t wo-robot setting 5 2. Operations and data when using the two-robot setting [procedure] although the following explanation applies to a double-carrier type robot, the same settings are used for a double-arm type robot. 1) establish the system>option>w.Carrier mode. 2) specify the settings. 1....

  • Page 331

    5- 29 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2. Carrier 1 setting 3. Carrier 2 setting the collision prevention settings are specified in a carrier-specific manner. 2-1) use the cursor up/down ( ↑/↓) keys to select "2. Carrier 1" or "3. Carrier 2", then press th...

  • Page 332

    5- 30 t wo-robot setting 5 2. Operations and data when using the two-robot setting 2-2) use the function keys to select the collision prevention function's control content. Refer to the above table for menu item meanings. Fig. 5-2-48 control mode setting system >option>w.Carrier v8.66 1.Stroke[mm] 6...

  • Page 333: 2.4

    5- 31 5 t wo-robot setting 2. Operations and data when using the two-robot setting 2.4 error message displays when an error occurs, an error message displays at the message line (2nd line) of the mpb screen. Error messages comprise the following elements. Message error group number error classificat...

  • Page 334: 3. Programming

    5- 32 t wo-robot setting 5 3. Programming 3.1 robot languages used in the two-robot setting the commands which can be used in the robot languages for robot operation and coordinate control, etc., vary according to the group. The main commands and functions are listed below. Type robot operation coor...

  • Page 335: Chapter 6

    Chapter 6 parallel i/o interface contents 1. Standard i/o interface overview ...................................................... 6-1 1.1 power supply ........................................................................................ 6-1 1.2 connector i/o signals ...............................

  • Page 336: Memo

    Memo.

  • Page 337: 1.1

    6- 1 6 parallel i/o interface 1. Standard i/o interface overview the robot controller has a standard i/o interface for compatibility with customer systems. A description of each i/o terminal and its connection is given here. Connect these i/o terminals correctly and efficiently. This standard i/o in...

  • Page 338: 1.2

    6- 2 parallel i/o interface 6 1. Standard i/o interface overview 1.2 connector i/o signals pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 i/o no. Signal name remarks di05 di01 di10 di11 di12 di13 di14 d...

  • Page 339: 1.3

    6- 3 6 parallel i/o interface 1. Standard i/o interface overview 1.3 connector pin numbers std. Dio 33 1 19 50 18 32 1 33 19 18 50 32 connection side solder side connector type: mr-50lm an std. Dio connector is supplied with the controller..

  • Page 340: 1.4

    6- 4 parallel i/o interface 6 1. Standard i/o interface overview 1.4 typical input signal connection npn specifications dc24v (p.Com di) di 01 di 10 di 11 di 12 to di 17 di 20 di 21 di 22 di 37 gnd (n.Com di) di 23 di 36 protective circuit external power supply npn controller side to pnp specificati...

  • Page 341: 1.5

    6- 5 6 parallel i/o interface 1. Standard i/o interface overview 1.5 typical output signal connection 1.5.1 dedicated outputs npn specifications c o m m o n do 01a do 01b do 02a do 02b do 03a do 03b do 10 to do 14 controller side pnp specifications c o m m o n do 01a do 01b do 02a do 02b do 03a do 0...

  • Page 342

    6- 6 parallel i/o interface 6 1. Standard i/o interface overview 1.5.2 general-purpose outputs npn specifications photocoupler (ps2801 or equivalent) npn darlington transistor (2sd2195 or equivalent) external power supply dc 24v dc24v do 20 to do27 gnd controller side pnp specifications pnp darlingt...

  • Page 343: 1.6

    6- 7 6 parallel i/o interface 1. Standard i/o interface overview 1.6 dedicated input signal description 1. Di01 servo-on input use to cancel emergency stop and turn on the servo power (servo-on). (however, the emergency stop input signal contacts must be closed.) when the di01 contact is closed (on)...

  • Page 344

    6- 8 parallel i/o interface 6 1. Standard i/o interface overview 7. Di15 program reset input di15 is used to reset the program. When a signal is input to di15 while the program is stopped in “auto” mode, the robot program is reset. At this point, all general-purpose outputs and variables are cleared...

  • Page 345: 1.7

    6- 9 6 parallel i/o interface 1. Standard i/o interface overview 1.7 dedicated output signal description 1. Do01a cpu_ok output: contact a (normally open) this is always on during normal controller operation. In the following cases this output turns off and cpu operation stops. • serious malfunction...

  • Page 346

    6- 10 parallel i/o interface 6 1. Standard i/o interface overview in case (3) since the cpu has stopped, the alarm cannot be turned off and operation cannot be reset unless the power supply is turned on again. In case (4) when a battery abnormality is detected, the alarm cannot turn off until the po...

  • Page 347: 1.8

    6- 11 6 parallel i/o interface 1. Standard i/o interface overview 1.8 dedicated i/o signal timing chart 1.8.1 controller power on, servo on and emergency stop on cpu_ok output: do(01)a off on servo-on output: do(02)a off on alarm output: do(03)a off on emergency stop input off on servo on input: di(...

  • Page 348

    6- 12 parallel i/o interface 6 1. Standard i/o interface overview 1.8.2 absolute reset conditions: manual mode and servo on on cpu_ok output: do(01)a off on servo-on output: do(02)a off on return-to-origin complete output: do(11) off on interlock input: di(11) off on absolute reset input: di(17) off...

  • Page 349

    6- 13 6 parallel i/o interface 1. Standard i/o interface overview 1.8.3 switching to auto mode, program reset and execution on auto mode output: do(10) off on return-to-origin complete output: do(11) off on robot program-in-progress output: do(13) off on program reset status output: do(14) off on in...

  • Page 350

    6- 14 parallel i/o interface 6 1. Standard i/o interface overview 1.8.4 stopping due to program interlocks on auto mode output: do(10) off on return-to-origin complete output: do(11) off on robot program-in-progress output: do(13) off on interlock input: di(11) off on program start input: di(12) off...

  • Page 351: 1.9

    6- 15 6 parallel i/o interface 1. Standard i/o interface overview 1.9 general-purpose i/o signals 1.9.1 general-purpose input signals these are a total of 16 signals consisting of di20 to di27 and di30 to di37. These general-purpose inputs are available to the user and can be connected to components...

  • Page 352

    6- 16 parallel i/o interface 6 2. Option i/o interface overview the option i/o interface of the controller is expandable to a maximum of 4 units (rcx142) or 2 units (rcx142-t) for compatibility with customer systems. A description of each i/o terminal and its connec- tion is given here. Connect thes...

  • Page 353: 2.1

    6- 17 6 parallel i/o interface 2. Option i/o interface overview 2.1 id settings use the dip switch on the option i/o interface unit (adjacent to opt. Dio connector) to set the id. Fig. 6-2-1 1 2 dip switch opt. Dio connector the di/do ports are assigned based on these id. ( ■ : switch lever) id 1 2 ...

  • Page 354: 2.3

    6- 18 parallel i/o interface 6 2. Option i/o interface overview 2.3 connector i/o signals pin i/o no. Signal name remarks id=1 id=2 id=3 id=4 id=1 id=2 id=3 id=4 1 p.Com di p.Com di + common 2 n.Com di n.Com di - common 3 di40 di70 di120 di150 input 40 input 70 input 120 input 150 4 di41 di71 di121 ...

  • Page 355: 2.4

    6- 19 6 parallel i/o interface 2. Option i/o interface overview 2.4 connector pin numbers opt. Dio 33 1 19 50 18 32 1 33 19 18 50 32 connection side solder side connector type: mr-50lm an opt. Dio connector is supplied with the controller..

  • Page 356: 2.5

    6- 20 parallel i/o interface 6 2. Option i/o interface overview 2.5 typical input signal connection npn specifications p.Com di di di n.Com di external power supply is used. External power supply 2.6 typical output signal connection npn specifications (ps2801 or equivalent) 2sd2195 p.Com a,b n.Com a...

  • Page 357

    6- 21 6 parallel i/o interface 2. Option i/o interface overview 2.7.3 general-purpose output signal reset (off) all the general-purpose output signals are reset in the following cases. 1) when f 5 (rst.Do) is selected in “utility” mode. 2) when any of the following operations is performed while no s...

  • Page 358: 3. Ratings

    6- 22 parallel i/o interface 6 3. Ratings 1. Input npn specifications method dc input (positive common type) photocoupler insulation method input power response time dc 24v ±10%, 10ma/point 20ms min. (during on/off) pnp specifications method dc input (negative common type) photocoupler insulation me...

  • Page 359: 4. Caution Items

    6- 23 6 parallel i/o interface 4. Caution items 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 possible malfunctions. 2. Take noise preventive ...

  • Page 360: Memo

    6- 24 memo.

  • Page 361

    Chapter 7 safety i/o interface contents 1. Safety i/o interface overview ........................................................ 7-1 1.1 power ................................................................................................... 7-1 1.2 connector i/o signals .............................

  • Page 362: Memo

    Memo.

  • Page 363: 1.1

    7- 1 7 safety i/o interface 1. Safety i/o interface overview 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 effe...

  • Page 364: 1.3

    7- 2 safety i/o interface 7 1. Safety i/o interface overview 1.3 connector terminal numbers 1 8 9 15 1 8 9 15 connection side solder side.

  • Page 365: 1.4

    7- 3 7 safety i/o interface 1. Safety i/o interface overview 1.4 emergency stop input signal connections 1.4.1 rcx142 connections using the standard mpb programming box with external emergency stop circuit g n d g n d 2 4 v mpb connector 1 3 1 4 1 3 1 4 3 4 safety connector mpb ac 200v power supply ...

  • Page 366

    7- 4 safety i/o interface 7 1. Safety i/o interface overview connections using the mpb-e2 (mpb compatible with an enable switch) with external emergency stop circuit (pnp specifications) g n d g n d 2 4 v mpb connector 2 0 1 9 1 8 1 7 1 6 1 5 1 4 1 3 1 1 p . C o m d i 0 2 emgrdy l c k i n 4 emg24v l...

  • Page 367

    7- 5 7 safety i/o interface 1. Safety i/o interface overview 2. When the service key switch contact is open: the enable switch is operable at this point. A. In normal operation, emg 24v is connected to emg rdy via the mpb-e2 emer- gency stop switch, enable switch and safety connector, and turns on t...

  • Page 368

    7- 6 safety i/o interface 7 1. Safety i/o interface overview 1.4.2 rcx142-t connections using the standard mpb programming box with external emergency stop circuit g n d 2 4 v mpb connector 1 3 1 4 1 3 1 4 3 4 safety connector mpb external emergency stop circuit emergency stop switch emergency stop ...

  • Page 369

    7- 7 7 safety i/o interface 1. Safety i/o interface overview connections using the mpb-e2 (mpb compatible with an enable switch) with external emergency stop circuit (pnp specifications) g n d 2 4 v mpb connector 2 0 1 9 1 8 1 7 1 6 1 5 1 4 1 3 1 1 p . C o m d i 0 2 emgrdy l c k i n 4 emg24v l c k i...

  • Page 370

    7- 8 safety i/o interface 7 1. Safety i/o interface overview 2. When the service key switch contact is open: the enable switch is operable at this point. A. In normal operation, emg 24v is connected to emg rdy via the mpb-e2 emer- gency stop switch, enable switch and safety connector, and the contro...

  • Page 371: 1.5

    7- 9 7 safety i/o interface 1. Safety i/o interface overview 1.5 dedicated input signal connections npn specifications di02 n.Com protective circuit p.Comdi for std.Dio pnp specifications di02 p.Comdi p.Comdi for std.Dio protective circuit c caution see "7. I/o connections" in chapter 3 for a defini...

  • Page 372: 1.6

    7- 10 safety i/o interface 7 1. Safety i/o interface overview c caution see "7. I/o connections" in chapter 3 for a definition of npn and pnp specifications. N note • npn and pnp specifications are determined by the std. Dio setting. • robot controllers with safe mode enabled will always be in servi...

  • Page 373

    Chapter 8 rs-232c interface contents 1. Communication overview ................................................................ 8-1 2. Communication function overview .................................................. 8-2 3. Communication specifications .................................................

  • Page 374: Memo

    Memo.

  • Page 375: 1. Communication Overview

    8- 1 8 rs-232c interface 1. Communication overview the robot controller can communicate with external devices in the following 2 modes using the rs- 232c interface. These modes can be used individually or jointly in a variety of applications. (1) data communication is performed by communication comm...

  • Page 376

    8- 2 rs-232c interface 8 2. Communication function overview there are 2 types of robot controller communication modes, “online” and “offline”. (1) “offline” mode in “offline” mode, the communication between the robot and external unit is executed with send commands in the program. • send command (ro...

  • Page 377: 3.1

    8- 3 8 rs-232c interface 3. Communication specifications 3.1 connector the rs-232c interface connector is located on the front panel of the robot controller as shown below. Rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy rob i/o zr op.1 op.3 op.2 op.4 200-230...

  • Page 378: 3.2

    8- 4 rs-232c interface 8 3. Communication specifications 3. Connection cable examples a. Cable capable of hardware busy control nc rxd txd nc gnd nc rts cts nc 1 2 3 4 5 6 7 8 9 controller dcd rxd txd dtr gnd dsr rts cts external device b. Cable not using control wires nc rxd txd nc gnd nc rts cts n...

  • Page 379: 3.3

    8- 5 8 rs-232c interface 3. Communication specifications 3.3 communication flow control software flow control (xon/xoff) and hardware flow control (rts/cts) methods can be selected by specifying the communication parameters. 3.3.1 flow control during transmit xon/xoff and cts indicate whether the ot...

  • Page 380: 3.4

    8- 6 rs-232c interface 8 3. Communication specifications 3.4 other caution items 1) the controller allows receiving data as long as the receive buffer has a free area. The receive buffer is cleared in the following cases. • when the power was turned off and turned back on. • when the program was res...

  • Page 381

    8- 7 8 rs-232c interface 3. Communication specifications fig. 8-3-1 problems caused by poor connections external device * rcx142 series connector metal parts fg potential ground wire was not at ground potential or not connected. Improper ground wire connection might cause electrical shock if connect...

  • Page 382: 3.5

    8- 8 rs-232c interface 8 3. Communication specifications 3.5 character code table h e x . - 0 - 1 - 2 - 3 - 4 - 5 - 6 - 7 - 8 - 9 - a - b - c - d - e - f 0 - s t o p b s t a b l f c r 1 - x o n x o f f e o f 2 - s p ! " # $ % & ' ( ) * + , - . / 3 - 0 1 2 3 4 5 6 7 8 9 : ; = > ? 4 - @ a b c d e f g ...

  • Page 383: 3.6

    8- 9 8 rs-232c interface 3. Communication specifications 3.6 connecting to a pc the following are examples of connecting to a pc using the yamaha communication cable. 1) using the pc's com port rcx142 series pc rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy ...

  • Page 384: Memo

    8- 10 memo.

  • Page 385: Chapter 9 Specifications

    Chapter 9 specifications contents 1. Controller basic specifications ......................................................... 9-1 1.1 rcx142 basic specifications ................................................................. 9-1 1.2 rcx142-t basic specifications ....................................

  • Page 386: Memo

    Memo.

  • Page 387: 1.1

    9- 1 9 specifications 1. Controller basic specifications 1.1 rcx142 basic specifications item specifications applicable robots maximum power consumption dimensions weight power supply voltage no. Of axes drive method position detection method control method coordinate systems position display units ...

  • Page 388: 1.2

    9- 2 specifications 9 1.2 rcx142-t basic specifications item specifications applicable robots maximum power consumption dimensions weight power supply voltage no. Of axes drive method position detection method control method coordinate systems position display units speed setting acceleration/decele...

  • Page 389

    9- 3 9 specifications 2. Controller basic functions function operation modes commands functions variables arithmetic operation monitor online commands data files internal timer program break points description auto mode (major functions: program execution, step execution, etc.) program mode (major f...

  • Page 390: 3.1

    9- 4 specifications 9 3. Robot controller external view 3.1 rcx142 external view fig. 9-3-1-1 standard rcx142 rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy rob i/o zr op.1 op.3 op.2 op.4 200-230v~ 50-60hz max.2500va batt zr xy model. Ser. No. Manufactured f...

  • Page 391: 3.2

    9- 5 9 specifications 3.2 rcx142-t external view fig. 9-3-2-1 sanyodenki rcx142 motor xm ym zm rm pwr srv err safety mpb com std.Dio rgen acin p n l n rob i/o xy rob i/o zr op.1 op.3 op.2 op.4 batt zr xy model. Ser. No. Manufactured factory automation equipment made in japan 注意 caution 取扱説明書参照 read ...

  • Page 392

    9- 6 specifications 9 4. Mpb basic specifications and external view mpb basic specifications and external view model mpb display screen power noise resistance operating environment dimensions (mm) cable length weight liquid crystal display (40 characters × 8 lines) dc ±12v 1500v × 1 microsecond ambi...

  • Page 393: Chapter 10 Troubleshooting

    Chapter 10 troubleshooting contents 1. Error messages ............................................................................... 10-1 1.1 robot controller error messages .......................................................... 10-1 [ 0] warnings and messages .....................................

  • Page 394: Memo

    Memo.

  • Page 395: 1. Error Messages

    10- 1 10 t roubleshooting 1. Error messages 1.1 robot controller error messages when an error occurs, an error message appears on the message line (2nd line) of the mpb screen. Error messages comprise the following elements. 12.1: emg.Stop on message error classification no. Error no. Error group no...

  • Page 396

    10- 2 t roubleshooting 10 1. Error messages [format] error no. : [,] error message … displays the error message on screen. Code : … displays the error code in hexadecimal numbers. Meaning/cause : … displays the meaning and cause of the error. Action : … displays a message explaining action needed to...

  • Page 397

    10- 3 10 t roubleshooting 1. Error messages [ 0] warnings and messages 0.0 : undefined error code : &h0000 meaning/cause : undefined system error. Action : contact our company. 0.1 : origin incomplete * if the cause of the origin incomplete error can be pinpointed, an error code will be attached in ...

  • Page 398

    10- 4 t roubleshooting 10 1. Error messages 0.6 : program suspended by “hold” code : &h0006 meaning/cause : program execution was interrupted by a hold command. Action : press the start key to cancel hold condition and start running the program from the next command. 0.7 : turn on power again code :...

  • Page 399

    10- 5 10 t roubleshooting 1. Error messages 0.16 : changed service mode input code : &h0010 meaning/cause : status of service mode inputs (di02, si02) was changed. Action : --- 0.17 : can't edit while std.Dio dc24v on code : &h0011 meaning/cause : setting to disable the dc 24v monitoring function of...

  • Page 400

    10- 6 t roubleshooting 10 1. Error messages 2.2 : std. Coord. Doesn't exist code : &h0202 meaning/cause : setting of standard coordinates is incomplete. Action : 1. Set the standard coordinates. 2. Set the parameter arm length and offset pulse. 2.3 : coordinate cal. Failed code : &h0203 meaning/caus...

  • Page 401

    10- 7 10 t roubleshooting 1. Error messages 2.10 : exceeded movable range code : &h020a meaning/cause : area is outside the movable range of movement path. Action : 1. Set movement points correctly. 2. Specify movement path to be within the movable range. 2.11 : ? Exceeded shift coord. Range code : ...

  • Page 402

    10- 8 t roubleshooting 10 1. Error messages 2.23 : cannot move (righty to lefty) code : &h0217 meaning/cause : a. Interpolation movement shifting from the right-handed sys- tem to the left-handed system was executed with a scara robot. Action : 1. Check the current hand system and point data hand sy...

  • Page 403

    10- 9 10 t roubleshooting 1. Error messages 2.27 : w. Carrier deadlock code : &h021b meaning/cause : failed to move the double carrier axis and a deadlock occurred, because the target positions of both carriers will interfere with each other. Action : check the robot program. [ 3] program file opera...

  • Page 404

    10- 10 t roubleshooting 10 1. Error messages 3.9 : cannot find strings code : &h0309 meaning/cause : could not find specified character string during search. Action : if needed change the character string and try searching again. 3.10 : object program doesn’t exist code : &h030a meaning/cause : the ...

  • Page 405

    10- 11 10 t roubleshooting 1. Error messages 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 code : &h0312 meaning/cause : setting of ...

  • Page 406

    10- 12 t roubleshooting 10 1. Error messages 5.2 : data error code : &h0502 meaning/cause : data entered in wrong format. Action : input the data in the correct format. 5.3 : number error code : &h0503 meaning/cause : a. Mistake in the number entry. B. Expression value is wrong. Action : 1. Change t...

  • Page 407

    10- 13 10 t roubleshooting 1. Error messages 5.10 : too many characters code : &h050a meaning/cause : a. Character string was defined in excess of 75 characters. B. Addition to the character string total exceeds 75 characters. Action : 1. Change to character string count of 75 characters or less. 2....

  • Page 408

    10- 14 t roubleshooting 10 1. Error messages 5.17 : while without wend code : &h0511 meaning/cause : there is no wend statement corresponding to while statement. Action : 1. Delete the while statement. 2. Add a wend statement corresponding to the while state- ment. 5.18 : next without for code : &h0...

  • Page 409

    10- 15 10 t roubleshooting 1. Error messages 5.24 : end sub without sub code : &h0518 meaning/cause : a. There is no sub statement corresponding to end sub statement. B. End sub command was executed without sub command. Action : 1. Delete the end sub statement. 2. Add a sub statement corresponding t...

  • Page 410

    10- 16 t roubleshooting 10 1. Error messages 5.32 : undefined user function code : &h0520 meaning/cause : undefined function was called. Action : set definition for undefined function. 5.34 : too many dimensions code : &h0522 meaning/cause : an array exceeding 3 dimensions was defined. Action : chan...

  • Page 411

    10- 17 10 t roubleshooting 1. Error messages 5.41 : illegal command outside proce. Code : &h0529 meaning/cause : command cannot be executed outside of procedure (between sub to end sub statements). Action : delete command that cannot be executed outside of procedure. 5.42 : illegal command inside if...

  • Page 412

    10- 18 t roubleshooting 10 1. Error messages 5.48 : end select without select code : &h0530 meaning/cause : there is no select statement corresponding to end select statement. Action : 1. Delete the end select statement. 2. Add a select statement corresponding to the end se- lect statement. 5.49 : s...

  • Page 413

    10- 19 10 t roubleshooting 1. Error messages 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. [ 6] robot language executio...

  • Page 414

    10- 20 t roubleshooting 10 1. Error messages 6.7 : return without gosub code : &h0607 meaning/cause : return command was executed without executing the gosub command. Action : confirm execution of gosub command. 6.8 : end sub without call code : &h0608 meaning/cause : end sub command was executed wi...

  • Page 415

    10- 21 10 t roubleshooting 1. Error messages 6.14 : task number error code : &h060e meaning/cause : a. Task number is outside the range 2 to 8. B. Start, cut, suspend or restart command was ex- ecuted for task 1 (main task). C. Start, cut, suspend or restart command was ex- ecuted for its own task. ...

  • Page 416

    10- 22 t roubleshooting 10 1. Error messages 6.21 : same point exists code : &h0615 meaning/cause : a. Same points exist for 1 of 3 points of an move c command. B. Same points are consecutively on the path of path motion. Action : 1. Change the move c command to 3 different points. 2. Make changes s...

  • Page 417

    10- 23 10 t roubleshooting 1. Error messages 6.28 : path without end code : &h061c meaning/cause : path start was executed without executing path end. Action : execute path end to end the path setting and then execute path start. 6.29 : no path data code : &h061d meaning/cause : no path is set for p...

  • Page 418

    10- 24 t roubleshooting 10 1. Error messages 6.35 : expression value error code : &h0623 meaning/cause : the expression value is other than -1 and 0 even though condi- tional expression is a numeric expression. Action : 1. Set the expression value correctly. 2. Change the "true condition" parameter ...

  • Page 419

    10- 25 10 t roubleshooting 1. Error messages 9.8 : pos.Out data destroyed code : &h0908 meaning/cause : part or all of the pos.Out data was destroyed. Action : initialize the pos.Out data. 9.9 : pallet data destroyed code : &h0909 meaning/cause : part or all of the pallet definition data was destroy...

  • Page 420

    10- 26 t roubleshooting 10 1. Error messages 9.38 : sequence object memory full code : &h0926 meaning/cause : sequence object program exceeded its memory capacity. Action : compress the source size of sequence program, so that the object program size is reduced. 9.39 : sequence object destroyed code...

  • Page 421

    10- 27 10 t roubleshooting 1. Error messages 10.8 : cannot set auxiliary axis code : &h0a08 meaning/cause : setting of axis that cannot be set as an auxiliary axis was at- tempted. The following axes cannot be set as an auxiliary axis. • scara type robot axes • x and y axes except on multi type robo...

  • Page 422

    10- 28 t roubleshooting 10 1. Error messages 10.21 : sys. Backup battery low voltage code : &h0a15 meaning/cause : a. System backup battery voltage is low. B. System backup battery is disconnected from cpu board. Action : 1. Replace system backup battery. 2. Connect system backup battery securely to...

  • Page 423

    10- 29 10 t roubleshooting 1. Error messages 12.3 : arm locked code : &h0c03 meaning/cause : movement of an arm was attempted while the arm lock variable lo was on. Action : clear the arm lock variable lo. 12.11 : cc-link communication error code : &h0c0b meaning/cause : a. Error in cable for cc-lin...

  • Page 424

    10- 30 t roubleshooting 10 1. Error messages 12.17 : devicenet hardware error code : &h0c11 meaning/cause : a. Breakdown in devicenet compatible unit. Action : 1. Replace the devicenet compatible unit. 12.18 : incorrect devicenet setting code : &h0c12 meaning/cause : a. The macid or communication sp...

  • Page 425

    10- 31 10 t roubleshooting 1. Error messages 12.32 : do1 dc24v disconnected code : &h0c20 meaning/cause : a. Dc 24v not being supplied to do1 section of opt.Dio unit. B. Drop in dc 24v supply voltage to do1 section of opt.Dio unit. C. Opt.Dio connector is not connected. Action : 1. Supply dc 24v to ...

  • Page 426

    10- 32 t roubleshooting 10 1. Error messages 12.41 : ethernet link error code : &h0c29 meaning/cause : telenet is disconnected. A. The cable is broken or disconnected. B. Communicating with a client was off for more than the time specified by the "7. Timeout [min]" parameter for ethernet. C. Logout ...

  • Page 427

    10- 33 10 t roubleshooting 1. Error messages 13.2 : mpb parity error code : &h0d02 meaning/cause : abnormal data was entered in communication with mpb. Action : 1. Install the mpb correctly. 2. Install the mpb in a good operating environment. (do not install near sources of noise.) 13.11 : mpb versi...

  • Page 428

    10- 34 t roubleshooting 10 1. Error messages 14.12 : cmu is not ready code : &h0e0c meaning/cause : could not sent data from controller because receive prohibit status of other party continued for more than 10 seconds. Action : 1. Replace the communications cable. 2. Check that flow control is norma...

  • Page 429

    10- 35 10 t roubleshooting 1. Error messages 14.26 : illegal command,service mode code : &h0e1a meaning/cause : unable to execute since operation is in service mode. Action : 1. Cancel service mode. 2. Change the exclusive control setting so it can be used in service mode. 14.31 : illegal port type ...

  • Page 430

    10- 36 t roubleshooting 10 1. Error messages 15.12 : disk full code : &h0f0c meaning/cause : write failed. No space is available on memory card. (file con- tents cannot be guaranteed.) action : 1. Use a new memory card. 2. Delete unnecessary files. 15.13 : unformatted media code : &h0f0d meaning/cau...

  • Page 431

    10- 37 10 t roubleshooting 1. Error messages 15.24 : media hardware error code : &h0f18 meaning/cause : a. Memory card is defective b. Error occurred in controller. Action : 1. Replace the memory card. 2. Replace the controller. 15.27 : data read error code : &h0f1b meaning/cause : failed to load fi...

  • Page 432

    10- 38 t roubleshooting 10 1. Error messages 17.3 : over current code : &h1103 meaning/cause : a. Short in motor cable. B. Malfunction occurred in motor. Action : 1. Replace the motor cable. 2. Replace the motor. Dedicated output : *2 17.4 : over load code : &h1104 meaning/cause : a. Robot drive sec...

  • Page 433

    10- 39 10 t roubleshooting 1. Error messages 17.6 : p.E.Counter overflow code : &h1106 meaning/cause : a. Robot drive section mechanically locked. B. Motor acceleration is excessive. C. System generation setting is wrong. D. Motor cable wiring is broken or wiring is incorrect. E. Electromagnetic bra...

  • Page 434

    10- 40 t roubleshooting 10 1. Error messages 17.17 : mode error code : &h1111 meaning/cause : driver unit is in abnormal control mode status. Action : contact our company with details on the problem. Dedicated output : *2 17.18 : dpram data error code : &h1112 meaning/cause : 2 tries at loading the ...

  • Page 435

    10- 41 10 t roubleshooting 1. Error messages 17.24 : can not reserve parameter code : &h1118 meaning/cause : data for driver unit from the cpu unit was not received by driver unit. Action : 1. Turn the power off and then on again. 2. Replace the controller. 17.28 : dual p.E. Counter overflow code : ...

  • Page 436

    10- 42 t roubleshooting 10 1. Error messages 17.35 : axis weight over code : &h1123 meaning/cause : the weight (sum of work weight + axis weight) on a particular robot axis exceeded the maximum payload of that axis. Action : 1. Redo the system generation. 2. Select the axis weight parameter to a cor...

  • Page 437

    10- 43 10 t roubleshooting 1. Error messages 17.82 : cs read error code : &h1152 meaning/cause : readout check of resolver electrical angle information failed twice action : 1. Perform absolute reset. 2. Replace the motor. 3. Replace the controller. 17.83 : backup position data error 1 code : &h1153...

  • Page 438

    10- 44 t roubleshooting 10 1. Error messages 17.93 : position backup counter overflow code : &h115d meaning/cause : position information lost when motor speed (rotation) exceeded 4096 when controller power was cut off. Action : 1. Do not rotate motor more than necessary when the controller power is ...

  • Page 439

    10- 45 10 t roubleshooting 1. Error messages 21.11 : system error (emghalt) code : &h150b meaning/cause : software error occurred. Action : contact our company with details of this problem. 21.12 : system error (rtos) code : &h150c meaning/cause : software error occurred. Action : contact our compan...

  • Page 440

    10- 46 t roubleshooting 10 1. Error messages 22.3 : dc24v power low code : &h1603 meaning/cause : a. Dc 24v power supply malfunctioned and the voltage dropped. B. Electromagnetic brake for vertical axis is defective. C. Wiring for electromagnetic brake of vertical axis is wrong. D. Short in dc 24v f...

  • Page 441

    10- 47 10 t roubleshooting 1. Error messages 22.12 : abnormal temperature code : &h160c meaning/cause : controller internal temperature rose to 60 °c or more. Action : 1. Improve the operating environment. 2. Check if the cooling fan is operating correctly. 3. Replace the controller. Dedicated outpu...

  • Page 442

    10- 48 t roubleshooting 10 1. Error messages 22.42 : opt.2 interface overtime code : &h162a meaning/cause : 1. Failed to acquire access privilege for interface with option board connected to option slot 2. Action : 1. Replace the option board connected to option slot 2. : 2. Replace the controller. ...

  • Page 443: 1.2

    10- 49 10 t roubleshooting 1. Error messages 1.2 mpb error messages when a hardware error or a software error occurs in the mpb, the following messages are highlighted (shown with reversed background) on the guideline of the lowest line of the screen. M p b t r a p ! ! Contents : undefined operation...

  • Page 444

    10- 50 t roubleshooting 10 1. Error messages m p b t r a n s m i t e r r o r ! ! ( t i m e o u t e r r o r ) 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 mpb cable. ...

  • Page 445: 2. Troubleshooting

    10- 51 10 t roubleshooting 2. Troubleshooting 2.1 when trouble occurs please contact our company with details of the problem that occurs. Report the following items in as much detail as possible. Description item • controller model name and serial no. Example: rcx142 + regenerative unit • robot mode...

  • Page 446: 2.2

    10- 52 t roubleshooting 10 2. Troubleshooting 2.2 acquiring error information error history (log) information is stored inside the robot controller. The following 2 methods are available for checking this information. 2.2.1 acquiring information from the mpb [procedure] 1) press the f 5 (diagnos) ke...

  • Page 447: 2.3

    10- 53 10 t roubleshooting 2. Troubleshooting 2.3 troubleshooting checkpoints 1. Installation and power supply 1 2 3 symptom controller won't turn on even with power supplied. Controller turns on but no mpb display. Controller turns on but “err” led on front panel lights up. Possible cause • power n...

  • Page 448

    10- 54 t roubleshooting 10 2. Troubleshooting 2. Robot operation 1 2 3 symptom controller turns on but can't execute program and manual movement. Abnormal sound or vibration. Position deviation occurred. • there are 2 main types of position deviation. 1. Electrical position deviation 2. Mechanical p...

  • Page 449

    10- 55 10 t roubleshooting 2. Troubleshooting 3. I/o operation 1 2 3 symptom won't operate even when dedicated input signal is supplied. No output of dedicated output signal. No output of general- purpose i/o signal. Possible cause • no dc24v supply. • problem in signal connection. • error has occur...

  • Page 450

    Ver. 1.00 ver. 1.01 ver. 1.02 ver. 1.03 ver. 1.04 ver. 1.05 ver. 1.06 ver. 1.07 ver. 1.08 ver. 1.09 english manual ver. 1.00 is based on japanese manual 2nd edition. English manual ver. 1.01 is based on japanese manual ver. 3.00. English manual ver. 1.02 is based on japanese manual ver. 3.01. Englis...