YAMAHA 4-AXIS ROBOT CONTROLLER
RCX40
User’s Manual
ENGLISH
E
E75-Ver. 12th
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 safely and correctly.
For details on robot programs, refer to the separate “Programming Manual”.
1
2
Safety precautions (Be sure to read before using)
Before using the YAMAHA robot controller, be sure to read this manual and related manuals, and follow their instructions to use the robot controller safely and correctly.
Warning and caution items listed in this manual relate to YAMAHA robot controllers.
When this robot controller is used in a robot controller system, please take appropriate
safety measures needed by the user’s individual system.
2
This manual classifies safety caution items and operating points into the following levels,
along with symbols for “WARNING”, “CAUITON” and “NOTE”.
WARNING
w Failure
to follow WARNING instructions could result in severe injury or death to the
operator, bystanders or persons inspecting or repairing the robot controller or robot.
CAUTION
c Failure
to follow CAUTION instructions may result in injury to the operator, bystanders or persons
inspecting or repairing the robot controller or robot, and may damage the robot controller or robot.
NOTE
n Explains
the key point in the operation in a simple and clear manner.
Note that the items classified into “CAUTION” might result in serious injury depending
on the situation or environmental conditions. So always comply with the CAUTION and
WARNING instructions as these are essential for safety.
Keep this manual carefully so that the operator can refer to it when needed. Also make
sure that this manual reaches the end user.
When installing the RCX40 robot controller, please take into account all the instructions
and precautions described in Chapter 3, "Installation".
2
[System design safety points]
w WARNING
• Refer to this manual for details on the operating status of the robot controller and
related instruction manuals.
Design and configure the system including the robot controller so that it will
always work safely.
• The robot controller has an emergency stop terminal to trigger emergency stop.
Using this terminal, prepare a physical interlock circuit so that the system
including the robot controller will work safely.
c CAUTION
• Do not bundle control lines or communication cables together or in close contact with the
robot controller main circuit or power lines. As a general rule, separate them by at least
100mm. Noise in the main circuit or power lines may cause faulty operation or malfunctions.
• Data (programs, point data, etc.) stored in the robot controller is not guaranteed to be
unchanged, so be sure to save it into an external storage device.
[Installation safety points]
w WARNING
• Securely install the connectors into the robot controller, and when wiring the
connectors, make the crimp, press-contact or solder connections correctly, using
the tool specified by the manufacturer.
• Always shut off all phases of the power supply externally before starting
installation or wiring work. Failure to shut off all phases could lead to electric
shocks or product damage.
c CAUTION
• Use the robot controller within the environment specifications listed in this manual.
Using the controller in an environment outside the specification range could lead to electric
shocks, fires, malfunctions, product damage or deteriorated performance.
• Tighten the screws on the robot controller firmly to make secure connections.
• Never directly touch the conductive sections or electronic parts other than the rotary switches
and DIP switches on the outside panel of the robot controller.
• Securely install each connection cable connector into the receptacles or sockets.
Poor connections will cause faulty operation or malfunctions.
[Wiring safety points]
w WARNING
• Always shut off all phases of the power supply externally before starting
installation or wiring work. Failure to shut off all phases could lead to electric
shocks or product damage.
• Always attach the terminal cover (supplied) before turning on the power to the
robot controller after installation and wiring work are complete. Failure to attach
the terminal cover could lead to fire, electrical shock, product damage or
malfunctions.
c CAUTION
• Tighten the terminal screws within the specified torque range.
A loose terminal screw could lead to short-circuit, faulty operation or malfunctions. In
contrast, if the terminal screw is too tight, short-circuit, faulty operation or malfunctions could
also occur due to screw damage.
• Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the robot
controller.
• Always store the cables connected to the robot controller in a conduit or clamp them securely
in place.
If the cables are not stored in a conduit or properly clamped, excessive play or movement, or
mistakenly pulling on the cable may damage the connector or cables, and poor cable contact
may lead to faulty operation or malfunctions.
• When disconnecting the cable, detach by holding the connector itself and not by tugging on the
cable. Loosen the screws on the connector (if fastened with the screws), and then disconnect
the cable.
Detaching by pulling on the cable itself may damage the connector or cables, and poor cable
contact may lead to faulty operation or malfunctions.
3
2
[Start-up and maintenance safety points]
w WARNING
• When operating the robot, 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 accident including fatal injury or death could otherwise
result.
• This robot controller is not designed for explosion-proof. Do not use it in locations
exposed to inflammable gases, gasoline or solvent that could cause explosion or
fire.
• Do not touch any electrical terminal while power is supplied to the robot
controller. This may cause electrical shocks, faulty operation or malfunctions.
• Always shut off all phases of the power supply externally before cleaning or
tightening the terminal screws.
Failure to shut off all phases could lead to electric shocks, product damage or
malfunctions.
A loose screw could lead to dropping, short circuit or malfunctions.
If the screw is too tight, short circuit or malfunctions could also occur due to
screw damage.
• Never disassemble or modify the robot controller.
This may lead to breakdowns, malfunctions, injury or fire.
• Always shut off all phases of the power supply externally before installing or
removing an option board.
Failure to shut off all phases could lead to breakdowns or malfunctions.
• When using ferrite cores for noise elimination, fit them to the power cable as close
to the robot controller as possible, to prevent faulty operation or malfunctions due
to noise.
• When performing maintenance of the robot controller under instructions from
YAMAHA or YAMAHA sales dealer, turn off the robot controller and wait for at least
30 minutes. Some parts in the robot controller may be hot or applied at a high
voltage shortly after operation, so burns or electrical shocks may occur if those
parts are touched.
2
[Precautions for disposal]
c CAUTION
• When disposing of this product discard it as industrial waste.
[Other precautions]
c CAUTION
• Please note that the state of California USA has legal restrictions on the handling of
manganese dioxide lithium batteries. See the following website for more information:
http://www.dtsc.ca.gov/hazardouswaste/perchlorate
This manual does not constitute a concession of rights or a guarantee of
industrial rights. Please acknowledge that we bear no liability whatsoever
for conflicts with industrial rights arising from the contents of this manual.
2007 YAMAHA MOTOR CO., LTD.
4
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 origin position setting each
time the power is turned on or may cause abnormal operation (vibration, noise).
Reference
Refer to “4. Connecting the power” in
Chapter 3, “Installation”.
Reference
Absolute reset is always required when
the robot controller power is first
turned on after connecting the robot
cable to the robot controller. Perform
absolute reset while referring to “11.8
Absolute reset” in Chapter 4,
“Operation”.
Absolute reset is also required after the
robot cable was disconnected from the
robot controller and then reconnected.
[1] When connecting the power supply to the robot controller
Always make a secure connection to the ground terminal on the robot controller to
ensure safety and prevent malfunctions due to noise.
[2] When connecting the battery cable to the robot controller
The absolute battery is fully charged when the robot controller is shipped to the
customer. However, it is left disconnected to prevent battery discharge. After installing
the controller, always be sure to connect the absolute battery while referring to “9.
Connecting the absolute battery” in Chapter 3 before connecting the robot cables.
An error (relating to absolute settings) is always issued if the robot controller power is
turned on without making the absolute battery connections, so the origin position is
not detected. This means the robot connected to this controller cannot be used as
absolute specifications.
[3] When connecting robot cables to the robot controller
Be sure to keep robot cables separate from the robot controller power connection
lines and other equipment power lines. Using in close contact with lines carrying
power may cause malfunctions or abnormal operation.
5
2
Overview of the RCX series
The YAMAHA RCX series robot controllers were developed based on years of YAMAHA
experience and achievements in robotics and electronics. These controllers are specifically
designed to operate YAMAHA industrial robots efficiently and accurately.
Despite its compact size, the RCX series controllers serve as multi-axis controllers with a
variety of functions.
2
Major features and functions are:
1. Multi-task function
Up to 8 tasks* can be run simultaneously in a specified priority. (Low priority tasks
are halted while high priority tasks are run.)
I/O parallel processing and interrupt processing are also available, so that operational
efficiency of the total robot system including peripheral units is greatly improved.
(*: Refer to the programming manual for more details on multi-tasking.)
2. Robot language
The RCX series controller comes with a BASIC-like high-level robot language that
conforms to the industrial robot programming language SLIM*1. This robot language
allows easy programming even of complex movements such as multi-task operations
and uses a compiling method*2 for rapid execution of programs.
(*1: Standard Language for Industrial Manipulators)
(*2: This compiling method checks the syntax in a robot language program, converts
it into intermediate codes, and creates an execution file (object file) before actually
performing the program.)
3. Movement command
• Arch motion
Spatial movement during pick-and-place work can be freely set according to the
work environment. This is effective in reducing cycle time.
• Three-dimensional CP control
Three-dimensional interpolation control for linear and circular movements is
possible.
4. Maintenance
Software servo control provides unit standardization. This means compatibility with
most YAMAHA robot models, thus simplifying maintenance and adjustment.
5. CE marking*
As a product of YAMAHA robot series, the RCX series robot controller is designed to
conform to machinery directives, low-voltage directives and EMC (Electromagnetic
compatibility) directives. In this case, the robot controller is set to operate under SAFE
mode. (* For CE marking compatibility, see the CE marking compatibility manual.)
This manual explains how to handle and operate the YAMAHA robot controllers correctly
and effectively, as well as I/O interface connections.
Read this manual carefully before installing and using the robot controller. Also refer to
the separate “Programming Manual” and “Robot User’s Manual” as needed.
6
Contents
Chapter 1 Safety
1. Safety .........................................................................................1-1
1.1
1.2
1.3
1.4
1.5
Safety precautions during robot operation ...........................................
Safety precautions during maintenance ...............................................
Precautions for motor overload ...........................................................
Warning labels ....................................................................................
Warning marks ...................................................................................
1-2
1-2
1-2
1-3
1-3
2. Warranty ...................................................................................1-4
3. Operating environment .............................................................1-5
Chapter 2 System overview
1. System overview ........................................................................2-1
1.1
1.2
Main system configuration .................................................................. 2-1
Axis definition for the RCX40 .............................................................. 2-3
2. Part names and functions...........................................................2-4
2.1
RCX40 (Maximum number of axes: 4 axes) ......................................... 2-4
3. Controller system ......................................................................2-5
3.1
Basic configuration ............................................................................. 2-5
4. Optional devices ........................................................................2-6
4.1
4.2
4.3
MPB programming device ................................................................... 2-6
Expansion I/O board ........................................................................... 2-6
Regenerative unit ................................................................................ 2-6
Chapter 3 Installation
1. Unpacking .................................................................................3-1
1.1
1.2
Packing box ........................................................................................ 3-1
Unpacking .......................................................................................... 3-1
2. Installing the robot controller ....................................................3-2
2.1
2.2
Installation .......................................................................................... 3-2
Installation methods ............................................................................ 3-3
3. Connectors ................................................................................3-5
4. Power connections ....................................................................3-6
4.1
4.2
4.3
4.4
4.5
AC200 to 230V single-phase specifications .........................................
Power capacity ...................................................................................
External leakage breaker installation ...................................................
Circuit protector installation ................................................................
Current control switch installation ......................................................
3-6
3-6
3-8
3-8
3-8
5. Robot cable connections ...........................................................3-9
6. Connecting the MPB programming unit ..................................3-10
7. I/O connections ....................................................................... 3-11
8. Connecting a host computer ....................................................3-12
i
9. Connecting the absolute battery ..............................................3-13
10. Replacing the absolute battery ................................................3-15
11. Connecting a regenerative unit ................................................3-18
12. Precautions for cable routing and installation .........................3-19
12.1
12.2
12.3
Wiring methods ................................................................................ 3-19
Precautions for installation ................................................................ 3-19
Methods of preventing malfunctions ................................................. 3-19
13. Checking the robot controller operation .................................3-21
13.1
13.2
13.3
Cable connection .............................................................................. 3-21
Emergency stop input signal connection ........................................... 3-22
Operation check ............................................................................... 3-22
Chapter 4 Operation
1. Operation overview ...................................................................4-1
2. The RCX robot controller ..........................................................4-2
2.1
2.2
Part names .......................................................................................... 4-2
Main functions .................................................................................... 4-2
3. MPB programming unit .............................................................4-3
3.1
3.2
3.3
Part names .......................................................................................... 4-3
Main functions .................................................................................... 4-4
Connection to the robot controller ...................................................... 4-5
4. Turning power on and off ..........................................................4-6
5. Operation keys ..........................................................................4-7
5.1
5.2
5.3
5.4
5.5
5.6
5.7
MPB screen ......................................................................................... 4-7
Operation key layout .......................................................................... 4-8
Basic key operation ............................................................................. 4-9
Function keys .................................................................................... 4-10
Control keys ...................................................................................... 4-12
Data keys .......................................................................................... 4-14
Other keys ........................................................................................ 4-14
6. Emergency stop .......................................................................4-15
6.1
Emergency stop reset ........................................................................ 4-16
7. Mode configuration .................................................................4-18
7.1
7.2
7.3
Basic operation modes ...................................................................... 4-18
Other operation modes ..................................................................... 4-19
Mode hierarchy ................................................................................. 4-20
8. “SERVICE” mode .....................................................................4-24
8.1
8.2
8.3
8.4
Operation device ..............................................................................
Prohibition of “AUTO” mode operation ............................................
Hold-to-Run function ........................................................................
Limitations on robot operating speed ................................................
4-24
4-24
4-24
4-24
9. “AUTO” mode .........................................................................4-25
9.1
9.2
ii
Automatic operation ......................................................................... 4-28
Stopping the program ........................................................................ 4-29
9.3
9.4
9.5
9.6
9.7
9.8
9.9
9.10
9.11
9.12
Resetting the program .......................................................................
Switching task display .......................................................................
Switching the program ......................................................................
Changing the automatic movement speed .........................................
Executing the point trace ...................................................................
4-30
4-32
4-33
4-34
4-34
9.7.1
PTP motion mode ........................................................................................... 4-36
9.7.2
ARCH motion mode ....................................................................................... 4-38
9.7.3
Linear interpolation motion mode ................................................................... 4-40
Direct command execution ............................................................... 4-42
BREAK point ..................................................................................... 4-43
9.9.1
Break point setting .......................................................................................... 4-43
9.9.2
Break point deletion ....................................................................................... 4-44
STEP ................................................................................................. 4-45
SKIP .................................................................................................. 4-45
NEXT ................................................................................................ 4-45
10. “PROGRAM” mode .................................................................4-46
10.1
10.2
Program list scroll ............................................................................. 4-47
Program editing ................................................................................ 4-48
10.2.1
Cursor movement ........................................................................................... 4-50
10.2.2
Insert/Overwrite mode switching .................................................................... 4-50
10.2.3
Inserting a line ................................................................................................ 4-51
10.2.4
Deleting a character ....................................................................................... 4-51
10.2.5
Deleting a line ................................................................................................ 4-52
10.2.6
User function key display ............................................................................... 4-52
10.2.7
Quitting program editing ................................................................................ 4-53
10.2.8
Specifying the copy/cut lines .......................................................................... 4-53
10.2.9
Copying the selected lines .............................................................................. 4-53
10.2.10 Cutting the selected lines ................................................................................ 4-54
10.2.11 Pasting the data ............................................................................................... 4-54
10.2.12 Backspace ...................................................................................................... 4-54
10.2.13 Line jump ....................................................................................................... 4-55
10.2.14 Searching a character string ............................................................................ 4-56
10.3
10.4
10.5
10.6
10.7
Directory .......................................................................................... 4-57
10.3.1
Cursor movement ........................................................................................... 4-58
10.3.2
Registering a new program name .................................................................... 4-58
10.3.3
Directory information display ......................................................................... 4-59
10.3.4
Copying a program ......................................................................................... 4-60
10.3.5
Erasing a program ........................................................................................... 4-61
10.3.6
Renaming a program ...................................................................................... 4-62
10.3.7
Changing the program attribute ...................................................................... 4-63
10.3.8
Displaying object program information ........................................................... 4-63
10.3.9
Creating a sample program automatically ....................................................... 4-64
Compiling .........................................................................................
Line jump and character string search ...............................................
Registering user function keys ...........................................................
Resetting an error in the selected program ........................................
4-66
4-67
4-67
4-70
11. “MANUAL” mode ...................................................................4-71
11.1
11.2
Manual movement ............................................................................ 4-73
Displaying and editing point data ..................................................... 4-75
11.2.1
Point data input and editing ............................................................................ 4-76
11.2.2
Point data input by teaching ........................................................................... 4-78
11.2.3
Point data input by direct teaching .................................................................. 4-82
11.2.4
Point jump display .......................................................................................... 4-82
11.2.1.1
Restoring point data ........................................................................................ 4-77
iii
11.2.5
Copying point data ......................................................................................... 4-83
11.2.6
Erasing point data ........................................................................................... 4-84
11.2.7
Point data trace ............................................................................................... 4-85
11.2.8
Point comment input and editing .................................................................... 4-86
11.2.9
11.3
11.2.8.1
Point comment input and editing ..................................................................... 4-87
11.2.8.2
Point data input by teaching ............................................................................ 4-87
11.2.8.3
Jump to a point comment ................................................................................ 4-88
11.2.8.4
Copying a point comment ............................................................................... 4-89
11.2.8.5
Erasing point comments ................................................................................... 4-90
11.2.8.6
Point comment search ..................................................................................... 4-91
Point data error reset ....................................................................................... 4-92
Displaying, editing and setting pallet definitions ............................... 4-93
11.3.1
Editing pallet definitions ................................................................................. 4-95
11.3.1.1
Point setting in pallet definition ....................................................................... 4-96
11.3.1.1.1 Editing the point in pallet definition ................................................................... 4-97
11.3.1.1.2 Setting the point in pallet definition by teaching ................................................ 4-97
11.4
11.5
11.3.2
Pallet definition by teaching ............................................................................ 4-98
11.3.3
Copying a pallet definition ............................................................................ 4-100
11.3.4
Deleting a pallet definition ........................................................................... 4-101
Changing the manual movement speed .......................................... 4-102
Displaying, editing and setting shift coordinates .............................. 4-103
11.5.1
Editing shift coordinates ................................................................................ 4-106
11.5.2
Editing the shift coordinate range .................................................................. 4-107
11.5.3
Shift coordinate setting method 1 .................................................................. 4-109
11.5.4
Shift coordinate setting method 2 .................................................................. 4-111
11.5.1.1
11.5.2.1
11.6
11.9
Restoring a shift coordinate range .................................................................. 4-109
Displaying, editing and setting hand definitions .............................. 4-113
11.6.1
Editing hand definitions ................................................................................ 4-119
11.6.2
Hand definition setting method 1 .................................................................. 4-120
11.6.1.1
11.7
11.8
Restoring shift coordinates ............................................................................. 4-107
Restoring hand definitions ............................................................................. 4-120
Changing the display units .............................................................. 4-122
Absolute reset ................................................................................. 4-123
11.8.1
Checking absolute reset ................................................................................ 4-124
11.8.2
Axis absolute reset ........................................................................................ 4-125
11.8.3
Absolute reset on all axes ............................................................................. 4-129
Setting the standard coordinates ...................................................... 4-133
11.9.1
Setting the standard coordinates by 4-point teaching .................................... 4-136
11.9.2
Setting the standard coordinate by 3-point teaching ...................................... 4-138
11.9.3
Setting the standard coordinates by simple teaching ..................................... 4-140
11.10 Executing the user function keys ..................................................... 4-142
12. “SYSTEM” mode ....................................................................4-143
12.1
12.2
12.3
Parameters ...................................................................................... 4-145
12.1.1
Robot parameters .......................................................................................... 4-147
12.1.2
Axis parameters ............................................................................................ 4-152
12.1.3
Other parameters .......................................................................................... 4-168
12.1.4
Parameters for option boards ......................................................................... 4-174
Serial I/O setting ............................................................................................ 4-176
12.3.1
Setting the area check output ........................................................................ 4-185
12.3.2
Setting the “SERVICE” mode ......................................................................... 4-189
12.3.2.1
Saving the “SERVICE” mode parameters ........................................................ 4-194
12.3.2.2
Help display in “SERVICE” mode ................................................................... 4-194
SIO settings ................................................................................................... 4-195
Initialization .................................................................................... 4-198
12.4.1
iv
Option DIO setting ........................................................................................ 4-175
12.1.4.2
Communication parameters ............................................................ 4-178
OPTION parameters ....................................................................... 4-184
12.3.3
12.4
12.1.4.1
Initializing the parameters ............................................................................. 4-199
12.5
12.6
12.4.2
Initializing the memory ................................................................................. 4-200
12.4.3
Initializing the communication parameters ................................................... 4-201
12.4.4
Clock setting ................................................................................................. 4-202
12.4.5
System generation ......................................................................................... 4-203
Self diagnosis .................................................................................. 4-204
12.5.1
Controller check ........................................................................................... 4-204
12.5.2
Error history display ...................................................................................... 4-205
12.5.3
Absolute battery voltage display .................................................................... 4-206
12.5.4
System error details display ........................................................................... 4-206
Backup processes ............................................................................ 4-207
12.6.1
Internal flash ROM ....................................................................................... 4-207
12.6.1.1
Loading files .................................................................................................. 4-208
12.6.1.2
Saving files .................................................................................................... 4-209
12.6.1.3
Initializing the files ........................................................................................ 4-209
13. “MONITOR” mode ...............................................................4-210
14. “UTILITY” mode ....................................................................4-212
14.1
14.2
14.3
14.4
14.5
14.6
Canceling emergency stop; Motor power and servo on/off .............. 4-213
14.1.1
Canceling emergency stop ............................................................................ 4-213
14.1.2
Motor power and servo on/off ....................................................................... 4-214
Enabling/disabling the sequence execution flag ..............................
Changing the arm type ....................................................................
Resetting the output ports ................................................................
Changing the execution level ..........................................................
4-215
4-216
4-217
4-218
14.5.1
Changing the execution level ........................................................................ 4-219
14.5.2
Displaying the Help message ........................................................................ 4-220
Changing the access level (operation level) ..................................... 4-221
14.6.1
Entering the password ................................................................................... 4-221
14.6.2
Changing the access level ............................................................................. 4-222
14.6.3
Displaying the Help message ........................................................................ 4-222
Chapter 5 I/O interface
1. I/O interface overview ..............................................................5-1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
Power supply ......................................................................................
Connector I/O signals .........................................................................
Connector pin numbers ......................................................................
Typical I/O signal connection .............................................................
Typical output signal connection ........................................................
5-1
5-2
5-3
5-4
5-5
1.5.1
Dedicated outputs ............................................................................................ 5-5
1.5.2
General-purpose outputs .................................................................................. 5-6
Dedicated input signals ....................................................................... 5-7
Dedicated output signals ..................................................................... 5-9
Dedicated I/O signal timing chart ..................................................... 5-11
1.8.1
Controller power ON, servo ON and emergency stop ..................................... 5-11
1.8.2
Absolute reset ................................................................................................. 5-12
1.8.3
Switching to AUTO mode, program reset and execution ................................. 5-13
1.8.4
Stopping due to program interlocks ................................................................ 5-14
General-purpose I/O signals .............................................................. 5-15
1.9.1
General-purpose input signals ........................................................................ 5-15
1.9.2
General-purpose output signal ........................................................................ 5-15
1.9.3
General-purpose output signal reset (off) ......................................................... 5-15
2. Option I/O interface overview ................................................5-16
2.1
2.2
ID settings ......................................................................................... 5-17
Power supply .................................................................................... 5-17
v
2.3
2.4
2.5
2.6
2.7
Connector I/O signals .......................................................................
Connector pin numbers ....................................................................
Typical input signal connection ........................................................
Typical output signal connection ......................................................
General-purpose I/O signals ..............................................................
5-18
5-19
5-20
5-20
5-20
2.7.1
General-purpose input signals ........................................................................ 5-20
2.7.2
General-purpose output signals ...................................................................... 5-20
2.7.3
General-purpose output signal reset (off) ......................................................... 5-21
3. Ratings .....................................................................................5-22
4. Caution items ..........................................................................5-23
Chapter 6 SAFETY I/O interface
1. SAFETY I/O interface overview .................................................6-1
1.1
1.2
1.3
1.4
1.5
1.6
Power .................................................................................................
Connector I/O signal chart ..................................................................
Connector terminal numbers ...............................................................
Emergency stop input signal connections ............................................
Dedicated input signal connections ....................................................
Input signal description .......................................................................
6-1
6-1
6-2
6-3
6-6
6-7
Chapter 7 RS-232C interface
1. Communication overview ..........................................................7-1
2. Communication function overview............................................7-2
3. Communication specifications ...................................................7-3
3.1
3.2
3.3
3.4
3.5
Connector ........................................................................................... 7-3
Transmission mode and communication parameters ........................... 7-4
Communication flow control .............................................................. 7-5
3.3.1
Flow control during transmit ............................................................................. 7-5
3.3.2
Flow control during receive .............................................................................. 7-5
Other caution items ............................................................................ 7-6
Character code table ........................................................................... 7-7
Chapter 8 Specifications
1. Controller basic specifications ...................................................8-1
2. Controller basic specifications ...................................................8-2
3. Robot controller external view ..................................................8-3
3.1
RXC40 external view .......................................................................... 8-3
4. MPB basic specifications and external view...............................8-4
Chapter 9 Troubleshooting
1. Error Messages ...........................................................................9-1
1.1
Robot controller error messages .......................................................... 9-1
[ 0] Warnings and messages ............................................................................................ 9-3
[ 1] Warnings (Error history entry) .................................................................................... 9-5
[ 2] Robot operating area errors ....................................................................................... 9-5
[ 3] Program file operating errors ..................................................................................... 9-8
vi
[ 4] Data entry and edit errors ....................................................................................... 9-10
[ 5] Robot language syntax (compiling) errors ............................................................... 9-11
[ 6] Robot programming execution errors ...................................................................... 9-18
[ 9] Memory errors ........................................................................................................ 9-22
[10] System setting or hardware errors. .......................................................................... 9-24
[12] I/O and option board errors .................................................................................... 9-26
[13] MPB errors ............................................................................................................. 9-29
[14] RS-232C communication errors .............................................................................. 9-30
[15] Memory card errors ................................................................................................ 9-31
[17] Motor control errors ................................................................................................ 9-34
[21] Major software errors .............................................................................................. 9-40
[22] Major hardware errors ............................................................................................ 9-42
1.2
MPB Error Messages .......................................................................... 9-45
2. Troubleshooting .......................................................................9-47
2.1
2.2
2.3
When trouble occurs ........................................................................ 9-47
Acquiring error information .............................................................. 9-48
2.2.1
Acquiring information from the MPB .............................................................. 9-48
2.2.2
Acquiring information from the RS-232C ........................................................ 9-48
Troubleshooting checkpoints ............................................................. 9-49
vii
MEMO
viii
Chapter 1 Safety
Contents
1. Safety ............................................................................................... 1-1
1.1 Safety precautions during robot operation ............................................... 1-2
1.2 Safety precautions during maintenance ................................................... 1-2
1.3 Precautions for motor overload ............................................................... 1-2
1.4 Warning labels ........................................................................................ 1-3
1.5 Warning marks ........................................................................................ 1-3
2. Warranty .......................................................................................... 1-4
3. Operating environment .................................................................... 1-5
MEMO
1. Safety
Please observe all safety rules and cautions to use the YAMAHA robot safely and correctly. Also,
please bear in mind that not all safety items can be listed in detail, so that an accurate judgment by the
operator or service personnel is essential to operate the robot and controller safely.
Particularly important safety items and operation points are identified in this manual by
the following symbols.
WARNING
w Failure
to follow WARNING instructions could result in severe injury or death to the
operator, bystanders or persons inspecting or repairing the robot controller or robot.
CAUTION
c Failure
to follow CAUTION instructions may result in injury to the operator, bystanders or persons
inspecting or repairing the robot controller or robot, and may damage the robot controller or robot.
NOTE
n Explains
the key point in the operation in a simple and clear manner.
To install, operate or adjust the YAMAHA robot or controller safely and correctly, always
follow the instructions explained in this manual by using either of the following methods.
1. Install, operate or adjust the robot or controller while referring to the contents of this
manual.
2. Install, operate or adjust the robot or controller while viewing the contents of the CDROM version manual on your computer screen.
3. Install, operate or adjust the robot or controller while referring to a printout of the
necessary pages from the CD-ROM version manual.
1-1
Safety
Industrial robots are highly programmable, mechanical devices that provide a large degree
of freedom for performing various manipulative tasks. To ensure correct and safe use of
YAMAHA industrial robots, carefully read this manual and FOLLOW THE WARNINGS,
CAUTIONS AND INSTRUCTIONS in this chapter. Failure to take necessary safety
measures or mishandling may result in trouble or damage to the robot and injury to
personnel (robot operator or service personnel) including fatal accidents.
1
1. Safety
1.1
1
Safety precautions during robot operation
Safety
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 working area of the robot
manipulator. Install a safeguard enclosure to keep anyone away from the working area
or provide a gate interlock using an area sensor that triggers emergency stop when
anyone enters the working area.
c. This robot controller is not designed for explosion-proof. Do not use the controller
and robot in locations exposed to inflammable gases, gasoline or solvent that could
cause explosion or fire.
1.2
Safety precautions during maintenance
a. Never disassemble the robot or controller. In cases where you have to replace or repair
parts used in the robot or controller, first consult with us and follow the instructions
we provide.
b. Before beginning maintenance for the robot or controller, be sure to turn off the power
to the controller. Even after turning off the controller, there are some parts in the
controller which are still hot or at a high voltage. Always wait for at least 30 minutes
after the controller is turned off.
1.3
Precautions for motor overload
Since abnormal operation (such as overload) of the motor is detected by software, the
controller parameters must be set correctly to match the motor type used in the robot
connected to the controller.
Prior to shipping, the controller parameters are preset to match the robot model to be
used. However, please check the robot model again when connecting it to the controller.
If any abnormality is found during operation, stop the controller and contact us for
corrective action.
1-2
1. Safety
1.4
Warning labels
1
a. “Electric Hazard” label
!
CAUTION
ELECTRIC
HAZARD
■ This label warns you of possible electrical shock. Do not touch the terminal strip and
connectors to avoid electrical shock.
b. “Read Instruction Manual” label
READ INSTRUCTION
MANUAL
■ This label means that important information you must know is described in the manual.
When in particular connecting a power supply to the robot controller, read this manual
carefully and follow the instructions. Connectors have an orientation, so insert each
connector in the correct direction.
1.5
Warning marks
The following warning marks are shown on the controller. To use the YAMAHA robot
and controller safely and correctly, be sure to observe the instructions and caution of the
marks.
a. “Electric Hazard” mark
■ This mark warns you of possible electrical shock. Do not touch the terminal block and
connectors to avoid electrical shock.
b. “Read Instruction Manual” mark
!
■ This mark indicates that important information you must know is described in the
manual.
When in particular connecting a power supply to the robot controller, read this
manual carefully and follow the instructions. Connectors have an orientation, so
insert each connector in the correct direction.
1-3
Safety
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.
2. Warranty
1
Safety
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 robot and/or related product within the warranty period,
then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty
repair").
Warranty Period:
The warranty period ends when any of the following applies:
(1) After 18 months (one and a half year) have elapsed from the date of shipment
(2) After one year has elapsed from the date of installation
(3) After 2,400 hours of operation
Exceptions to the Warranty:
This warranty will not apply in the following cases:
(1) Fatigue arising due to the passage of time, natural wear and tear occurring during
operation (natural fading of painted or plated surfaces, deterioration of parts subject
to wear, etc.)
(2) Minor natural phenomena that do not affect the capabilities of the robot and/or related
product (noise from computers, motors, etc.).
(3) Programs, point data and other internal data that were changed or created by the
ser.
Failures resulting from the following causes are not covered by warranty repair.
1) Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or
man-made disasters.
2) Troubles caused by procedures prohibited in this manual.
3) Modifications to the robot and/or related product not approved by YAMAHA or
YAMAHA sales representatives.
4) Use of any other than genuine parts and specified grease and lubricants.
5) Incorrect or inadequate maintenance and inspection.
6) Repairs by other than authorized dealers.
YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED
WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY
OR FITNESS FOR ANY PARTICULAR PURPOSE. THE WARRANTY SET FORTH
ABOVE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED
WARRANTIES, INCLUDING WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING FROM A COURSE
OF DEALING OR USAGE OF TRADE.
YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY
OF THE EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE
FOR ANY CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY). YAMAHA
MOTOR CO., LTD. MAKES NO WARRANTY WHATSOEVER WITH REGARD TO
ACCESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR CO., LTD.
1-4
3. Operating environment
Storage temperature
The controller should be stored in a location at an ambient temperature between -10 and
+65°C when not being used. If the robot controller is stored in a location at high
temperatures for extended periods, deterioration of the electronic components may occur
and the memory backup time may decrease.
Operating humidity
The ambient humidity of the robot controller should be 35% to 85% RH (no condensation)
in order to guarantee continuous operation within the initial specifications. Installing the
robot controller inside an air-conditioned or cooled housing is recommended when an
ambient humidity is higher than 85% or condensation occurs.
Storage humidity
The controller should be stored in a location at an ambient humidity below 95% RH (no
condensation) when not being used. If the robot controller is stored in a location at high
humidity for an extended period of time, rust may form on the electronic components.
Vibration and shock
Do not apply excessive shocks or constant vibrations to the robot controller. Install the
robot controller in a steady location not subject to vibrations.
Atmosphere (gas, etc.)
Do not install the robot controller in locations where conductive dust particles, hydrogen
sulfide gas or sulfurous acid gas are present. Such an atmosphere may cause the components
to erode or poor installation. If such dust particles or gases are generated at the current
location, then installing the robot controller in an air-conditioned or cooled housing is
recommended.
Installation location
Always install the robot controller indoors, at a height of less than 1000 meters above sea
level.
1-5
1
Safety
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 controller is installed in a
narrow space, heat generated from the controller itself and from peripheral equipment
may drive the temperature above the allowable operating temperature range. This may
result in thermal runaway or malfunctions and may lower component performance along
with shortening their useful service life. So be sure to install the controller in locations
with a vent having a natural air flow. If this proves insufficient provide forced air-cooling.
MEMO
1-6
Chapter 2 System overview
Contents
1. System overview .............................................................................. 2-1
1.1 Main system configuration ...................................................................... 2-1
1.2 Axis definition for the RCX40 .................................................................. 2-3
2. Part names and functions ................................................................. 2-4
2.1 RCX40 (Maximum number of axes: 4 axes) ............................................. 2-4
3. Controller system ............................................................................. 2-5
3.1 Basic configuration .................................................................................. 2-5
4. Optional devices .............................................................................. 2-6
4.1 MPB programming device ....................................................................... 2-6
4.2 Expansion I/O board ............................................................................... 2-6
4.3 Regenerative unit .................................................................................... 2-6
MEMO
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 interpolation functions.
1.1
2
Main system configuration
System overview
Configuration 1: System for controlling one robot
Example : YK400X
All the axes on the robot controller are used as the main robot axes.
Fig. 2-1-1 System for controlling one robot
MPB
PLC
PC
YAMAHA robot
2-1
1. System overview
Configuration 2: System for controlling one robot and auxiliary axes
Example: SXYx+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.
2
System overview
Fig. 2-1-2 System for controlling one robot and auxiliary axes
MPB
PLC
PC
2-2
YAMAHA robot
1. System overview
1.2
Axis definition for the RCX40
Axis definitions for the YAMAHA RCX40 robot controller are shown below.
Robot
controller (RC)
Main group (MG)
Main robot (MR)
Main robot axis (M?)
Main robot auxiliary axis (m?)
Sub robot (SR)
Sub robot axis (S?)
Sub robot auxiliary axis (s?)
Robot controller ................ Indicates the entire robot controller and controls a
maximum of 4 axes.
The letters “RC” are displayed on the MPB.
Main group ........................ Indicates the main robot and main auxiliary axes and has a
maximum of 4 axes.
The letters “MG” are displayed on the MPB.
Main robot ......................... Indicates the robot name specified as a main robot, and
includes all axes of the main robot.
The letters “MR” are displayed on the MPB.
Main robot axes ................. Indicate the axes composing the main robot.
These can be moved with the robot language MOVE
command.
The letters “M?” are displayed on the MPB. (?=1 to 4)
Main auxiliary axes ........... Are the single axes composing the main group.
These cannot be moved with the robot language MOVE
command. Use the DRIVE command to move these axes.
The letters “m?” are displayed on the MPB. (?=1 to 4)
Sub group .......................... Indicates the sub robot and sub auxiliary axes, and has a
maximum of 2 axes.
The letters “SG” are displayed on the MPB.
Sub robot ........................... Indicates the robot name specified as a sub robot, and
includes all axes of the sub robot.
The letters “SR” are displayed on the MPB.
Sub robot axes ................... Indicate the axes composing the sub robot.
These can be moved with the robot language MOVE2
command.
The letters “S?” are displayed on the MPB. (?=1 to 2)
Sub auxiliary axes ............. Are the single axes composing the sub group.
These cannot be moved with the robot language MOVE2
command. Use the DRIVE2 command to move these axes.
The letters “s?” are displayed on the MPB. (?=1 to 2)
Normally, only main robot axes can be specified. Auxiliary axes and sub group settings
are for options made at the time of shipment.
2-3
System overview
Subgroup (SG)
2
2. Part names and functions
2.1
RCX40 (Maximum number of axes: 4 axes)
Fig. 2-2-1
MOTOR
2
OP.1
PWR
OP.3
MPB
RCX40
SRV
XM
ERR
System overview
ROB
I/O
XY
YM
BATT
COM
X
ROB
I/O
Y
Z
ZR
R
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
N
ACIN
RM
L
N
2-4
3. Controller system
3.1
Basic configuration
The basic block diagram of the RCX robot controller system is shown below.
Fig. 2-3-1
CN1
CN4
CN2
TH1
(FG)
CN3
CN10
CN7
AC/DC 24V
CN1
D POWER BOARD ASSY
CN2
System overview
CN6
TB1
POWER CPU UNIT1
CN8
ACIN
BATT
X
CN9
L
N
Z
Y
CN11
CN5
R
RGEN
2
HEATSINK
MOTOR
YM
CN4
ZM
CN6
RM
CN7
CN2
CN5
CN1
CN7
5V, 12V
MPB
CN3
STD.DIO
CN2
CN6
CN5
CN8
COM
DRIVER1 BOARD ASSY
CN4
SAFETY
CN12 CN10
ROB I/O ZR
DRIVER2 BOARD ASSY
CN11 CN13
ROB I/O XY
CN1
POWER CPU UNIT2
CN3
CN8
CN1
XM
CN9
CN1
CPU BOARD ASSY
CN5
CN1
CN2
CN1
OP.BOARD
CN3
CN3
OP.BOARD
CN2
CN3
CN3
CN1
OP.BOARD
CN6
OP.BOARD
CN2
CN1
CN2
2-5
4. Optional devices
4.1
MPB programming device
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
System overview
2
Emergency stop button
4.2
Expansion I/O board
A standard I/O board used in the robot controller has 24 general-purpose input points and
16 general-purpose output points. A maximum of 4 expansion I/O boards can be installed
to increase the input/output points.
4.3
Regenerative unit
A regenerative unit may be required depending on the robot type or application.
2-6
Chapter 3 Installation
Contents
1. Unpacking ........................................................................................ 3-1
1.1
Packing box .......................................................................................... 3-1
1.2
Unpacking ............................................................................................ 3-1
2. Installing the robot controller .......................................................... 3-2
2.1
Installation ............................................................................................ 3-2
2.2
Installation methods .............................................................................. 3-3
3. Connectors ....................................................................................... 3-5
4. Power connections ........................................................................... 3-6
4.1
AC200 to 230V single-phase specifications ........................................... 3-6
4.2
Power capacity ..................................................................................... 3-6
4.3
External leakage breaker installation ..................................................... 3-8
4.4
Circuit protector installation .................................................................. 3-8
4.5
Current control switch installation ......................................................... 3-8
5. Robot cable connections .................................................................. 3-9
6. Connecting the MPB programming unit ......................................... 3-10
7. I/O connections .............................................................................. 3-11
8. Connecting a host computer .......................................................... 3-12
9. Connecting the absolute battery .................................................... 3-13
10.Replacing the absolute battery ....................................................... 3-15
11.Connecting a regenerative unit ...................................................... 3-18
12.Precautions for cable routing and installation ................................ 3-19
12.1 Wiring methods .................................................................................. 3-19
12.2 Precautions for installation .................................................................. 3-19
12.3 Methods of preventing malfunctions ................................................... 3-19
13.Checking the robot controller operation ........................................ 3-21
13.1 Cable connection ................................................................................ 3-21
13.2 Emergency stop input signal connection ............................................. 3-22
13.3 Operation check ................................................................................. 3-22
MEMO
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 dent to the packing
box, please notify your YAMAHA sales dealer without unpacking.
1.2
Unpacking
The robot controller is packed with accessories as shown below, according to the order
specifications. Take sufficient care not to apply shocks to the equipment when unpacking.
After unpacking, check the accessories to make sure that nothing is missing.
3
Fig. 3-1-1 Unpacking
Installation
Accessories
MPB
CAUTION
c The
robot and controller are very
heavy. Take sufficient care not to drop
them during unpacking as this may
damage the equipment or cause
bodily injury.
Accessories
Standard
Option
STD. DIO connector
1
MPB terminator
1
L-type bracket set for front and rear panels
1
SAFETY connector
1
Connector guard for COM connector
1
CD-ROM manual
1
MPB programming unit
1
L-type brackets for side panel
2
OPT. DIO connectors
4 Max.
Connector labels
4 Max.
RGU-2 connection cable
1
3-1
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
Installation
3
c CAUTION
1. When carrying the robot
2.
3.
4.
5.
6.
7.
3-2
controller, use a dolly or similar
hand truck and move it carefully
to avoid dropping and resultant
damage.
Take care not to allow the
connectors on the front of the
robot controller to be hit or
bumped. Shocks received by the
connectors may damage the PC
boards in the controller.
Be sure to give the cables used to
connect the controller enough
extra length to avoid strain and
pulling at the connectors.
Keep the controller away from oil
and water. If the controller is to
be used under such adverse
conditions, put it in a watertight
box equipped with a cooling
device.
Install the controller on a flat,
level place. Do not stand the
controller on its side or end, and
do not install in an inverted
position.
Do not install in locations
subjected to excessive vibrations.
Do not install the controller in
locations where ambient
temperature may rise higher than
the ratings.
Do not block the fan on the rear
panel of the controller. If blocked,
temperature inside the controller
will rise leading to malfunctions,
breakdowns or deterioration of
electric components. Always
provide a clearance of at least
30mm from the rear panel so that
the fan works properly.
50mm or more
MOTOR
OP.1
PWR
OP.3
MPB
RCX40
SRV
ERR
XM
ROB
I/O
XY
YM
BATT
COM
50mm
or more
X
ROB
I/O
Y
50mm
or more
Z
ZR
R
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
N
ACIN
RM
L
N
When installing the robot controller, follow the precautions below.
1. Provide a clearance of at least 50mm from the top or side panel of the controller.
2. Do not block the heat-sink on the side panel.
3. Do not block the fan on the rear panel of the controller.
4. Provide a clearance of at least 30mm from the rear panel of the controller.
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
3
Installation
c When the L-type brackets have
2) Attaching the L-type brackets (supplied as standard accessories) to the front
CAUTION
Fig. 3-2-2-2
mounting holes in two different
positions, use the holes that are more
suitable for the equipment layout.
3-3
2. Installing the robot controller
c CAUTION
• When attaching the L-type
brackets to the rear of the
controller, provide a clearance of
at least 30mm between the rear
panel and wall or other objects.
• When the L-type brackets have
mounting holes in two different
positions, use the holes that are
more suitable for the equipment
layout.
3) Attaching the L-type brackets (supplied as standard accessories) to the rear
Fig. 3-2-2-3
Installation
3
4) Attaching the L-type brackets (option) to the side
Fig. 3-2-2-4
3-4
3. Connectors
The connector names, locations and functions are shown below.
Fig. 3-3-1 RCX connectors
OP.3
OP.1
MOTOR
OP.1
PWR
XM
OP.3
MPB
RCX40
SRV
ERR
XM
ROB
I/O
3
MPB
ROBI/O XY
XY
YM
YM
Installation
BATT
COM
X
ROB
I/O
Y
ROBI/O ZR
Z
ZR
BATT
COM
R
ZM
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
RM
RGEN
N
ACIN
RM
L
SAFETY
N
ACIN
OP.2 OP.4
STD.DIO
Connector name
w ToWARNING
prevent electrical shocks,
never touch the RGEN and AC IN
terminals when power is
supplied to the robot controller.
Function
XM/YM/ZM/RM
Connectors for servomotor drive.
ROB I/O [XY/ZR]
Connectors for servomotor feedback and sensor signals.
SAFETY
Input/output connector for safety function such as emergency stop.
MPB
Connector for MPB.
COM
RS-232C interface connector.
Connector for dedicated input/output and standard general-purpose
STD.DIO
input/output.
OP.1-4
Connectors attached to optional expansion I/O boards.
BATT [X/Y/Z/R]
Battery connector for absolute backup.
REGN [P/
Connector for regenerative unit.
AC IN [L/N/
/N]
]
Terminal block for power cable. Use round crimp terminals to make
connections.
3-5
4. Power connections
Connect round crimp terminals to the power cable and screw them to the terminal block on the front
panel of the controller as shown below.
CAUTION
c Before
connecting the power cable, be
Installation
3
4.1
sure to check that the power supply
voltage matches the power
specifications of your controller.
w WARNING
• To prevent electrical shocks
robot controller must always be
regulated within ±10%. If the voltage
drops, the robot controller may issue
an abnormal voltage alarm causing
the robot to trigger emergency stop.
In contrast, operation at a voltage
higher than specified may damage the
robot controller or trigger emergency
stop due to detection of an excessive
motor power supply voltage.
Remarks
Symbol
Wiring
L
AC IN
Hot
N
AC IN
Neutral (cold)
Ground side
2.0 sq or larger
Earth
or faulty operation caused by
noise, the earth terminal
(protective conductor) must
be grounded properly.
• To prevent electrical shocks,
never touch the AC IN
terminals when power is
supplied to the robot
controller.
CAUTION
c The
power supply voltage for the
AC200 to 230V single-phase specifications
Fig. 3-4-1 Terminal strip for 200 to 230V specifications
L
Hot
N
Neutral
Earth
4.2
Power capacity
Required power capacity depends on the robot model and the number of axes to be
controlled. Prepare an optimal power supply while referring to the tables below.
(1) When connected to SCARA robot
Robot model
Power capacity (VA)
YK250X,300X,400X
1000
YK500X,600X
1500
YK700X,800X,1000X
2000
YK1200X
2500
(2) When connected to 2 axes (Cartesian robot or multi-axis robot)
Axis current sensor value
3-6
Power capacity (VA)
X-axis
Y-axis
05
05
10
05
800
20
05
1100
10
10
1000
20
10
1300
20
20
1700
600
4. Power connections
(3) When connected to 3 axes (Cartesian robot and/or multi-axis robot)
Axis current sensor value
Power capacity (VA)
X-axis
Y-axis
Z-axis
05
05
05
10
05
05
900
20
05
05
1200
10
10
05
1000
20
10
05
1300
20
20
05
1600
10
10
10
1200
20
10
10
1500
20
20
10
1800
20
20
20
2000
700
3
Axis current sensor value
Power capacity (VA)
X-axis
Y-axis
Z-axis
R-axis
05
05
05
05
800
10
05
05
05
1000
20
05
05
05
1200
10
10
05
05
1100
20
10
05
05
1400
20
20
05
05
1600
10
10
10
05
1300
20
10
10
05
1500
20
20
10
05
1800
20
20
20
05
2100
10
10
10
10
1400
20
10
10
10
1700
20
20
10
10
2000
20
20
20
10
2200
20
20
20
20
2500
* Axis current sensor values can be substituted for each other.
3-7
Installation
(4) When connected to 4 axes (Cartesian robot and/or multi-axis robot)
4. Power connections
4.3
c CAUTION
1. Leak current was measured with
Installation
3
a leak tester with a low-pass filter
turned on (100Hz).
Leak tester: Hioki Electric 3283
2. When two or more controllers are
used, the leakage current of each
controller should be summed.
3. Make sure that the controller is
securely grounded.
4. Stray capacitance between the
cable and FG may vary
depending on the cable
installation condition, causing
the leakage current to fluctuate.
External leakage breaker installation
Since the robot controller drives the motors by PWM control of IGBT, leakage current at
high frequencies flows. This might cause the external leakage breaker to malfunction.
When installing an external leakage current breaker, it is important to choose the optimum
sensitivity current rating (I∆n). (Check the leakage breaker manufacturer’s data sheets to
select the optimum product compatible with inverters.)
Leakage current
RCX40
4.4
4mA(MAX)
Circuit protector installation
An inrush current, which is several times to nearly 20 times higher than the rated current,
flows at the instant that the controller is turned on or the robot motors start to operate.
When installing an external circuit protector for the robot controller, select an appropriate
circuit protector that provides optimum operating characteristics.
To ensure proper operation, we recommend using a medium to slow response circuit
protector with an inertial delay function. (Refer to the circuit protector manufacturer’s
data sheets for making the selection.)
Example
RCX40
4.5
Rated current
Operating characteristics
20A
Slow type with inertia delay
300%
2 sec.
1000% 0.01 sec.
(
)
Current control switch installation
When controlling the power on/off of the robot controller from an external device such as
a PLC, a current control switch (contactor, breaker, etc.) may be used. In this case, an on/
off surge current usually generates from the current control switch. To minimize this on/
off surge current, surge killers must be installed for surge absorption. Connect a surge
killer in parallel with and closely to each contact of the current control switch.
Recommended surge killer:
Okaya Electric XE1201, XE1202, RE1202 or equivalent
Example
Controller
AC IN
: Surge killer
L
AC200V
N
FG
3-8
: Contactor
5. Robot cable connections
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 cable specifications depend on the robot model, so refer to the robot user’s manual for
details.
Fig. 3-5-1 Robot cable connection to RCX controller
3
Installation
NOTE
n Check
robot cables for bent pins,
kinks, and other damage before
connecting.
w WARNING
• The power to the controller
must be off when connecting
the robot cables.
• The robot cable connectors
(XM and YM, ZM and RM,
ROB I/O XY and ROB I/O ZR)
have an identical shape. Do
not confuse these cable
connectors when making
connections. Misconnection
will cause the robot to
malfunction.
• Keep robot cables separate
from the robot controller
power connection lines and
other equipment power lines.
Using in close contact with
lines carrying power may
cause malfunctions.
Connected to YAMAHA robot
CAUTION
c Always
securely connect the robot
cables. If they are not securely
connected and fail to make good
contact, the robot may malfunction.
Before turning on the controller,
make sure again that the cables are
securely connected.
Also make sure that the robot is
properly grounded. For details on the
grounding method, refer to the robot
user's manual.
3-9
6. Connecting the MPB programming unit
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 the MPB terminator (supplied as an accessory) into
the MPB connector.
Fig. 3-6-1 MPB programming unit connection
Installation
3
MPB programming unit
CAUTION
c Use
caution since the MPB connector
must be connected in the correct
direction. Connecting in the wrong
direction may cause faulty operation
or breakdowns.
Emergency stop in the robot
controller is triggered when the MPB
is disconnected from the robot
controller, because a B-contact type
emergency stop button is provided on
the MPB. So be sure to plug the MPB
terminator (supplied as an accessory)
into the MPB connector on the robot
controller when not connecting the
MPB.
3-10
7. I/O connections
The various input/output (I/O) signals from peripheral equipment can be connected to the robot controller.
Each I/O is set with a number, and the I/O connector to be used depends on that number.
For more detailed information on inputs and outputs, see Chapter 5, “I/O interface", or Chapter 6,
“SAFETY interface".
The following describes terms used in the manual.
DO output (sink type)
Current
NPN
N.COM
DI input (source type)
P.COM
Current
b. PNP specifications
PNP specifications indicate that a DO (digital output) type PNP open-collector transistor
is used for the I/O port having a transistor and photocoupler, and a corresponding DI
(digital input) is also used. PNP specifications therefore make use of a source output
and a sink input (see drawing below).
DO output (source type)
P.COM
Current
PNP
DI input (sink type)
Current
N.COM
3-11
3
Installation
a. NPN specifications
NPN specifications indicate that a DO (digital output) type NPN open-collector
transistor is used for the I/O port having a transistor and photocoupler, and a
corresponding DI (digital input) is also used. NPN specifications therefore make use
of a sink output and a source input (see drawing below).
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. Almost all models of computers having an RS-232C port can be interfaced to the robot
controller, by connecting between the COM connector on the front of the robot controller and the RS232C port of the computer.
For more detailed information on the RS-232C interface, see “RS-232C Interface” in Chapter 7.
Fig. 3-8-1 Host computer connection
3
MOTOR
OP.1
PWR
OP.3
MPB
RCX40
SRV
ERR
XM
ROB
I/O
Installation
XY
NOTE
n D-SUB
9P (female) connector is for
RS-232C interface.
COM connector
D-SUB 9P (female)
YM
BATT
COM
X
ROB
I/O
Y
Z
ZR
R
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
N
ACIN
RM
L
N
COM connector
Host computer
3-12
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 manual,
before connecting the robot cable.
Connecting the absolute battery
For controller equipped with B3 battery:
1) Connect the absolute battery connectors to the “BATT X, Y, Z and R” connectors on
the front right of the controller as shown below.
Installation
Fig. 3-9-1
3
X
Y
Z
R
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. 3-9-2
w DoWARNING
not modify the wiring or
attempt to extend it. This could
cause equipment malfunctions
and breakdowns.
3-13
9. Connecting the absolute battery
2) Connect the absolute battery connectors to the “BATT X, Y, Z and R” connectors on
the front right of the controller as shown below.
Fig. 3-9-3
Installation
3
* A return-to-origin incomplete alarm is issued if the absolute battery is disconnected
while the controller power is turned off. When shipped to the customer, the absolute
battery is not connected to the controller, so an alarm is always issued when the power
is first turned on. Please note beforehand that this is not an error.
* The battery must be charged if the controller is being used for the first time or the
backup time was exceeded while the controller power was off. The battery is
automatically charged when power is supplied to the controller. Keep power supplied
for longer than needed to charge the battery by referring to the table below.
c CAUTION
• The absolute battery replacement
guide changes according to the
ambient temperature, etc., but is
approximately one and a half
years.
• Contact YAMAHA when the
battery specifications differ.
Battery name *1)
B3
B4
Battery type
3.6V / 2000mAh
(KS4-M53G0-100)
3.6V / 4000mAh
(KS4-M53G0-200)
Hours until full charge *2)
Backup time *3)
48h
340h
96h
680h
*1) YAMAHA exclusive battery name.
*2) Time at ambient temperature of 20°C.
*3) Time after power is off with the absolute battery fully charged.
3-14
10. Replacing the absolute battery
The absolute battery will wear down and must be replaced as needed. For example, replace the battery
when its service life has expired or when problems with backing up data occur even when the battery
charge time was long enough.
Though battery wear depends on the number of charges and the ambient temperature, the battery
should generally be replaced one and a half years after being connected to the controller.
Always charge the new battery after it is installed.
The battery is automatically charged when power is supplied to the controller. Keep power supplied for
a time longer than necessary for charging by referring to the table below.
c CAUTION
• The absolute battery replacement
B3
B4
Battery type
Hours until full charge *2)
Backup time *3)
48h
340h
96h
680h
3.6V / 2000mAh
(KS4-M53G0-100)
3.6V / 4000mAh
(KS4-M53G0-200)
3
*1) YAMAHA exclusive battery name.
*2) Time at ambient temperature of 20°C.
*3) Time after power is off with the absolute battery fully charged.
Replacing the absolute battery
When the RGU-2 is mounted, remove the four screws on the top and bottom with a Phillips
screwdriver, and remove the RGU-2.
a) For B3 battery
1) Unfasten the tie strap on the battery holder.
2) Unplug the connector for the absolute battery to be replaced, and then remove the
absolute battery by pulling it towards you as seen from the front of the battery label.
Fig. 3-10-1
CAUTION
c Use
caution to prevent fingers or
1
wiring cords from being pinched
when inserting the absolute battery
into the battery holder.
2
3) Insert the new battery slowly into the battery holder.
After inserting, check that the battery is securely installed in position by the holder
hook.
Fig. 3-10-2
2
1
4) Fasten the absolute battery cord with the tie strap band on the battery holder.
3-15
Installation
guide changes according to the
ambient temperature, etc., but is
approximately one and a half
years.
• Contact YAMAHA when the
battery specifications differ.
• When disposing of used absolute
batteries, refer to the instructions
in "Precautions during disposal".
Battery name *1)
10. Replacing the absolute battery
b) For B4 battery
1) Using a Phillips screwdriver, remove the four screws on the upper and lower stays
coupling the two battery holders.
The battery holder is not coupled if the RGU-2 is not mounted.
Fig. 3-10-3
Screws
3
Installation
Stays
Battery holders
Screws
Fig. 3-10-4
For X axis
For Y axis
For R axis
For Z axis
3-16
10. Replacing the absolute battery
2) Unfasten the tie strap at the center of the battery holder.
3) Unplug the connector for the absolute battery to be replaced, and then remove the
absolute battery by pulling it toward you.
Fig. 3-10-5
3
1
Installation
2
4) Insert the new absolute battery slowly into the battery holder.
After inserting, check that the battery is securely installed in position by the holder
hook.
Fig. 3-10-6
2
1
5) Fasten the absolute battery cord with the tie strap band at the center of the battery
holder.
3-17
11. Connecting a regenerative unit
When a regenerative unit (RGU-2) is required, connect 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
NOTE
n Check
the cable and connectors for
Installation
3
bent pins, kinks, and other damage
before connecting.
w WARNING
• The power to the controller
must be off when connecting
the generative unit to the
robot controller.
• To prevent electrical shocks,
never touch the RGEN
terminals when power is
supplied to the robot
controller.
CAUTION
c Always
securely connect the cable.
Poor connection or contact failure
may cause malfunction.
Connector (RGEN)
3-18
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.
c AsCAUTION
a guide, keep the specified cables
separate at least 100mm from each
other.
1) Keep the I/O cables, robot cables and power cable separate from each other. Never
bundle them together.
2) Keep the communication cable, robot cables and power cable separate from each other.
Never bundle them together.
3
3) Keep robot cables separate from the power cable. Never bundle them together.
Installation
4) Keep robot cables separate from other equipment power lines. Never bundle them
together.
5) The wiring of electromagnetic contactors, induction motors, solenoid valves or brake
solenoids to the I/O cable, communication cable and robot cable. Never pass them
through the same conduit or bundle them together.
6) Do not extend the ground wire longer than necessary the ground wire should be as
short as possible.
12.2 Precautions for installation
This robot controller is not designed for explosion-proof, dust-proof and drip-proof construction. Do not install it in the following locations or environment:
(1) exposed to flammable gases or liquids.
(2) where conductive debris such as metal cutting chips are spread.
(3) subject to corrosive gases such as acid gases and alkaline gases.
(4) exposed to cutting oil, grinding fluids and machining mist.
(5) near a source of electrical noise, such as a large inverter, high-power high-frequency
generator, large contactor and welding machine.
12.3 Methods of preventing malfunctions
To prevent malfunctions due to noise, take into account the following points.
1) Place a noise filter and ferrite core at a point near the robot controller.
Do not bundle the primary wiring and secondary wiring of the noise filter together.
Bad example
Primary wiring
Secondary wiring
Noise filter
L
N
Robot
controller
Ground wire
• Primary wiring and secondary wiring of the noise filter are bundled together.
• Ground wire is bundled with primary wiring of the noise filter.
3-19
12. Precautions for cable routing and installation
2) Always attach a surge absorber to the coil of inductive loads (inductive motor, solenoid valve, brake solenoid and relay) located near the robot controller.
Example of surge absorber
For inductive motor
A
3-phase
motor
Single-phase
motor
3
A
Installation
A: Surge killer (Okaya Electric Industries CRE-50500, 3CRE-50500 or equivalent)
For solenoid valve, solenoid
B
3-20
C
DC type
AC type
B: Diode, varistor, CR elements
C: Varistor, CR elements
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, connections to the following items
must be finished.
•
•
•
•
•
•
13.1 Cable connection
Fig. 3-13-1
Hot
Neutral
Earth
)
Power cable
MPB
SAFETY connector
(supplied)
YAMAHA robot
3-21
3
Installation
Power supply (Do not supply power until you actually begin the operation check.)
Robot cable
MPB programming unit
Absolute battery
Regenerative unit (if needed)
SAFETY connector (supplied)
(Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector.)
13. Checking the robot controller operation
13.2 Emergency stop input signal connection
CAUTION
c External
emergency stop and the
3
Fig. 3-13-2
RCX40
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.
Emergency stop button
MPB connector
13
14
MPB
Installation
SAFETY SAFETY
connector connector (supplied)
EMG IN1
3 EMG IN2
4
24V
EMG 24V
1 3 EMG RDY
14
Motor power
supply
relay coil
GND
GND
Motor power
supply circuit
AC 200V
• The emergency stop button on the MPB is connected to the controller through the
SAFETY connector.
13.3 Operation check
n AnNOTE
interlock signal will always appear
because no connection is made to the
STD. DIO. This can be cancelled using
a software parameter.
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 lamp is off.
• When the SAFE mode setting is enabled and the serial I/O is connected, the “SRV”
LED lamp does not light up.
Abnormal operation
• The “PWR” and “ERR” LED lamps on the front panel of the controller light up.
• Check the error message displayed on the MPB and take corrective action according
to the description given in Chapter 9, “Troubleshooting”.
3-22
Chapter 4 Operation
Contents
1. Operation overview ......................................................................... 4-1
2. The RCX robot controller ................................................................. 4-2
2.1
Part names ............................................................................................ 4-2
2.2
Main functions ...................................................................................... 4-2
3. MPB programming unit .................................................................... 4-3
3.1
Part names ............................................................................................ 4-3
3.2
Main functions ...................................................................................... 4-4
3.3
Connection to the robot controller ........................................................ 4-5
4. Turning power on and off ................................................................. 4-6
5. Operation keys ................................................................................. 4-7
5.1
MPB screen ........................................................................................... 4-7
5.2
Operation key layout ............................................................................ 4-8
5.3
Basic key operation ............................................................................... 4-9
5.4
Function keys ...................................................................................... 4-10
5.5
Control keys ........................................................................................ 4-12
5.6
Data keys ............................................................................................ 4-14
5.7
Other keys .......................................................................................... 4-14
6. Emergency stop .............................................................................. 4-15
6.1
Emergency stop reset ........................................................................... 4-16
7. Mode configuration ........................................................................ 4-18
7.1
Basic operation modes ........................................................................ 4-18
7.2
Other operation modes ....................................................................... 4-19
7.3
Mode hierarchy ................................................................................... 4-20
8. “SERVICE” mode ............................................................................ 4-24
8.1
Operation device ................................................................................ 4-24
8.2
Prohibition of “AUTO” mode operation .............................................. 4-24
8.3
Hold-to-Run function .......................................................................... 4-24
8.4
Limitations on robot operating speed .................................................. 4-24
9. “AUTO” mode ............................................................................... 4-25
9.1
Automatic operation ........................................................................... 4-28
9.2
Stopping the program .......................................................................... 4-29
9.3
Resetting the program ......................................................................... 4-30
9.4
Switching task display ......................................................................... 4-32
9.5
Switching the program ........................................................................ 4-33
9.6
Changing the automatic movement speed ........................................... 4-34
9.7
9.8
9.9
Executing the point trace ..................................................................... 4-34
9.7.1
PTP motion mode ................................................................................ 4-36
9.7.2
ARCH motion mode ............................................................................ 4-38
9.7.3
Linear interpolation motion mode ........................................................ 4-40
Direct command execution ................................................................. 4-42
BREAK point ....................................................................................... 4-43
9.9.1
Break point setting ............................................................................... 4-43
9.9.2
Break point deletion ............................................................................. 4-44
9.10 STEP ................................................................................................... 4-45
9.11 SKIP .................................................................................................... 4-45
9.12 NEXT .................................................................................................. 4-45
10.“PROGRAM” mode ........................................................................ 4-46
10.1 Program list scroll ............................................................................... 4-47
10.2 Program editing .................................................................................. 4-48
10.2.1 Cursor movement ................................................................................ 4-50
10.2.2 Insert/Overwrite mode switching .......................................................... 4-50
10.2.3 Inserting a line ..................................................................................... 4-51
10.2.4 Deleting a character ............................................................................. 4-51
10.2.5 Deleting a line ..................................................................................... 4-52
10.2.6 User function key display ..................................................................... 4-52
10.2.7 Quitting program editing ...................................................................... 4-53
10.2.8 Specifying the copy/cut lines ................................................................ 4-53
10.2.9 Copying the selected lines ................................................................... 4-53
10.2.10 Cutting the selected lines ..................................................................... 4-54
10.2.11 Pasting the data .................................................................................... 4-54
10.2.12 Backspace ............................................................................................ 4-54
10.2.13 Line jump ............................................................................................ 4-55
10.2.14 Searching a character string ................................................................. 4-56
10.3 Directory ............................................................................................ 4-57
10.3.1 Cursor movement ................................................................................ 4-58
10.3.2 Registering a new program name ......................................................... 4-58
10.3.3 Directory information display .............................................................. 4-59
10.3.4 Copying a program .............................................................................. 4-60
10.3.5 Erasing a program ................................................................................ 4-61
10.3.6 Renaming a program ............................................................................ 4-62
10.3.7 Changing the program attribute ............................................................ 4-63
10.3.8 Displaying object program information ................................................ 4-63
10.3.9 Creating a sample program automatically ............................................ 4-64
10.4 Compiling ........................................................................................... 4-66
10.5 Line jump and character string search ................................................. 4-67
10.6 Registering user function keys ............................................................. 4-67
10.7 Resetting an error in the selected program .......................................... 4-70
11.“MANUAL” mode .......................................................................... 4-71
11.1 Manual movement .............................................................................. 4-73
11.2 Displaying and editing point data ........................................................ 4-75
11.2.1 Point data input and editing ................................................................. 4-76
11.2.1.1 Restoring point data ............................................................................... 4-77
11.2.2 Point data input by teaching ................................................................. 4-78
11.2.3 Point data input by direct teaching ....................................................... 4-82
11.2.4 Point jump display ............................................................................... 4-82
11.2.5 Copying point data .............................................................................. 4-83
11.2.6 Erasing point data ................................................................................ 4-84
11.2.7 Point data trace .................................................................................... 4-85
11.2.8 Point comment input and editing ......................................................... 4-86
11.2.8.1 Point comment input and editing ........................................................... 4-87
11.2.8.2 Point data input by teaching ................................................................... 4-87
11.2.8.3 Jump to a point comment ....................................................................... 4-88
11.2.8.4 Copying a point comment ...................................................................... 4-89
11.2.8.5 Erasing point comments ......................................................................... 4-90
11.2.8.6 Point comment search ............................................................................ 4-91
11.2.9 Point data error reset ............................................................................ 4-92
11.3 Displaying, editing and setting pallet definitions ................................. 4-93
11.3.1 Editing pallet definitions ....................................................................... 4-95
11.3.1.1 Point setting in pallet definition .............................................................. 4-96
11.3.1.1.1
Editing the point in pallet definition ....................................................... 4-97
11.3.1.1.2
Setting the point in pallet definition by teaching .................................... 4-97
11.3.2 Pallet definition by teaching ................................................................. 4-98
11.3.3 Copying a pallet definition ................................................................. 4-100
11.3.4 Deleting a pallet definition ................................................................. 4-101
11.4 Changing the manual movement speed ............................................. 4-102
11.5 Displaying, editing and setting shift coordinates ................................ 4-103
11.5.1 Editing shift coordinates ..................................................................... 4-106
11.5.1.1 Restoring shift coordinates .................................................................... 4-107
11.5.2 Editing the shift coordinate range ....................................................... 4-107
11.5.2.1 Restoring a shift coordinate range ......................................................... 4-109
11.5.3 Shift coordinate setting method 1 ....................................................... 4-109
11.5.4 Shift coordinate setting method 2 ....................................................... 4-111
11.6 Displaying, editing and setting hand definitions ................................ 4-113
11.6.1 Editing hand definitions ..................................................................... 4-119
11.6.1.1 Restoring hand definitions .................................................................... 4-120
11.6.2 Hand definition setting method 1 ....................................................... 4-120
11.7 Changing the display units ................................................................ 4-122
11.8 Absolute reset ................................................................................... 4-123
11.8.1 Checking absolute reset ..................................................................... 4-124
11.8.2 Axis absolute reset ............................................................................. 4-125
11.8.3 Absolute reset on all axes ................................................................... 4-129
11.9 Setting the standard coordinates ........................................................ 4-133
11.9.1 Setting the standard coordinates by 4-point teaching ......................... 4-136
11.9.2 Setting the standard coordinate by 3-point teaching ........................... 4-138
11.9.3 Setting the standard coordinates by simple teaching .......................... 4-140
11.10Executing the user function keys ....................................................... 4-142
12.“SYSTEM” mode ........................................................................... 4-143
12.1 Parameters ........................................................................................ 4-145
12.1.1 Robot parameters ............................................................................... 4-147
12.1.2 Axis parameters ................................................................................. 4-152
12.1.3 Other parameters ............................................................................... 4-168
12.1.4 Parameters for option boards .............................................................. 4-174
12.1.4.1 Option DIO setting ............................................................................... 4-175
12.1.4.2 Serial I/O setting ................................................................................... 4-176
12.2 Communication parameters .............................................................. 4-178
12.3 OPTION parameters ......................................................................... 4-184
12.3.1 Setting the area check output ............................................................. 4-185
12.3.2 Setting the “SERVICE” mode .............................................................. 4-189
12.3.2.1 Saving the “SERVICE” mode parameters ............................................... 4-194
12.3.2.2 Help display in “SERVICE” mode .......................................................... 4-194
12.3.3 SIO settings ........................................................................................ 4-195
12.4 Initialization ...................................................................................... 4-198
12.4.1 Initializing the parameters .................................................................. 4-199
12.4.2 Initializing the memory ...................................................................... 4-200
12.4.3 Initializing the communication parameters ........................................ 4-201
12.4.4 Clock setting ...................................................................................... 4-202
12.4.5 System generation .............................................................................. 4-203
12.5 Self diagnosis .................................................................................... 4-204
12.5.1 Controller check ................................................................................ 4-204
12.5.2 Error history display ........................................................................... 4-205
12.5.3 Absolute battery voltage display ......................................................... 4-206
12.5.4 System error details display ................................................................ 4-206
12.6 Backup processes .............................................................................. 4-207
12.6.1 Internal flash ROM ............................................................................. 4-207
12.6.1.1 Loading files ......................................................................................... 4-208
12.6.1.2 Saving files ........................................................................................... 4-209
12.6.1.3 Initializing the files ............................................................................... 4-209
13.“MONITOR” mode ...................................................................... 4-210
14.“UTILITY” mode .......................................................................... 4-212
14.1 Canceling emergency stop; Motor power and servo on/off ................ 4-213
14.1.1 Canceling emergency stop ................................................................. 4-213
14.1.2 Motor power and servo on/off ............................................................ 4-214
14.2 Enabling/disabling the sequence execution flag ................................ 4-215
14.3 Changing the arm type ...................................................................... 4-216
14.4 Resetting the output ports .................................................................. 4-217
14.5 Changing the execution level ............................................................ 4-218
14.5.1 Changing the execution level ............................................................. 4-219
14.5.2 Displaying the Help message ............................................................. 4-220
14.6 Changing the access level (operation level) ....................................... 4-221
14.6.1 Entering the password ........................................................................ 4-221
14.6.2 Changing the access level .................................................................. 4-222
14.6.3 Displaying the Help message ............................................................. 4-222
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
Programming unit MPB
MPB is used for
• robot operation
• programming
• teaching
• parameter input, etc.
SAFETY I/O interface
• Used for input/output of emergency stop
signal, enable switch signal, etc.
Standard I/O interface
• Used for basic input/output operations.
AC power input terminal
• Used to supply power to the controller.
CAUTION
c The
external circuit connected to the
robot controller should be prepared
by the user.
External
circuit
Power input
RS-232C interface
Operation
Robot
• Used for communication through
RS-232C.
Controller
n NOTE
• Refer to Chapter 5 for standard
4
This chapter mainly explains how to operate the MPB programming unit.
I/O interface.
• Refer to Chapter 6 for SAFETY
I/O interface.
• Refer to Chapter 7 for RS-232C
interface.
4-1
2. The RCX robot controller
2.1
Part names
Controller front panel
Fig. 4-2-1 Part names and layout
4
PWR
2 “POWER” LED
SRV
3 “SERVO” LED
ERR
4 “ERROR” LED
OP.1
MOTOR
PWR
OP.3
MPB
RCX40
SRV
Operation
XM
ERR
ROB
I/O
5 MPB connector
XY
YM
BATT
COM
X
ROB
I/O
Y
Z
ZR
6 COM connector
R
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
N
ACIN
RM
L
N
2.2
1 AC IN terminal
Main functions
q AC IN terminal: ... Supplies power to the controller.
w “PWR” LED: ........ Lights up when the controller is turned on.
e “SRV” LED: ......... Lights up when the robot servo is on and turns off when the servo
power is off.
r “ERR” LED: ......... Lights up when a serious error occurs.
t MPB connector: .. Connects to the MPB programming unit.
y COM connector: .. Connects to an external device via the RS-232C interface. (DSUB 9P female connector)
4-2
3. MPB programming unit
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 unit
q Display (liquid crystal screen)
4
t UPPER button
e Emergency stop button
u Display contrast adjustment
trimmer (side of MPB)
w Sheet key
r MPB connector
4-3
Operation
y LOWER button
3. MPB programming unit
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 grouped into 3 main types: function keys, control keys and data
keys.
e Emergency stop button
Pressing this button during operation immediately stops the robot operation. This is a
B-contact type switch.
4
Operation
r MPB connector
Use this connector to connect the MPB to the robot controller.
t UPPER button
This button has the same function as the
UPPER
sheet key.
y LOWER button
This button has the same function as the LOWER sheet key.
u LCD contrast adjustment trimmer (side of MPB)
This adjusts the contrast of the liquid crystal display. Turning to the right increases the
sharpness of the displayed characters.
4-4
3. MPB programming unit
3.3
Connection to the robot controller
Connect the MPB programming unit to the MPB connector on the front panel of the robot
controller.
Connect the cable securely since poor connection can cause malfunctions or breakdowns.
Fig. 4-3-2 Robot controller connection
MPB programming unit
MOTOR
OP.1
PWR
OP.3
MPB
RCX40
4
SRV
ERR
XM
ROB
I/O
Operation
MPB connector
XY
YM
BATT
COM
X
ROB
I/O
Y
Z
ZR
R
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
N
ACIN
RM
L
N
NOTE
n Emergency
stop is triggered when the
MPB is connected to or disconnected
from the robot controller while the
power is on. If this happens,
emergency stop must be cancelled to
continue the operation.
4-5
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.
1) Connect the MPB to the MPB connector on the front panel of the robot controller.
CAUTION
c When
connecting the MPB to the
Operation
4
robot controller, always use the
dedicated cable and connector
attached to the MBP. Do not modify
this cable or extend it by using a relay
unit, etc.
n NOTE
• If an error message “Parameter
destroyed” or “Memory
destroyed” appears on the screen
when the robot controller is turned
on, be sure to initialize the
parameters and memory in
“SYSTEM” mode before
performing absolute reset.
Refer to “12. SYSTEM Mode” in
Chapter 4 for detailed
information.
• If an error message “battery
degradation” appears while the
power supply is turned on, replace
the lithium battery (typically 4
years service life) in the robot
controller.
n NOTE
• After turning off the robot
controller, wait at least 5 seconds
before turning the power back on
again. If power is turned on again
too quickly after the power was
turned off, the controller might not
start up correctly.
• Do not turn off the robot controller
during program execution. If
turned off, this causes errors in the
internal system data and the
program may not restart correctly
when the power is again turned
on. Always quit or stop the
program before turning off the
robot controller.
4-6
2) Supply the power to the AC IN terminal on the front panel of the robot controller.
The “PWR” LED lights up and the “MANUAL” mode screen appears. (After the
“PWR” LED is lit, it will take a maximum of 3 seconds for the controller to operate
normally.)
3) When SAFE mode or serial I/O setting is enabled, the controller always starts with the
robot servo turned off. To turn on the robot servo, refer to “14. UTILITY mode” in
this chapter.
4) If return-to-origin is incomplete, eliminate the problem and perform absolute reset.
Then start the robot operation.
Refer to "11.8 Absolute reset” in Chapter 4 for how to perform absolute reset.
Fig. 4-4-1 “MANUAL” mode screen
MANUAL
50%[MR][S0H0J]
–––––––––––––––––––––––––––––––––––––––––––––––––––––
Current position
M1=
*M4=
POINT
0 *M2=
0
PALLET
0 *M3=
VEL+
0
VEL-
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 mode name is highlighted, it shows that the motor power is turned on. If the
motor power is turned off, for example by pressing the emergency stop, the highlighted
display for the mode name is cancelled.
2) Message line (2nd line)
If an error occurs, the error message appears on the 2nd line. Other displays on this
line indicate the following status.
4
Return-to-origin incomplete.
Solid line
Return-to-origin complete.
Double-solid line
Program is being executed.
“@ “ mark in 2nd column
Online command is being executed through RS-232C
interface. Changes to a dot ( . ) when the command ends.
“s “ mark in 1st column
Sequence program is being executed.
3) Data area (3rd to 7th lines)
Various types of data and editing information are displayed on the 3rd to 7th lines.
These lines scroll to the right and left to show up to 80 characters per line.
4) Guideline (Bottom line)
The bottom line (8th line) mainly shows the contents assigned to function keys in
highlighted display.
5) Pointer
The line number and item currently selected are highlighted by the pointer cursor.
Use the cursor (↑/↓) keys to move the pointer up and down.
Use the cursor (←/→) keys to move the pointer right and left.
Fig. 4-5-1 MPB screen example
1st line
2nd line
3rd line
4th line
5th line
6th line
7th line
8th line
PROGRAM>EDIT
<TEST1
1 '***** TEST1 PROGRAM *****
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOV P,P0
COPY
CUT
PASTE
...System line
...Message line
}
2 '
SELECT
>
BS
...Data area
...Guideline
4-7
Operation
Dashed line
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
Functin key
Operation
4
Control key
Data key
4-8
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 3
Shift 2
2) There are 3 ways (shift 1 to shift 3) to use each operation key.
Example of key input
Shift
4
Input data
Operation
#
UPPER
+
,
@
1
“#”
Shift 1: Use a key while holding down the
UPPER
key.
#
,
@
2
“,”
Shift 2: Use a key without holding down the
and
LOWER
UPPER
keys.
#
LOWER
+
,
@
3
“@”
Shift 3: Use a key while holding down the
LOWER
key.
4-9
5. Operation keys
5.4
Function keys
To operate the MPB, select the menus by pressing the function keys.
The relation between the function keys and their menus in “MANUAL” mode is shown
below.
Function key
F 6
F 7
F 1
F 2
Selected menu
F 11
(F 1)
POINT
F 12
(F 2)
PALLET
F 14
(F 4)
VEL +
F 15
(F 5)
VEL -
F 11
(F 6)
SHIFT
F 12
(F 7)
HAND
F 13
(F 8)
UNITCHG
F 14
(F 9)
VEL ++
F 15
(F10)
VEL --
F 13
(F13)
ABS.RST
F 15
(F15)
COORDI
4
Operation
F 9
F 10
F 5
+
F 6
+
F 7
+
F 8
+
F 9
+
F 10
+
F8
LOWER
+
F 10
LOWER
UPPER
UPPER
UPPER
UPPER
UPPER
4-10
F 4
F 1
F 2
F 3
F 4
F 5
F 3
F 5
5. Operation keys
Relation between function keys and menus
Fig. 4-5-4 Function keys and menus
MANUAL
50%[MG][S0H0J]
Current position
M1=
*M4=
POINT
↓
[F1]
∧ SHIFT
NOTE
n From
hereon, when the
F11
F15
down the UPPER key or UPPER button
on the side.
Likewise, when the F 11 to F 15
keys are mentioned, it means to press
the F 1 to F 5 keys while holding
F10
F6
F11
F15
down the LOWER key or LOWER button
on the side.
↓
[F2]
HAND
VEL-
↓
[F4]
↓
[F5]
↓
[F3]
UNITCHG
↓
[F7]
VEL++
↓
[F8]
↓
[F12]
0
VEL+
↓
[F13]
4
VEL—
↓
[F9]
↓
[F10]
ABS.RST
↓
[F11]
F10
F6
PALLET
∨
F 6 to F 10
keys are mentioned, it means to press
the F 1 to F 5 keys while holding
0 *M3=
Operation
↓
[F6]
0 *M2=
0
...UPPER
COORDI
↓
[F14]
↓
[F15]
...LOWER
Function keys F 1 to F 5 (sheet keys on the MPB) correspond to the function key
menus on the screen from the left.
Pressing the UPPER key switches to function keys
LOWER
key switches to function keys
F 11
to
F 6
F 15
to
F 10
, and pressing the
.
4-11
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
: Displays the mode menu (highest hierarchy).
MODE
DISPLAY
: Selects the robot I/O monitor screen.
: Selects “UTILITY” mode.
UTILITY
4
Operation
(2) Extended function keys
: Calls up the function key assigned by the user.
USER
: Switches robots.
ROBOT
: Returns to the previous screen (upper hierarchy).
ESC
(3) Cursor keys
↑
: Moves the cursor up.
Moves the pointer (highlighted line number display) up when not editing on
the screen.
↓
: Moves the cursor down.
Moves the pointer (highlighted line number display) down when not editing
on the screen.
←
: Moves the cursor to the left. (Screen scrolls to the right when the cursor reaches
the left end.)
Scrolls the screen to the right when not edited.
→
: Moves the cursor to the right. (Screen scrolls to the left when the cursor reaches
the right end.)
Scrolls the screen to the left when not edited.
<<
>>
(4) Page keys
<<
>>
4-12
: Returns to the previous screen.
: Switches to the next screen.
: Switches to the left-hand screen.
: Switches to the right-hand screen.
5. Operation keys
(5) Edit keys
These keys are enabled when the editing cursor is displayed.
INS
DEL
: Toggles between Insert and Overwrite modes.
The cursor “_” appears in Overwrite mode and “
” appears in Insert mode.
: Deletes one character at the cursor position.
: Inserts one line at the cursor position.
L.INS
: Deletes one line at the cursor position.
L.DEL
(6) Jog keys
: Starts operation.
This key is valid only during “AUTO” mode or point trace.
STOP
: Stops operation.
After the START key has been pressed in “AUTO” mode, the STOP key is valid
during program execution, direct command execution, point trace execution
and return-to-origin operation.
NOTE
n The
to #6- keys are hereafter
called the Jog keys.
The Jog keys are enabled in
“MANUAL” mode.
#1+
#1+
: Moves axis 1 in the + direction or the robot in the +X direction on the XY
coordinates.
#1-
: Moves axis 1 in the – direction or the robot in the -X direction on the XY
coordinates.
#2+
: Moves axis 2 in the + direction or the robot in the +Y direction on the XY
coordinates.
#2-
: Moves axis 2 in the - direction or the robot in the -Y direction on the XY
coordinates.
#3+
: Moves axis 3 in the + direction.
#3-
: Moves axis 3 in the - direction.
#4+
: Moves axis 4 in the + direction.
#4-
: Moves axis 4 in the - direction.
#5+
: Moves axis 5 in the + direction.
#5-
: Moves axis 5 in the - direction.
4-13
Operation
START
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 the data input, programming and data editing.
There are 2 kinds of data keys.
(1) Alphanumeric keys
4
0
A
Operation
9
to
: Enters numbers.
Z
to
: Enters alphabetic characters.
SPACE
: Inserts spaces.
(2) Symbol keys
5.7
Other keys
(1) Enter key
: Pressing this key executes a direct command when in “AUTO > DIRECT”
mode.
When the cursor is displayed, pressing this key completes the data input on the
cursor line.
(2) Shift keys
4-14
UPPER
: Selects shift 1 for key operation.
LOWER
: Selects shift 3 for key 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. Upon pressing the emergency stop button, the power to the robot is cut off to stop
operation. A message like that shown below appears on the MPB screen. The highlighted display for
the mode name is cancelled during emergency stop.
MANUAL
50%[MG][S0H0J]
———— 12.1:Emg.stop on —————————————————
Current position
*M1=
*M4=
POINT
0 *M2=
0
PALLET
0 *M3=
VEL+
0
4
VEL-
n Besides the emergency stop button on
Operation
Fig. 4-6-1 Emergency stop
MPB programming unit
NOTE
the MPB, an external dedicated input
(emergency stop) terminal is provided
in the SAFETY connector. Refer to
Chapter 6 for details.
Emergency stop
button
4-15
6. Emergency stop
6.1
n NOTE
• Emergency stop can also be
triggered by an emergency stop
input from the SAFETY I/O
interface. To cancel this
emergency stop, refer to Chapter
6.
• Origin positions are retained even
when emergency stop is triggered,
so the robot can be operated the
same as before emergency stop
just by canceling emergency stop
without absolute reset.
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 UTILITY key.
The screen switches to “UTILITY” mode and the message “Cancel emergency
flag?” appears.
Fig. 4-6-2 Emergency stop reset (1)
4
Operation
Cancel emergency flag?
3) Press the
F 4
YES
NO
(YES) key.
The following screen appears.
Fig. 4-6-3 Emergency stop reset (2)
UTILITY
Date,Time
: 01/02/20,18:59:37
(32°C)
MOTOR power: Off
Sequence
: DISABLE
Armtype
: RIGHTY
MOTOR
SEQUENC ARMTYPE
RST.DO
At this time, pressing the ESC key returns to the previous mode with the motor
power still turned off. To turn on the motor power, continue the following operations.
4) Press the
F 1
(MOTOR) key.
The following screen appears.
Fig. 4-6-4 “UTILITY>MOTOR” mode (1)
UTILITY>MOTOR
Motor power: Off
D1=M1: Brake
D5=M5: no axis
D2=M2: Brake
D6=M6: no axis
D3=M3: Brake
D4=M4: Brake
ON
4-16
OFF
6. Emergency stop
n IfNOTE
the motor power is turned off due to
a serious error, the motor power will
not turn on by “UTILITY > MOTOR”
mode. In this case, the robot controller
must be turned back on again.
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: Servo
D6=M6: no axis
D3=M3: Servo
D4=M4: Servo
ON
ESC
4
key to return to the previous mode.
Operation
6) Press the
OFF
4-17
7. Mode configuration
The robot operation mode consists of the following modes.
Basic operation modes
“SERVICE” mode
“AUTO”
mode
4
“MANUAL”
mode
“PROGRAM”
mode
“SYSTEM”
mode
“DI/DO
monitor”
mode
“UTILITY”
mode
Operation
“SERVICE” mode can be used only when “SAFE” mode is enabled.
7.1
Basic operation modes
Robot operation is classified into 5 basic modes as follows.
(1) “SERVICE” mode (only when “SAFE” mode is enabled)
(2) “AUTO” mode
(3) “PROGRAM” mode
(4) “MANUAL” mode
(5) “SYSTEM” mode
Among these modes, “SERVICE” mode can be selected with DI02 and other modes with
the function keys.
CAUTION
c The
“SYSTEM” mode is used to
select the “SERVICE” mode
functions. (Refer to “12.3.2 Setting
the “SERVICE” mode” in this
chapter.)
(1) “SERVICE” mode
“SERVICE” mode is used to perform maintenance work using the MPB safely within
the safety enclosure of the robot system. This mode includes “AUTO” and “MANUAL”
modes in the basic operation mode, and can be selected by turning DI02 (“SERVICE”
mode) OFF. The following functions are selected in “SERVICE” mode.
• Robot is controlled only by MPB operation.
• Automatic operation is prohibited.
• Robot operating speed is set to below 3% of the maximum speed.
• Robot operation is possible only by hold-to-run control.
(2) “AUTO” mode
Select this mode to execute robot programs. Robot programs can be executed only in
this mode. Operable tasks in this mode differ depending on the parameter settings in
“SERVICE” mode.
4-18
7. Mode configuration
(3) “PROGRAM” mode
Select this mode to create and edit robot programs. Robot programs can be edited on
the MPB screen.
n NOTE
• Absolute reset can be performed
only in “MANUAL” mode.
• ”AUTO” mode may be selected
depending on the execution level
when the robot controller is turned
on.
(4) “MANUAL” mode
Select this mode to move the robot manually or perform point teaching. Return-toorigin and manual movement can be executed only in this mode.
Operable tasks in this mode differ depending on the parameter settings in “SERVICE”
mode.
(5) “SYSTEM” mode
Select this mode to perform maintenance and adjustment of the YAMAHA robots
such as robot parameter and axis parameter settings.
7.2
4
Other operation modes
(1) "DI/DO Monitor" mode
Use this mode to monitor the robot controller I/O status or task status on the MPB
screen. Use the
DISPLAY
key to select this mode.
(2) "UTILITY" mode
Use this mode to perform maintenance of the YAMAHA robots such as recovery from
emergency stop and motor servo on/off switching. Use the
mode.
UTILITY
key to select this
4-19
Operation
Other than the basic operation modes the following two modes are also available.
(1) “DI/DO Monitor” mode
(2) “UTILITY” mode
These modes can be selected with the control keys.
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 the screen.
Pressing the MODE key displays the 4 basic modes on the guideline (bottom line) of the
screen as shown below.
Fig. 4-7-1 Mode menu
MANUAL
50% [MG][S0H0J]
Current position
*M1=
*M4=
Operation
4
AUTO
0 *M2=
0
PROGRAM
0 *M3=
MANUAL
0
SYSTEM
These are basic modes at the highest hierarchy on the menu. The display position for each
mode name corresponds to each function key of
from the left.
For example, when the
F 1
F 1
,
F 2
,
F 3
and
F 4
(AUTO) key is pressed, “AUTO” mode is entered.
Fig. 4-7-2 “AUTO” mode menu
AUTO
[T1] 100% <TEST1
>
1 ’***** TEST1 PROGRAM *****
2 ’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET
TASK
DIR
VEL+
VEL-
When “AUTO” mode is entered, the submenu for the “AUTO” mode operation appears
on the guideline.
The submenu also corresponds to the function keys from
7-4.)
4-20
F 1
to
F 15
. (See Fig. 4-
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
n NOTE
• When the data is being edited such
Fig. 4-7-4 Function switching
as in “EDIT” mode, the MODE key
is inoperative. After pressing the
ESC key to return the mode
hierarchy, press the MODE key.
• From here in this user's manual
the mode hierarchy status is stated
in the order as shown below.
RESET
∧ POINT
.
DIRECT
BREAK
↓
[F7]
↓
[F8]
∨ STEP
SKIP
NEXT
The “
>
↓
[F11]
VEL+
VEL-
↓
[F4]
↓
[F5]
↓
[F3]
↓
[F6]
↓
[F12]
VEL++
↓
[F9]
↓
[F13] ...when
LOWER
while the “
” mark shows that the
LOWER
4
VEL-↓
[F10] ...when UPPER key is
pressed.
key is pressed.
” mark at the left end on the guideline shows that the
>
the first hierarchy menu, F 3
(DIR) from the second hierarchy
menu and F 7 (ERASE) from
the third hierarchy menu.
DIR
UPPER
key is pressed,
key is pressed.
Some submenus have other menus for accessing the next hierarchical mode.
For example, pressing the F 8 key in “AUTO” mode while holding down the UPPER
key, switches to “BREAK” mode. Submenus relating to “BREAK” mode then appear.
As explained above, operation can proceed through each hierarchy by selecting the menu
items with the function keys. To return to the previous mode hierarchy, press the
key.
ESC
Pressing the MODE key directly returns to the highest modes. The basic 4 modes are
displayed on the guideline, so select the desired basic mode by pressing the corresponding
function key.
Refer to “Mode hierarchy diagram” on the next page for the entire mode hierarchy.
4-21
Operation
The above example shows that the
current mode is entered by
selecting F 2 (PROGRAM) from
TASK
↓
[F1]
First (highest) hierarchy >
Second hierarchy >
Third hierarchy >
Fourth hierarchy
Example: PROGRAM > DIR >
ERASE
LOWER
7. Mode configuration
Mode hierarchy diagram
F1 AUTO
F1 RESET
F2 TASK
F3 DIR
F4 VEL+
F5 VELF6 POINT
F7 DIRECT
F8 BREAK
F9 VEL++
F10 VEL-F11 STEP
F12 SKIP
F13 NEXT
F2 PROGRAM
Operation
4
F1 EDIT
F3 DIR
F3 MANUAL
F5 COMPILE
F6 JUMP
F7 FIND
F8 FIND+
F9 FINDF13 ERR.RST
F1 POINT
F2 PALLET
F4 VEL+
F5 VEL-
F6 SHIFT
F7 HAND
F8 UNITCHG
F9 VEL++
F10 VEL--
F13 RST.ABS
F15 COORDI
4-22
F1 PTP/ARCH/LINE
F2 ARCHPOS (when F1 is ARCH)
F3 JUMP
F4 VEL+
F5 VELF8 UNITCHG
F9 VEL++
F10 VEL-F11 MODIFY
F14 AXIS←
F15 AXIS→
F1 SET
F2 CANCEL
F3 SEARCH
F6 JUMP
F7 FIND
F8 FIND+
F9 FINDF1 SELECT
F2 COPY
F3 CUT
F4 PASTE
F5 BS
F6 JUMP
F7 FIND
F8 FIND+
F9 FINDF1 NEW
F5 INFO
F6 COPY
F7 ERASE
F8 RENAME
F10 ATTRBT
F11 OBJECT
F15 EXAMPLE
F1 EDIT
F1 UNDO
F2 TEACH
F3 JUMP
F3 JUMP
F1 EDIT
F4 VEL+
F2 TEACH
F5 VELF3 JUMP
F6 COPY
F4 VEL+
F7 ERASE
F5 VELF8 UNITCHG
F6 COPY
F9 VEL++
F7 ERASE
F10 VEL-F8 UNITCHG
F11 TRACE
F9 VEL++
F12 COMMENT
F10 VEL-F13 ERR.RST
F11 FIND
F14 AXIS←
F12 FIND+
F15 AXIS→
F13 FINDF1 EDIT
F1 POINT
F2 METHOD
F4 VEL+
F5 VELF6 COPY
F7 ERASE
F9 VEL++
F10 VEL-F15 PASSWD
F1 EDIT
F2 RANGE
F4 VEL+
F4 VEL+
F5 VELF5 VELF8 UNITCHG
F6 METHOD1
F9 VEL++
F10 VEL-F4 VEL+
F7 METHOD2
F5 VELF9 VEL++
F8 UNITCHG
F10 VEL-F9 VEL++
F1 EDIT
F10 VEL-F4 VEL+
F5 VELF6 METHOD1
F4 VEL+
F8 UNITCHG
F5 VELF9 VEL++
F8 UNITCHG
F10 VEL-F9 VEL++
F1
M1
F10 VEL-F2
M2
F1 ADJ. +
F3
M3
F2 ADJ. F4
M4
F4 VEL+
F11 ALL
F5 VELF1 4POINTS
F9 VEL++
F2 3POINTS
F10 VEL-F5 SIMPLE
F1 EDIT
F2 TEACH
F4 VEL+
F5 VELF8 UNITCHG
F9 VEL++
F10 VEL--
7. Mode configuration
F4 SYSTEM
F1 PARAM
F1 ROBOT
F2 AXIS
F3 OTHER
F2 CMU
F3 OPTION
F5 OP. BRD
F10 PASSWRD
F1 EDIT
F2 JUMP
F1 POS.OUT
F2 SERVICE
F3 SIO
F4 INIT
F1 PARAM
F2 MEMORY
F4 CLOCK
F5 DIAGNOS
UTILITY 1
UTILITY 2
F9 BACKUP
F15 DRV.UP
F1 MOTOR
F2 SEQUENC
F3 ARMTYPE
F5 RST.DO
F9 DSW.HLP
F1 EXECUTE
F2 ACCESS
F5 RST.DO
F9 DSW.HLP
F6 GENERAT
F10 PASSWRD
F1 CHECK
F2 HISTORY
F2 BATTERY
F4 RAMCARD
F5 FROM
F1 EDIT
F2 JUMP
F1 EDIT
F2 JUMP
F4 SAVE
F5 HELP
F1 EDIT
F2 JUMP
4
F1 PROGRAM
F2 POINT
F3 SHIFT
F4 HAND
F5 ALL
F6 PALETTE
F7 COMMENT
F1 DATE
F2 TIME
F1 ROBOT
F2 AXIS
F4 CLEAR
F5 HELP
F6 AUX
F7 DUAL
F15 LAYOUT
Operation
F3 CMU
F1 EDIT
F2 JUMP
F1 EDIT
F2 JUMP
F1 EDIT
F2 JUMP
DISPLAY
4-23
8. “SERVICE” mode
“SERVICE” mode can be used only when “SAFE” mode is eneble.
Use “SERVICE” mode to perform maintenance work using the MPB safely within the safety enclosure of
the robot system. This mode can be selected by turning DI02 (“SERVICE” mode) OFF.
c CAUTION
• Use “SYSTEM” mode to select
the functions in “SERVICE”
mode. (Refer to “12.3.2 Setting
the “SERVICE” mode” in this
chapter.)
• Basically, only the MPB
operation is allowed in
“SERVICE” mode, so application
software (VIP/WIN, etc.) that
executes on-line commands
through the RS-232C interface
cannot be used, except for cases
where on-line commands through
the RS-232C are set usable as
operation devices.
Operation
4
8.1
Operation device
If operation from a device other than the MPB is permitted, the operator using the MPB
may be exposed to a hazardous situation. For example:
1. When a dedicated DI start signal is turned ON without the MPB operator knowing
about it.
2. When an external device runs a robot operation command through the RS-232C
interface without the MPB operator knowing about it.
To prevent this kind of accident in “SERVICE” mode, only the MPB can be used to
operate the robot and other operation devices are disabled. However, you may add other
operation devices provided you take responsibility for your own safety.
8.2
Prohibition of “AUTO” mode operation
A major purpose for robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a robot program is executed in
“AUTO” mode during maintenance work, the robot may move on its own with no warning
to the operator. Therefore, “AUTO” mode operation is basically prohibited in “SERVICE”
mode. However, if robot movement in a program must be checked while the operator
stays within the safety enclosure, then “AUTO” mode can be selected provided you take
responsibility for your own safety.
8.3
Hold-to-Run function
If the robot operator using the MPB should trip or fall during maintenance work, he (she)
may be exposed to a dangerous situation. To prevent this kind of accident, the Hold-toRun function allows the robot to move only during the time that the MPB key is kept
pressed. However, the Hold-to-Run function can be turned OFF provided you take
responsibility for your own safety.
CAUTION
c When
operating the robot without
using the safety functions explained
in sections 8.2, 8.3 and 8.4 while the
operator is still within the safety
enclosure, it is important to take even
more sufficient safety precautions.
4-24
8.4
Limitations on robot operating speed
A major purpose of robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a dangerous situation should
occur, the operator could easily avoid it if the robot operating speed was maintained within
250mm/sec.
Therefore, the robot operating speed in “SERVICE” mode is basically limited to below
3% of maximum speed. However, if the robot operating speed has to be set higher than
the safety range while the operator is still within the safety enclosure, this speed limitation
can be cancelled provided you take responsibility for your own safety.
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)
q Mode hierarchy
y Online command
execution mark
u Sequence
program
execution mark
i Pointer display
e Automatic movement speed
r Program name
t Message line
w Task display
AUTO
[T1] 100% <TEST1
>
s@ —————————————————————————————————————
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET
TASK
DIR
VEL+
VEL-
Fig. 4-9-2 “AUTO” mode (two-robot setting)
q Mode hierarchy
y Online command
execution mark
u Sequence
program
execution mark
i Pointer display
e Automatic movement speed
r Program name
w Task display
t Message line
AUTO
[T1] 50%/100% <TEST1
>
s@ —————————————————————————————————————
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
o Guideline
RESET
TASK
DIR
VEL+
VEL-
q Mode hierarchy
Shows the current mode hierarchy. When the highest mode (“AUTO” in this case) is
not highlighted, it means the servomotor power is off. When highlighted, it means the
servomotor power is on.
w Task display
Shows a task number in the program list currently displayed.
e Automatic movement speed
Robot movement speed is displayed during automatic operation.
When two robots are specified, two speeds are displayed for “ main group /
with the currently selected group highlighted.
sub group
”,
r Program name
Shows the program name currently selected.
t Message line
If an error occurs, the error message appears here. A dashed line means return-toorigin is incomplete. A solid line means return-to-origin return is complete. A doublesolid line means automatic operation is in progress.
4-25
Operation
o Guideline
9. “AUTO” mode
y Online command execution mark
When an online command is being executed, a “@” 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 being executed, an “s” mark is displayed in the first
column on the second line.
i Pointer display
The program line number to be executed next is shown highlighted on the program
list.
Operation
4
NOTE
n Usually,
return-to-origin must be
completed before starting “AUTO”
mode. When return-to-origin is not
complete, the message “Origin
incomplete” appears. In such a case,
refer to “Absolute reset” in Chapter 4.
However, the program can be executed
depending on the command execution
level even if return-to-origin has not
been completed. For further
information, refer to the execution
level in “14. UTILITY mode”.
4-26
o Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.
Upon entering “AUTO” mode, the specified program is compiled and an object file is
created to execute automatic operation.
When the same object file already exists, compiling is not executed.
If an error is found in a command statement during compiling, the error message and the
program list after the command line where the error occurred are displayed.
If the compiling ends normally, the program list is displayed from the top command line.
9. “AUTO” mode
Valid keys and submenu descriptions in “AUTO” mode are shown below.
Valid keys
Menu
Function
Scrolls the program list.
Cursor
Switches to other screens.
Page key
F1
RESET
Resets the program.
F2
TASK
Changes the program list according to each task.
F3
DIR
Changes the current program.
F4
VEL+
Increases automatic movement speed for the selected robot group in
steps.(1→5→20→50→100 %)
F5
VEL-
Decreases automatic movement speed for the selected robot group in
steps.(100→50→20→5→1 %)
F6
POINT
Moves to the specified point number position.
F7
DIRECT
Executes a command statement written on one line.
F8
BREAK
Sets a break point.
F9
VEL++
Increases automatic movement speed for the selected robot group in 1%
increments.
F10
VEL- -
Decreases automatic movement speed for the selected robot group in 1%
decrements.
F11
STEP
Executes one line of the command statement.
F12
SKIP
Advances to the next line without executing the current command statement.
F13
NEXT
Executes one line of the command statement. (Sub-routines are executed at a
time.)
4
LOWER
+
MODE
Switches the selected robot group.
)
4-27
Operation
ROBOT
(
9. “AUTO” mode
9.1
NOTE
n Regardless
of the execution level, some
commands such as the robot movement
commands cannot be executed if
return-to-origin is incomplete.
When the execution level 5, 6 or 8 is
selected, the program will always be
executed from the beginning.
Operation
4
Automatic operation
Program commands are executed continuously. Before starting automatic operation, make
sure that return-to-origin, program debugging, I/O signal connections and point data
teaching have already been completed. When the execution level is set to other than level
0, automatic operation is possible even if return-to-origin is incomplete.
[Procedure]
Press the START key in “AUTO” mode.
Command statements are executed in order from the line number where the pointer is
displayed.
The program list disappears during automatic operation and the message “Running” appears
on the message line (the second line).
The message line changes from a single solid line to a double-solid line when automatic
operation starts.
Fig. 4-9-3 Automatic operation in progress
w WARNING
• Upon pressing the
START key,
the robot starts to move. To
avoid danger, do not enter
the robot movement range.
• When changing automatic
movement speed during
automatic operation, check
safety for surrounding areas.
AUTO
[T1] 100% <TEST1
>
0.2:Running
RESET
TASK
DIR
VEL+
VEL-
The following keys are enabled during automatic operation.
NOTE
n When
automatic movement speed was
Valid keys
changed during automatic operation, it
will be enabled after the automatic
operation is complete.
Menu
Function
F9
VEL++
Increases automatic movement speed for the selected robot group in 5% increments.
F10
VEL- -
Decreases automatic movement speed for the selected robot group in 5% decrements.
ROBOT
4-28
(
LOWER
+
MODE
Switches the selected robot group.
)
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
c DoCAUTION
not turn off the robot controller
RESET
2) Press the
ESC
TASK
DIR
VEL+
>
4
VEL-
key to display the program list.
The pointer indicates the next command line number to be executed in the program.
3) Press the
START
key to re-execute the program.
4-29
Operation
during program execution. If turned
off, an error may occur in the internal
system data and the program may not
restart normally when the power is
again turned on. Always be sure to
terminate or stop the program before
turning the power off.
[T1] 100% <TEST1
9. “AUTO” mode
9.3
Resetting the program
To restart a program stopped with the
NOTE
n The
output is also reset when the
program is reset. However, the output
will not be reset when a sequence
program is being executed without
selecting “RST.DO” in the sequence
execution “ENABLE/DISABLE” flag
setting.
STOP
key from the beginning, reset the program.
[Procedure]
Fig. 4-9-5 Program reset
AUTO
[T1] 100% <TEST1
>
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
4
RESET
TASK
DIR
VEL+
VEL-
Operation
When the program “_SELECT” does not exist:
1) Press the
F 1
(RESET) key in “AUTO” mode.
2) Press the F 4 (YES) key.
A list of the current program appears from the first line. (A pointer also appears on
the first line number of the program.)
Fig. 4-9-6 Program reset
AUTO
1
[T1] 50% <TEST1
*ST:
2
MOVE P, P0
3
MOVE P, P1
4
5
MOVE P, P2
GOTO *ST
Reset program OK?
4-30
YES
NO
>
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
program.
F 5
(NO) key to just reset the current
Fig. 4-9-7 Program reset
AUTO
1
[T1] 50% <TEST1
*ST:
2
MOVE P, P0
3
MOVE P, P1
4
4
MOVE P, P2
GOTO *ST
Change to _SELECT OK?
YES
Operation
5
>
NO
2) When the F 5 (NO) key is pressed in Step 1), the following message then
appears on the guideline.
Press the F 4 (YES) key to reset the current program, or press the
key to cancel the reset.
F 5
(NO)
Fig. 4-9-8 Program reset
NOTE
n The
output is also reset when the
program is reset. However, the output
will not be reset when a sequence
program is being executed without
selecting “RST.DO” in the sequencer
execution “ENABLE/DISABLE” flag
setting.
AUTO
1
[T1] 50% <TEST1
*ST:
2
MOVE P, P0
3
MOVE P, P1
4
5
>
MOVE P, P2
GOTO *ST
Reset program OK?
YES
NO
4-31
9. “AUTO” mode
9.4
Switching task display
When a program executing multiple tasks is stopped, the program list 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 list.
The pointer indicates the next command line number to be executed in the current
task.
Fig. 4-9-9 Main task (T1) display
4
AUTO
[T1] 100% <TEST1
>
Operation
5 MOVE P,P0
6 *L1:
7
MOVE P,P1
8
MOVE P,P2
9
GOTO *L1
RESET
3) Press the
F 2
TASK
DIR
VEL+
VEL-
(TASK) key to select a lower-order task program.
Each time the F 2 (TASK) key is pressed, lower-order task programs
(T2→T3→…T8) are displayed.
At this time, the pointer indicates the next command line number to be executed in
each task.
Fig. 4-9-10 Sub task (T2 to T8) display
AUTO
[T2] 100% <TEST1
11 WAIT DI2(0)=1
12 DO2(1)=1
13 DELAY 1000
14 DO2(1)=0
15 WAIT DI2(0)=0
RESET
4-32
TASK
DIR
VEL+
VEL-
>
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.
n The output is also reset when the
NOTE
program is reset. However, the output
will not be reset when a sequence
program is being executed without
selecting “RST.DO” in the sequencer
execution “ENABLE/DISABLE” flag
setting.
[Procedure]
1) Press the F 3 (DIR) key in “AUTO” mode.
Program information appears. A pointer is displayed on the line number of the
program which is currently selected.
2) Use the cursor (↑/↓) keys to select the desired program and press the ESC key.
The selected program will automatically be compiled and an object program file
made.
4
Fig. 4-9-11 Switching programs
AUTO >DIR
LINE
BYTE
1
TEST1
NAME
13
125
2
TEST2
50
608
RW
3
PARTS100
38
411
RW
4
TEST3
7
78
RW
>
Operation
No.
[T1] 100% <TEST2
RW/RO
RW
4-33
9. “AUTO” mode
NOTE
n When
two robots are specified, two
speeds are displayed for “ main group /
sub group ”. The speed shown
highlighted can be set. To switch the
robot group, use the ROBOT key
( LOWER + MODE ).
NOTE
n Automatic
movement speeds once set
here are stored in the internal memory
even when the power is turned off.
If the speed is set with the program
command statement (SPEED
statement), the actual robot operating
speed will be the product of that speed
and the automatic movement speed.
For example, if the automatic
movement speed is 80% and the speed
specified by the SPEED statement is
50%, then the robot movement speed is
set as follows.
Operating speed = 80%×50% = 40%
Operation
4
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
speed in steps.
(VEL+) or
(VEL-) key in “AUTO” mode to change the
F 5
Each time the F 4 (VEL+) or F 5 (VEL-) key is pressed, the speed changes
in steps of 1← →5← →20← →50← →100%.
The maximum motor speed is set at 100%.
2) Press the
(VEL++) or
F 9
F 10
(VEL--) key to change the speed gradually.
Each time the F 9 (VEL++) or F 10 (VEL--) key is pressed, the speed
changes in units of 1%.
Holding down the key changes the speed continuously.
9.7
Executing the point trace
Point data positions can be checked by actually moving the robot arm in the following
modes.
• PTP motion mode
• Arch motion mode
• Linear interpolation motion mode (main robot only)
n
[Procedure]
NOTE
• When two robots are specified,
check the currently selected robot
group on the MPB screen.
“[MG]” indicates the main robot
group and “[SG]” the sub robot
group. To switch the robot group,
use the ROBOT key
( LOWER + MODE ).
• Point trace cannot be performed
unless return-to-origin is
complete.
1) Press the
(POINT) key in “AUTO” mode.
F 6
The screen switches to “AUTO>POINT” mode and the point data appears as shown
below.
Fig. 4-9-12 Point trace screen (with no auxiliary axis)
AUTO >POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[POS]
PTP
[LEFTY]
0
0
0
JUMP
VEL+
0
VEL-
* The “[RIGHTY]” message on the first line appears only when a SCARA robot is
selected.
* The “[LEFTY]” message on the sixth line appears only when a SCARA robot is
selected, and a hand system flag is set for the point data.
4-34
9. “AUTO” mode
Valid keys and submenu descriptions in “AUTO > POINT” mode are shown below.
Valid keys
Function
Menu
Switches the point number and scrolls the screen.
Cursor
Switches to other screens.
Page key
PTP/ARCH/
F1
Switches the trace movement mode.
LINEAR
A.POS
Specifies the arch position during ARCH motion mode.
F3
JUMP
Displays the specified point data.
F4
VEL+
Increases automatic movement speed for the selected robot group in
steps.(1→5→20→50→100 %)
F5
VEL-
Decreases automatic movement speed for the selected robot group in
steps.(100→50→20→5→1 %)
F6
A.AXIS+
Moves the arch axis to the right during ARCH motion mode.
F7
A.AXIS-
Moves the arch axis to the left during ARCH motion mode.
F8
UNITCHG Switches the units for indicating the current position to “mm/pulse”.
F9
VEL++
Increases automatic movement speed for the selected robot group in 1%
increments.
F10
VEL- -
Decreases automatic movement speed for the selected robot group in 1%
decrements.
F11
MODIFY
Switches to the point data editing screen in “MANUAL” mode.
F14
AXIS←
Moves the cursor to the left to select another axis.
F15
AXIS→
Moves the cursor to the right to select another axis.
4
Operation
F2
ROBOT
(
LOWER
+
MODE
F 11
Switches the selected robot group.
)
(MODIFY) key
Pressing the F 11 (MODIFY) key switches to the point data edit screen and allows you
to correct the point data while checking the point trace position.
To return to the trace mode, press the
F 11
(TRACE) key again.
4-35
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
(PTP) key to select the PTP motion mode.
F 1
Fig. 4-9-13 Point trace screen in PTP motion mode (with no auxiliary axis)
AUTO >POINT
[RIGHTY]
50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
4
P3
= 150.50
64.53
21.78
-45.14
P4
=
P5
= -63432
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
[LEFTY]
Operation
[POS]
0
PTP
ARCH
0
0
0
LINEAR
2) Use the cursor (↑/↓) keys to select the point number to be checked.
Fig. 4-9-14 Point trace screen in PTP motion mode (with no auxiliary axis)
n IfNOTE
the SCARA robot is selected and the
hand system flag is set for the point
data, this hand system will have a
priority over the current arm type.
AUTO >POINT
[RIGHTY]
50/100% [MG][S0H0J]
————————————x———————y———————z———————r————
P3
= 150.50 .
P4
=
P5
= -63432
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
[POS]
PTP
WARNING
w Upon
pressing the
key, the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
4-36
START
[LEFTY]
0
0
0
JUMP
VEL+
0
VEL-
3) Press the START key, and the robot moves by PTP motion to the specified point position.
The trace speed is one tenth of the automatic movement speed. If the SCARA robot is
selected and the hand system flag is set for the point data, this hand system will have
a priority. To stop the trace, press the
STOP
key.
9. “AUTO” mode
2. When auxiliary axis is specified:
[Procedure]
1) Press the
key in “AUTO>POINT” mode to display a screen like that shown
F 1
below, then press the
(PTP) key.
F 1
Fig. 4-9-15 Point trace screen in PTP motion mode (with auxiliary axis)
AUTO >POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[LEFTY]
[POS]
0
PTP
ARCH
0
0
4
0
LINEAR
To perform trace for the robot main axes:
Fig. 4-9-16 Point trace screen in PTP motion mode (with auxiliary axis)
n IfNOTE
the SCARA robot is selected and the
hand system flag is set for the point
data, this hand system will have a
priority over the current arm type.
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
.
P3
= 150.50
64.53
21.78
P4
=
P5
= -63432
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
-45.14
[LEFTY]
[POS]
0
PTP
0
0
JUMP
VEL+
0
VEL-
To perform trace for the auxiliary axis:
Fig. 4-9-17 Point trace screen in PTP motion mode (with auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[POS]
PTP
WARNING
w Upon
pressing the
key, the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
START
[LEFTY]
0
0
0
JUMP
VEL+
0
VEL-
3) Press the START key, and the robot moves by PTP motion to the specified point position.
The trace speed is one tenth of the automatic movement speed. If the SCARA robot is
selected and the hand system flag is set for the point data, this hand system will have
a priority. To stop the trace, press the
STOP
key.
4-37
Operation
2) Use the cursor (↑/↓) keys and F 14 (AXIS←) or F 15 (AXIS→) key so that the
point value of the robot axis to be checked is highlighted.
9. “AUTO” mode
9.7.2
ARCH motion mode
1. When no auxiliary axis is specified:
[Procedure]
1) Press the
key in “AUTO>POINT” mode to display a screen like that shown
F 1
below, then press the
(ARCH) key.
F 2
Fig. 4-9-18 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
4
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[LEFTY]
Operation
[POS]
0
PTP
0
ARCH
0
0
LINEAR
2) Press the F 6 (A.AXIS+) or F 7 (A.AXIS -) to select the axis to move by arch
motion.
The selected axis is indicated on the message line as in “ARCH(z)”.
Fig. 4-9-19 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y——ARCH(z)——————r———
P3
= 150.50
64.53
21.78
-45.14
P4
=
P5
= -63432
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
[LEFTY]
[POS]
0
ARCH
3) Press the
n IfNOTE
the SCARA robot is selected and the
hand system flag is set for the point
data, this hand system will have a
priority over the current arm type.
F 2
A.POS
0
0
JUMD
VEL+
0
VEL–
(A.POS) key and set the arch motion position.
Fig. 4-9-20 Point trace screen in ARCH motion mode (with no auxiliary axis)
AUTO >POINT
[RIGHTY]
50/100% [MG][S0H0J]
————————————x———————y——ARCH(z)——————r———
P3
= 150.50
64.53
21.78
-45.14
P4
=
P5
= -63432
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
[POS]
[LEFTY]
0
Enter ARCH data>
0
0
0
20000
4) Use the cursor (↑/↓) keys to select the point number to be checked.
WARNING
w Upon
pressing the
key, the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
4-38
START
5) Press the START key, and the robot moves by arch motion to the specified point position.
The trace speed is one tenth of the automatic movement speed. If the SCARA robot is
selected and the hand system flag is set for the point data, this hand system will have
a priority. To stop the trace, press the
STOP
key.
9. “AUTO” mode
2. When auxiliary axis is specified:
[Procedure]
1) Press the
key in “AUTO>POINT” mode to display a screen like that shown
F 1
below, then press the
(ARCH) key.
F 2
Fig. 4-9-21 Point trace screen in ARCH motion mode (with auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[LEFTY]
[POS]
0
PTP
0
ARCH
0
4
0
LINEAR
Fig. 4-9-22 Point trace screen in ARCH motion mode (with auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y——ARCH(z)——————r———
P3
= 150.50
64.53
21.78
-45.14
P4
=
P5
= -63432
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
[LEFTY]
[POS]
0
ARCH
3) Press the
F 2
A.POS
0
0
JUMP
VEL+
0
VEL-
(A.POS) key and set the arch motion position.
Fig. 4-9-23 Point trace screen in ARCH motion mode (with auxiliary axis)
n IfNOTE
the SCARA robot is selected and the
hand system flag is set for the point
data, this hand system will have a
priority over the current arm type.
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[POS]
[LEFTY]
0
Enter ARCH data>
0
0
0
20000
4) Use the cursor (↑/↓) keys and F 14 (AXIS←) or F 15 (AXIS→) key so that the
point value of the robot axis to be checked is highlighted.
WARNING
w Upon
pressing the
key, the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
START
5) Press the START key to move the robot by arch motion to the specified point position.
(The auxiliary axis moves by PTP.) The trace speed is one tenth of the automatic
movement speed. If the SCARA robot is selected and the hand system flag is set for
the point data, this hand system will have a priority. To stop the trace, press the
key.
STOP
4-39
Operation
2) Press the F 6 (A.AXIS+) or F 7 (A.AXIS -) to select the axis to move by arch
motion.
The selected axis is indicated on the message line, for example “ARCH(z)” as shown
below.
9. “AUTO” mode
9.7.3
Linear interpolation motion mode
1. When no auxiliary axis is specified:
[Procedure]
1) Press the
key in “AUTO>POINT” mode to display a screen like that shown
F 1
below, then press the
(LINE) key.
F 3
Fig. 4-9-24 Point trace screen in linear interpolation motion mode (with no auxiliary axis)
AUTO >POINT
[RIGHTY]
50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
Operation
4
P3
= 150.50
64.53
21.78
-45.14
P4
=
P5
= -63432
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
[LEFTY]
[POS]
0
PTP
ARCH
0
0
0
LINEAR
2) Use the cursor (↑/↓) keys to select the point number to be checked.
n NOTE
• If the SCARA robot is selected and
the hand system flag is set for the
point data, this hand system will
have a priority over the current
arm type.
• The sub robot cannot perform
linear interpolation movement.
Fig. 4-9-25 Point trace screen in linear interpolation motion mode (with no auxiliary axis)
AUTO >POINT
[RIGHTY]
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
P5
= -63432
6243
22642
19735
COMNT :
[POS]
LINEAR
WARNING
w Upon
pressing the
key, the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
4-40
START
50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
[LEFTY]
0
0
0
JUMP
VEL+
0
VEL-
3) Press the START key to move the robot by linear interpolation motion to the specified
point position. The trace speed is one tenth of the automatic movement speed. If the
SCARA robot is selected and the hand system flag is set for the point data, this hand
system will have a priority. To stop the trace, press the
STOP
key.
9. “AUTO” mode
2. When auxiliary axis is specified:
[Procedure]
1) Press the
key in “AUTO>POINT” mode to display a screen like that shown
F 1
below, then press the
(LINE) key.
F 3
Fig. 4-9-26 Point trace screen in linear interpolation motion mode (with auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[LEFTY]
[POS]
0
PTP
0
ARCH
0
4
0
LINEAR
To perform trace for the robot main axes:
Fig. 4-9-27 Point trace screen in linear interpolation motion mode (with auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
P5
= -63432
.
64.53
21.78
-45.14
96.65 -224.89
43.31
28.79
6243
22642
19735
COMNT :
[LEFTY]
[POS]
0
LINEAR
n NOTE
• If the SCARA robot is selected and
0
0
JUMP
VEL+
Fig. 4-9-28 Point trace screen in linear interpolation motion mode (with auxiliary axis)
AUTO>POINT
[RIGHTY] 50/100% [MG][S0H0J]
————————————x———————y———————z———————r———
P3
= 150.50
P4
=
64.53
21.78
-45.14
96.65 -224.89
43.31
P5
= -63432
28.79
6243
22642
19735
COMNT :
[POS]
LINEAR
key, the
robot starts to move. To avoid
danger, do not enter the robot
movement range.
START
VEL-
To perform trace for the auxiliary axis:
the hand system flag is set for the
point data, this hand system will
have a priority over the current
arm type.
• The sub robot cannot perform
linear interpolation movement.
WARNING
w Upon
pressing the
0
[LEFTY]
0
0
0
JUMP
VEL+
0
VEL-
3) Press the START key to move the robot by linear interpolation motion to the specified
point position. (The auxiliary axis moves by PTP.) The trace speed is one tenth of the
automatic movement speed. If the SCARA robot is selected and the hand system flag
is set for the point data, this hand system will have a priority. To stop the trace, press
the
STOP
key.
4-41
Operation
2) Use the cursor (↑/↓) keys and F 14 (AXIS←) or F 15 (AXIS→) key so that the
point value of the robot axis to be checked is highlighted.
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 screen.
The prompt (>) also appears on the bottom line of the screen.
Fig. 4-9-29 Direct command execution
AUTO
4
[T1] 100% <TEST1
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
Operation
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
NOTE
n The
following command statements
can be executed directly.
Assignment statements, movement
commands, SET statements, RESET
statements, etc.
• Before executing a movement
command, return-to-origin must have
been completed.
• The STOP ON option cannot be used
with a movement command.
• A movement command ends after
positioning on the axis is complete.
4-42
>DO(25)=1_
2) Enter one line of the command statement.
3) Press the
key to execute the command you have just entered.
>
9. “AUTO” mode
9.9
n NOTE
• Up to 4 break points can be set in
one program.
• The F 6 to F 9 keys have the
same functions as edit operation in
“PROGRAM” mode. Refer to
“10.2.13 Line jump” and “10.2.14
Character string finding” in
Chapter 4.
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
START
key is pressed.
Valid keys and submenu contents in “AUTO > BREAK” mode are shown below.
Valid keys
Function
Menu
Specifies the break point and scrolls the screen.
Cursor
Switches the page display.
Page key
SET
Sets the break point.
F2
CANCEL
Deletes the break point.
F3
SEARCH
Searches for the line set with the break point.
F6
JUMP
Shows the program list from specified line.
F7
FIND
Specifies the character string to be found.
F8
FIND+
Finds the specified character string searching backwards from the cursor
position.
F9
FIND-
Finds the specified character string searching forwards from the cursor
position.
9.9.1
4
Operation
F1
Break point setting
To make program debugging easy, the program execution can be stopped on the line
where a break point is set.
[Procedure]
1) Press the
mode.
F 8
(BREAK) key in “AUTO” mode to switch to “AUTO>BREAK”
2) Use the cursor keys to select the line number on which a break point is to be set.
4-43
9. “AUTO” mode
3) Press the
F 1
(SET) key.
A “ B ” mark appears to the left of the command statement and a break point is set
on that line.
Fig. 4-9-30 Break point setting
AUTO>BREAK
[T1] 100% <TEST1
>
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
3 DO2(0)=0
4BWAIT DI3(4,3,2)=3
5 MOVE P,P0
SET
4
Operation
9.9.2
CANCEL
SEARCH
Break point deletion
Break points can be deleted. Press the
point that was set.
F 3
(SEARCH) key as needed to find a break
[Procedure]
1) Use the cursor (↑/↓) keys to select the line number where the break point is set.
2) Press the
The “
n NOTE
• Up to 4 break points can be set in
one program. These 4 break points
cannot set in different programs.
However, when there is
“COMMON” program, 4 break
points can be set including the
main program. (For more
information on the COMMON
program, refer to the programming
manual.)
• If the program is compiled or
edited, all the break points are
deleted.
• Break points are ignored during
execution of STEP or NEXT.
However, break points set in subroutines are enabled when
executing NEXT.
4-44
B
F 2
(CANCEL) key.
” mark disappears and the break point is canceled.
3) To find the line number on which another break point was set, press the
(SEARCH) key.
This function makes it easier to find a break point you want to delete.
F 3
9. “AUTO” mode
9.10 STEP
WARNING
w The
robot may begin to move
when STEP is executed. To avoid
danger, do not enter the robot
movement range.
NOTE
n During
STEP, SKIP and NEXT
[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-routine or sub-procedure, its top line is executed.
Fig. 4-9-31 STEP execution
execution, the message “Running” is
displayed on the screen.
After execution is complete, the pointer
moves to the line number of the next
command statement.
AUTO
[T1] 100% <TEST1
>
4
1 ’***** TEST1 PROGRAM *****
2 START *SUBTASK,T2
Operation
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
>
9.11
STEP
SKIP
NEXT
SKIP
[Procedure]
1) Press the
F 12
(SKIP) key in “AUTO” mode.
2) The program moves (skips) to the next line each time this key is pressed without
executing the command statement of the line number where the pointer is displayed.
9.12 NEXT
[Procedure]
1) Press the
WARNING
w The
robot may begin to move
when NEXT is executed. To avoid
danger, do not enter the robot
movement range.
F 13
(NEXT) 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-routine or sub-procedure, it is executed at one
time.
4-45
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
r Online command
q Mode hierarchy
e Message line
w Program name
execution mark
PROGRAM
<TEST2
>
1
2
3
— @ ————————————————————————————————————————
1 '***** TEST2 PROGRAM *****
t Line selection
cursor
4
2 GOSUB *SUBPROG
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
Operation
EDIT
‘ORIGIN
DIR
COMPILE
y Guideline
q Mode hierarchy
Shows the current mode hierarchy. When the highest mode (“PROGRAM” in this
case) is highlighted it means the servomotor power is on. When not highlighted, it
means the servomotor power is off.
w Program name
Shows the program name currently selected.
e Message line
This line shows the number of digits of the program. If an error occurs, the error
message also appears here.
r Online command execution mark
When an online command is being executed, a “@” mark is displayed in the second
column on the second line. This mark changes to a dot ( . ) when the online command
ends.
t Selected line display
The line number of the program list to be edited is highlighted.
y Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.
4-46
10. “PROGRAM” mode
Valid keys and submenu descriptions in “PROGRAM” mode are shown below.
Valid keys
Selects the program and scrolls the screen.
Switches the page display.
Page key
EDIT
Edits the program.
F3
DIR
Displays the program data.
F5
COMPILE Compiles the program.
F6
JUMP
Displays the program list from a specified line.
F7
FIND
Specifies the character string to be found.
F8
FIND+
Finds the specified character string searching backwards from the cursor
position.
F9
FIND-
Finds the specified character string searching forwards from the cursor
position.
F13
ERR.RST Allows editing if the selected program is destroyed.
4
[Procedure]
1) Pressing the cursor (↑/↓) keys in “PROGRAM” mode scrolls up or down through a
program list one line at a time.
Pressing the cursor (←/→) keys scrolls right or left through a program list one
character at a time.
Holding down the cursor key continuously scrolls through the screen.
2) Pressing the page (
time.
<<
,
>>
,
,
) key scrolls one page screen at a
4-47
Operation
10.1 Program list scroll
>>
Manual” for details on the
programming language.
F1
<<
NOTE
n Refer
to the separate “Programming
Function
Menu
Cursor
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 list 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 enter a
program command with the MPB.
A maximum of 75 characters can be entered on one line.
NOTE
n Program
editing is finished when any
Operation
key, up/down cursor (↑/↓)
keys, page up/down (
/
<<
of the
>>
4
)
Fig. 4-10-2 “PROGRAM>EDIT” mode
<TEST2
PROGRAM >EDIT
1
2
3
———————————————————————————————————————————
keys, or ESC key is pressed during
program editing.
A maximum of 9999 lines can be
written in one program as long as the
program size is within about 98
Kbytes.
1 ’***** TEST2 PROGRAM *****
2 GOSUB *SUBPROG
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
SELECT
Pressing the
COPY
’ORIGIN
CUT
PASTE
BS
key finishes the program input for one line and moves the cursor to
the beginning of the next line.
3) When program editing is complete, press the
4-48
>
ESC
key.
10. “PROGRAM” mode
Valid keys and submenu descriptions in “PROGRAM > EDIT” mode are shown below.
Valid keys
Function
Menu
Moves the cursor and scrolls the screen.
Cursor
Switches the page display.
Page key
Switches between Insert and Overtype modes.
INS
L.INS
Inserts one blank line.
DEL
Deletes one character.
L.DEL
Deletes one line.
USER
Displays the user function key.
Ends program editing.
ESC
Finishes the program input for one line and moves the cursor to the beginning
of the next line.
key
SELECT
Selects the starting line for copy or cut.
F2
COPY
Copies the selected line and temporarily stores it in a buffer.
F3
CUT
Cuts the selected lines and temporarily stores it in a buffer.
F4
PASTE
Inserts the buffer data directly prior to the cursor line.
F5
BS
Backs the cursor and deletes the preceding character.
F6
JUMP
Displays the program list from the specified line.
F7
FIND
Specifies the character string to be found.
F8
FIND+
Finds the specified character string searching backwards from the cursor
position.
F9
FIND-
Finds the specified character string searching forwards from the cursor
position.
4
Operation
F1
4-49
10. “PROGRAM” mode
10.2.1
Cursor movement
<<
,
>>
,
,
>>
2) Pressing the page (
screen at a time.
<<
[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.
) key moves the cursor one page
Fig. 4-10-3 Cursor movement
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
4
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
Operation
5 MOVE P,P0_
’ORIGIN
6 MOVE P,P1
7 DO2(1)=1
SELECT
10.2.2
COPY
CUT
PASTE
BS
Insert/Overwrite mode switching
[Procedure]
1) Press the INS key in “PROGRAM > EDIT” mode.
The cursor changes to underline ( _ ) form, and the screen switches to Insert mode.
In Insert mode, the input character is inserted just previous to the cursor position.
Fig. 4-10-4 Insert mode
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
6 _
’ORIGIN
7 MOVE P,P1
SELECT
4-50
COPY
CUT
PASTE
BS
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
<TEST2
>
1
2
3
———————————————————————————————————————————
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
6
’ORIGIN
7 MOVE P,P1
SELECT
CUT
PASTE
4
BS
Inserting a line
[Procedure]
Pressing the L.INS (= LOWER + INS ) key in “PROGRAM > EDIT” mode inserts a
blank line at the line previous to the cursor position.
Fig. 4-10-6 Inserting a line
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 _
6 MOVE P,P0
’ORIGIN
7 MOVE P,P1
SELECT
10.2.4
COPY
CUT
PASTE
BS
Deleting a character
[Procedure]
Pressing the DEL
cursor position.
key in “PROGRAM > EDIT” mode deletes one character at the
4-51
Operation
10.2.3
COPY
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 up. For example, deleting one line
on the screen in Fig. 4-10-5 changes to the following screen.
Fig. 4-10-7 Deleting a line
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
4
5 MOVE P,P1
6 DO2(1)=1
Operation
7 DELAY 1000
SELECT
10.2.6
NOTE
n When
using this function, it is
necessary to make the program named
“FUNCTION” and then write
command statements for registering
functions.
Refer to “10.3.9 Creating a sample
program automatically” and “10.6
Registering user function keys” for
registering the function keys.
COPY
CUT
PASTE
BS
User function key display
User function keys make it easier to enter programs.
[Procedure]
1) Press the
USER
key in “PROGRAM > EDIT” mode to display the character strings
on the guideline, which are preassigned to function keys F 1 to F 15 .
Each character string is displayed in up to 7 characters from the beginning.
2) Press the function key matching the character string you want to enter.
For example, when the F 2 (GOTO *) key is pressed in Fig. 4-10-8, the character
string for “GOTO *” is entered at the cursor position.
Fig. 4-10-8 User function keys
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOTO *_
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
MOVE P, GOTO *
4-52
’ORIGIN
DELAY
FOR ?=? SEND ?
10. “PROGRAM” mode
10.2.7
Quitting program editing
Press the
ESC
10.2.8
Specifying the copy/cut lines
key to quit program editing in “PROGRAM>EDIT” mode.
[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 select the line.
3) Use the cursor (↓) keys to specify the copy/cut range.
A “ C ” mark appears on each line which was specified.
ESC
key if you want to cancel this operation.
Operation
Press the
4
Fig. 4-10-9 Specifying the copy/cut lines
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
NOTE
n When
selecting a line range, the
1C’***** TEST2 PROGRAM *****
maximum number of characters is 200.
If the number of characters exceeds
200, the selected line range must be
reduced. The number of characters on
one line is the count from the top to the
last characters (excluding blanks) plus
1.
2C’
3C DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
SELECT
10.2.9
COPY
’ORIGIN
CUT
PASTE
BS
Copying the selected lines
[Procedure]
After selecting the lines in “10.2.8”, press the
F 2
(COPY) key.
The data on the selected lines are copied into the buffer. The “
C
“ marks then disappear.
Fig. 4-10-10 Copying the selected lines
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 ’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
SELECT
COPY
‘ORIGIN
CUT
PASTE
BS
4-53
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 “
disappear.
C
“ marks then
Fig. 4-10-11 Cutting the selected lines
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
1 WAIT DI3(4,3,2)=3
2 MOVE P,P0
4
Operation
’ORIGIN
3 MOVE P,P1
4 DO(20)=1
5 DELAY 1000
SELECT
COPY
CUT
PASTE
BS
10.2.11 Pasting the data
[Procedure]
NOTE
n The
data stored in the buffer can be
pasted repeatedly until you exit
“PROGRAM” mode.
However, if another copy/cut operation
is performed, then the data within the
buffer is rewritten.
When the F 4 (PASTE) key is pressed in “PROGRAM>EDIT” mode, the data stored
into the buffer by copy/cut operation is inserted just before the cursor line.
Fig. 4-10-12 Pasting the data
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 ’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
SELECT
COPY
’ORIGIN
CUT
PASTE
BS
10.2.12 Backspace
[Procedure]
Pressing the F 5 (BS) key in “PROGRAM>EDIT” mode backs the cursor and deletes
the preceding character.
When the cursor is at the beginning of a line, it connects to the end of the previous line.
However, nothing is changed if the number of characters on the connected line exceeds
75 characters.
4-54
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
<TEST2
>
1
2
3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOTO *_’
3 DO2(0)=0
4
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
’ORIGIN
2) Enter the line number to jump to and press the
Operation
Enter line no. >45_
key.
The program is then displayed from the specified line.
Fig. 4-10-14 Performing line jump
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
45 RESET DO3(4)
46 DELAY 1000
47 A=4
48 GOTO *T4
49 *T5:
SELECT
COPY
CUT
PASTE
BS
4-55
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
key.
A maximum of 20 characters can be used.
Fig. 4-10-15 Character string search
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
4
1 ’***** TEST2 PROGRAM *****
Operation
2 GOTO *_’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
’ORIGIN
Character string >MOV_
Search starts from the cursor position towards the end of the program and stops at the
first matching character string.
Fig. 4-10-16 Character string search
PROGRAM >EDIT
<TEST2
>
1
2
3
———————————————————————————————————————————
18 MOVE P,P1
19 A=1
20 TOTO *A
21 *T2
22 WAIT A=1
SELECT
COPY
CUT
PASTE
BS
3) To continuously search for another character string, press the
F 9
F 8
(FIND+) or
(FIND-) key.
Pressing the F 8 (FIND+) key restarts the search from the current cursor
position towards the end of the program.
Pressing the F 9 (FIND-) key restarts the search from the current cursor position
towards the top of the program.
In either case, the search stops at the first matching character string.
4-56
10. “PROGRAM” mode
10.3 Directory
n ANOTE
maximum of 100 programs can be
stored.
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.
LINE
BYTE
TEST1
55
952
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
1968
RW
1
NAME
<TEST1
RW-RO
RW
NEW
4
INFO
→
key on the above screen displays the “DATE” and “TIME”
Operation
→
Pressing the
data.
(Press the
>
key to return to the previous display.)
Fig. 4-10-18 Program data (2)
NOTE
n The
date and time are updated when
PROGRAM >DIR
the program is created or edited.
No.
<TEST1
DATE
TIME
TEST1
92-01-25
10-18
2 *TEST2
92-01-26
17-20
3
PARTS100
92-02-03
13-19
4
TEST100
92-13-01
08-35
1
NAME
NEW
>
INFO
Contents of each item are shown below.
Item
No.
PROGRAM
Description
Indicates the serial number of the program. The number of the program which is
selected currently is highlighted (reversed background).
Indicates the program name.
The “ * ” mark (reversed background) shows this program is compiled and the object
program exists.
LINE
Shows the number of lines in the program.
BYTE
Shows how many bytes of memory the program uses.
RW/RO
Indicates the program attribute.
RW : Reading or writing enabled.
RO : Reading only enabled; writing inhibited.
DATE
Shows the date when the program was made or edited.
TIME
Shows the time when the program was made or edited.
4-57
10. “PROGRAM” mode
Valid keys and submenu descriptions in “PROGRAM >DIR” mode are shown below.
Menu
Valid keys
Function
Cursor key
Selects the program or scrolls the screen vertically.
(↑/↓)
Cursor key
Switches between the program information display and the date/time display.
(←/→)
Switches to other screens.
Page key
Operation
4
F1
NEW
Registers a new program name.
F5
INFO
Shows the number of bytes used for the entire program.
F6
COPY
Copies the program.
F7
ERASE
Erases the program.
F8
RENAME
Renames the program.
F10
ATTRBT
Changes the program attribute.
F11
OBJECT
Shows the object program information.
F15
EXAMPLE Automatically creates the program name "FUNCTION".
10.3.1
Cursor movement
[Procedure]
To select the program, use the cursor (↑/↓) keys in “PROGRAM>DIR” mode.
The pointer cursor moves to the selected program number.
The program name is displayed at the right end on the system line (1st line).
10.3.2
Registering a new program name
When creating a new program, you must first register the program name.
[Procedure]
1) In “PROGRAM>DIR” mode, press the F 1 (NEW) key to enter
“PROGRAM>DIR>NEW” mode.
The message “Enter program name > “ appears on the guideline.
2) Use the
name.
0
to
9
,
A
to
Z
or
_
A maximum of 8 characters can be used. (Press the
cancel the data input.)
4-58
keys to enter a program
ESC
key if you want to
10. “PROGRAM” mode
NOTE
n The
following program names have
Fig. 4-10-19 Registering a new program
special meanings.
“FUNCTION”
“SEQUENCE”
“_SELECT”
“COMMON”
(Refer to “Programming Manual” for
these programs.)
PROGRAM >DIR
No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
38
843
RW
100
1968
RW
1
NAME
<TEST1
3
PARTS100
4
TEST100
>
RW/RO
Enter program name >ABC123_
3) Press the
NOTE
n Program
names can be up to 8
4
Directory information display
[Procedure]
In “PROGRAM>DIR” mode, press the F 5 (INFO) key to enter
“PROGRAM>DIR>INFO” mode. The following information on the selected program
appears.
Fig. 4-10-20 Program information
PROGRAM >DIR>INFO
<TEST1
>
Source(use/sum)
=
1316/196608 bytes
Object(use/sum)
=
528/ 98304 bytes
Sequence(use/sum)
=
0/
Number of program
=
5
Number of points
=
124
Item
4096 bytes
Description
Source (use/sum)
Displays the byte counts used and available for source program and point data.
Object (use/sum)
Displays the byte counts used and available for object program.
Sequence
(use/sum)
Displays the byte counts used and available for sequence object program. (8 bytes are
used for one circuit of sequence program.)
Number of program
Displays the number of programs.
Number of points
Displays the number of points that have been set. (28 bytes are used for one point.)
4-59
Operation
characters consisting of a combination
of alphanumeric characters (0 to 9, A
to Z) and underscores ( _ ).
10.3.3
key to register the program name.
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 message “Enter program name >“ appears on the guideline along with an edit
cursor.
3) Enter a new program name.
Press the
Operation
4
ESC
key if you want to cancel this operation.
Fig. 4-10-21 Copying a program
PROGRAM >DIR
No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
1968
RW
1
NOTE
n Program
names can be up to 8
characters consisting of a combination
of alphanumeric characters (0 to 9, A
to Z) and underscores ( _ ).
Enter program name >TEST3
4) Press the
4-60
NAME
<TEST1
key to make a copy.
RW/RO
>
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 check message appears on the guideline.
Fig. 4-10-22 Erasing a program
<TEST1
PROGRAM >DIR>ERASE
No.
1
NAME
LINE
55
952
RW
50
907
RW
38
843
RW
100
1968
RW
PARTS100
4
TEST100
F 4
YES
Operation
TEST1
3
4
RW/RO
2 *TEST2
Erase program OK?
3) Press the
BYTE
>
NO
(YES) key to erase the selected program.
Press the F 5 (NO) key if you want to cancel erasure.
After the program is erased, the lower program names move up.
Fig. 4-10-23 After erasing a program
PROGRAM >DIR
c CAUTION
• Programs with an “RO (read
only) attribute cannot be erased.
When these programs must be
erased, change the attribute.
• To change the program attribute,
refer to “10.3.7 Changing the
program attribute”.
No.
NAME
1 *TEST2
<TEST2
LINE
BYTE
50
907
RW
RW/RO
2
PARTS100
38
843
RW
3
TEST100
100
1968
RW
4
TEST200
80
1525
RW
NEW
>
INFO
4-61
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” mode.
The message “Enter program name” appears on the guideline along with the
original program name.
Fig. 4-10-24 Renaming a program
4
PROGRAM >DIR
Operation
No.
1
NAME
<TEST1
LINE
BYTE
RW/RO
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
31968
RW
Enter program name >TEST_
NOTE
n Program
names can be up to 8
characters consisting of a combination
of alphanumeric characters (0 to 9, A
to Z) and underscores ( _ ).
4-62
3) Enter a new program name.
Press the
4) Press the
ESC
key if you want to cancel this operation.
key to rename the program.
>
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)
Program contents can be edited and erased.
This is automatically specified as a default when a program name is registered.
2. RO (read only)
Program contents cannot be edited or erased.
[Procedure]
1) In “PROGRAM>DIR” mode, use the cursor (↑/↓) keys to select the program with the
attribute to be changed.
Fig. 4-10-25 Changing a program attribute
PROGRA >DIR>ATTRBT
No.
NAME
1 *TEST2
<TEST2
LINE
BYTE
50
907
RW
RW/RO
2
PARTS100
38
843
RW
3
TEST100
100
1968
RW
4
TEST200
80
1525
RW
Change attribute OK?
YES
NO
3) Press the
F 4
(YES) key to change the program attribute.
Press the
F 5
(NO) key if you wan to cancel the change.
10.3.8
>
Displaying object program information
To display information on an executable object program, proceed as follows.
[Procedure]
1) Press the
F 11
(OBJECT) key to enter “PROGRAM>DIR>OBJECT” mode.
2) Object information appears as shown below.
Fig. 4-10-26 Object program information
PROGRAM >DIR>OBJECT
No.
NAME
<TEST2
LINE
BYTE
>
RW/RO
1
TEST2
55
750
RO
2
COMMON
20
374
RO
3
SEQUENCE
40
320
RO
4-63
Operation
2) Press the F 10 (ATTRBT) key to enter “PROGRAM>DIR>ATTRBT” mode.
A check message appears on the guideline.
4
10. “PROGRAM” mode
10.3.9
Creating a sample program automatically
This section explains the procedure of automatically creating a sample program for defining
user function keys which can be used in “MANUAL” and “PROGRAM” modes.
[Procedure]
NOTE
n When
creating a sample program
automatically, use caution since
previously defined user function data
will be rewritten.
1) In “PROGRAM>DIR” mode, press the F 15 (EXAMPLE) key to enter
“PROGRAM>DIR>EXAMPLE” mode.
A check message appears on the guideline.
Fig. 4-10-27 Loading a sample program
PROGRAM >DIR>EXAMPLE
Operation
4
NOTE
n Refer
to “10.2.6 User function key
No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
TEST100
100
1968
RW
1
display” for details on user function
keys. Refer to “10.6 Registering user
function keys” when registering user
function keys.
NAME
<TEST1
Overwrite FUNCTION OK?
>
RW/RO
YES
NO
2) Press the F 4 (YES) key to perform this operation.
A sample program will be automatically created under the program name
“FUNCTION”.
Press the
F 5
(NO) key if you want to cancel this operation.
3) Rewrite the contents of this program as needed.
User function keys can be customized with this program.
4-64
10. “PROGRAM” mode
[Sample program list]
*** <FUNCTION> SAMPLE PROGRAM ****
'*You can change any statements
*
'*as you like.
*
'*<FUNCTION> will help you in
*
'*MANUAL and PROGRAM mode.
*
'*********************************************************
*M_F1:'DO(20)ALTERNATE
DO(20)=~DO(20)
*M_F2:'DO(21)ALTERNATE
DO(21)=~DO(21)
*M_F3:'DO(22)ALTERNATE
DO(22)=~DO(22)
*M_F4:'DO(23)ALTERNATE
DO(23)=~DO(23)
*M_F5:'DO(24)ALTERNATE
DO(24)=~DO(24)
*M_F6:'DO(25)MOMENTARY
DO(25)=1
DO(25)=0
*M_F7:'DO(26)MOMENTARY
DO(26)=1
DO(26)=0
*M_F8:'DO(27)MOMENTARY
DO(27)=1
DO(27)=0
*M_F9:'DO2()ON
DO2()=255
*M_F10:'DO2()OFF
DO2()=0
*M_F11:'OPEN
DO3(0)=&B1
*M_F12:'CLOSE
DO3(0)=O
*M_F13:'AND
DO3(1)=1 & DO3(0)
*M_F14:'DI4 –> DO4
DO4()=DI4()
*M_F15:'DO5INC
DO5()=DO5()+1
'**********************************
*P_F1:'MOVE P,P
*P_F2:'MOVE L,P
*P_F3:'GOTO *
*P_F4:'DELAY
*P_F5:'WAIT
*P_F6:'GOSUB *
*P_F7:'RETURN
*P_F8:'PRINT
*P_F9:'SPEED
*P_F10:'HALT
*P_F11:'IF THEN
*P_F12:'ELSE
*P_F13:'ENDIF
*P_F14:'FOR = TO
*P_F15:'NEXT
4
Operation
4-65
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 cursor (↑/↓) keys
and press the
ESC
key.
2) Press the F 5 (COMPILE) key to enter “PROGRAM>COMPILE” mode.
A check message appears on the guideline.
3) Press the F 4 (YES) key to compile the program.
The message “Compiling” is displayed during compiling.
4
Operation
Press the
F 5
(NO) key if you want to cancel the compiling.
Fig. 4-10-28 Compiling
<TEST2
PROGRAM >COMPILE
>
2
3
0.4:Compiling
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOTO *’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
’ORIGIN
Compile program OK?
YES
NO
If an error is found in the command statements, the program list for that line appears
along with an error message, and the compiling stops. When the compiling ends
normally, an object program has been made. The previous object program was deleted.
Fig. 4-10-29 Compile error
NOTE
n Even
if the specified program is yet not
compiled, it will be compiled
automatically when you move to
“AUTO” mode.
PROGRAM
<TEST1
>
2
3
5.1:Syntax error
———————————————————————————————————————————
5 MOVE P,1P1
6 DO2(1)=1
7 DELAY 1000
8 DO2(1)=0
9 HALT
EDIT
4-66
DIR
COMPILE
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” in Chapter 4.)
10.6 Registering user function keys
To register the user function keys which are used in “PROGRAM” and “MANUAL”
modes, make the program named “FUNCTION”, and enter the command statements for
registering the user function keys.
The robot controller recognizes the program named “FUNCTION” as a special program
used for registering the user function keys. Therefore, do not use this name for normal
programs.
[Procedure]
2) Press the
F 1
F 3
(DIR) key to enter “PROGRAM>DIR”
(NEW) key.
3) When the message “Enter program name >“ appears on the guideline, enter
“FUNCTION” following this message and press the
key.
Fig. 4-10-30 Registering “FUNCTION” program (1)
PROGRAM >DIR
No.
1
NAME
<TEST1
LINE
BYTE
RW/RO
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
38
843
RW
PARTS100
>
Enter program name >FUNCTION
4) Press the ESC key to return to “PROGRAM” mode.
At the same time, the program name “FUNCTION” appears on the system line as
the current program.
4-67
Operation
1) In “PROGRAM” mode, press the
mode.
4
10. “PROGRAM” mode
Fig. 4-10-31 Registering “FUNCTION” program (2)
PROGRAM >DIR
No.
LINE
BYTE
TEST1
55
952
RW
2 *TEST2
50
907
RW
3
PARTS100
38
843
RW
4
FUNCTION
1
1
RW
1
NAME
<FUNCTION>
NEW
RW/RO
INFO
5) Press the F 1 (EDIT) key to enter “PROGRAM>EDIT” mode.
A cursor appears on the first line.
4
Operation
6) Enter a command statement for registering function keys in the following format.
The command statement format differs between the “PROGRAM” mode and
“MANUAL” mode.
When registering function keys for editing in “PROGRAM” mode
*P_F<n>:’<character string>
<n> ............................... Function key number to be registered (n=1 to15)
<character string> ........ Character string to be assigned to the function key
(displayed on the screen).
Example)
*P_F2:’MOVE, P ......... Character string “MOVE, P” is assigned to the
key.
*P_F8:’DELAY ............ Character string “DELAY” is assigned to the
4-68
F 8
F 2
key.
10. “PROGRAM” mode
When registering function keys for I/O commands in “MANUAL” mode
*M_F<n>:’<character string>
<I/O statement 1>
<I/O statement 2>
<n> ............................... Function key number to be registered (n=1 to15)
<character string> ........ Character string to be assigned to the function key
(displayed on the screen).
<I/O statement 1> ........ Command statement to be executed when the key is
pressed.
<I/O statement 2> ........ Command statement to be executed when the key is
released.
n <I/O statement 2> may be omitted. If
NOTE
*M_F2:’MOMENT ...... Character string “MOMENT” is assigned to the
key.
DO (20) =1 ................... DO (20) is turned ON when the
F 2
DO (20) =0 ................... DO (20) is turned OFF when the
F 2
key is pressed.
key is released.
*M F14:’ALTER .......... Character string “ALTER” is assigned to the
DO (20) =~DO (20) ..... DO (20) is highlighted when the
F 14
F 2
F 14
key.
key is pressed.
In the above example, “ALTER” defines an “alternate” type function, and “MOMENT” a
“momentary” type function.
A <character string> of up to 65 characters can entered. However, up to 7 characters
following the colon ( : ) are displayed on the function key menu.
n NOTE
1. In one “FUNCTION” program,
functions for program edit and I/O
functions for “MANUAL” mode
can be used together and defined.
2. Besides the above method, user
functions can also be defined with
the next method.
1) “FUNCTION” can be made
automatically according to the
user function-defined sample
program registered in the unit.
(Refer to “10.3.9 Creating a
sample program
automatically”)
2) Rewrite the contents of the
“FUNCTION” program in the
“PROGRAM>EDIT” mode to
create desired user functions.
3. When assignment was made to a
function key that has already been
assigned, the new assignment will
be valid.
Fig. 4-10-32 Registering user functions
<FUNCTION>
PROGRAM >EDIT
1
2
3
———————————————————————————————————————————
1 *P_F2:’MOVE,P
2 *P_F8:’DELAY
3 *M_F2:’MOMENT
4 DO(20)=1
5 DO(20)=0
SELECT
COPY
CUT
7) When the registration is complete, press the
PASTE
ESC
BS
key.
4-69
Operation
omitted the <I/O statement 1>will be
executed when the key is pressed, but
nothing will be executed when
released.
4
Example)
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 check message appears on the guideline.
c This function resets an error, but does
Fig. 4-10-33
CAUTION
4
not restore the program data. A
problem is probably occurring in the
program, so check and correct the
program in “PROGRAM>EDIT”
mode.
<TEST2
>
PROGRAM >ERROR RESET
1
2
3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOSUB *SUBPROG
3 DO2(0)=-^23-OFW
Operation
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
Error reset OK?
n NOTE
• This function is enabled for each
program.
• This reset function does not work
if an error “9.3 Memory
destroyed” occurs. In this case,
initialize the memory.
4-70
’ORIGIN
YES
NO
2) Press the F 4 (YES) key to reset the error.
The program can be edited after resetting the error.
Press the
F 5
(NO) key if you want to cancel the error reset.
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. 411-3.
Fig. 4-11-1 “MANUAL” mode (one-robot setting)
q Mode hierarchy
y Online
command
execution mark
u Sequence
program
execution mark
i Current
position
MANUAL
50%[MG][S0H0X]
s@ —————————————————————————————————————
Current position
*Mx=
0.00 *My=
*Mr=
0.00
0.00
PALLET
*Mz=
VEL+
4
0.00
VEL-
Fig. 4-11-2 “MANUAL” mode (two-robot setting)
r SHIFT/HAND
w Manual movement
/coordinate units
speed
t Message
e Robot group
line
q Mode hierarchy
y Online
command
execution mark
u Sequence
program
execution mark
i Current
position
MANUAL
50/50%[MG][S0H0X]
s@ —————————————————————————————————————
Current position
*Mx=
0.00 *My=
0.00
*Sx=
0.00 *Sy=
0.00
POINT
o Guideline
PALLET
VEL+
VEL-
Fig. 4-11-3 “MANUAL” mode (with auxiliary axis)
q Mode hierarchy
y Online
command
execution mark
u Sequence
program
execution mark
i Current
position
o Guideline
r SHIFT/HAND
w Manual movement
/coordinate units
speed
t Message
e Robot group
line
MANUAL
50%[MG][S0H0X]
s@ —————————————————————————————————————
Current position
*Mx=
0.00 *My=
*mr=
0.00
POINT
PALLET
0.00
*Mz=
VEL+
0.00
VEL-
4-71
Operation
POINT
o Guideline
r SHIFT/HAND
w Manual movement
/coordinate units
speed
t Message
e Robot group
line
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 selected for manual operation.
When two robots (main and sub robots) are specified, two speeds are displayed for
“ main group / sub group ”, with the currently selected group highlighted.
e Robot group
This shows the robot group currently selected for manual movement.
When one robot is specified, only “[MG]” (main group) appears.
When two robots are specified, “[MG]” (main group) or “[SG]” (sub group) appears,
4
which can be switched with the ROBOT ( LOWER + MODE ) key.
Operation
r SHIFT/HAND/coordinate units
Shows the shift coordinate number, hand definition number and coordinate units. When
two robots are specified, the main group or sub group number and coordinate units
appear, which can be switched with the ROBOT ( LOWER + MODE ) key.
t Message line
If an error occurs, the error message appears here. A dashed line means return-toorigin is incomplete. A solid line means return-to-origin return is complete.
y Online command execution mark
When an online command is being executed, a “@” 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 being executed, an “s” mark is displayed in the first
column on the second line.
i Current position
This shows the current position of the robot. When an “M” or “S” letter is followed by
a number it indicates the position in “pulse” units (integer display) and when an “x” to
“a” letter follows, it indicates “mm” units (decimal point display). When an asterisk
(*) appears at the left of the “M” and “S” letters, it indicates the origin sensor is on. No
asterisk appears when not using an origin sensor.
An “M” letter means the main robot axis, and an “S” letter means the sub robot axis.
When auxiliary axes are specified, the lower-case letters “m” and “s” appear instead
of upper-case letters.
o Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.
4-72
11. “MANUAL” mode
Valid keys and submenu descriptions in “MANUAL” mode are shown below.
Valid keys
Function
Menu
Moves the robot manually.
Jog key
POINT
Switches to the point data processing screen.
F2
PALLET
Switches to the pallet data processing screen.
F4
VEL+
Increases manual movement speed for the selected robot group in
steps.(1→5→20→50→100 %)
F5
VEL-
Decreases automatic movement speed for the selected robot group in
steps.(100→50→20→5→1 %)
F6
SHIFT
Switches to the shift data processing screen.
F7
HAND
Switches to the hand data processing screen.
F8
UNITCHG Changes the current position display units to “mm” or “pulse”.
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
F13
RST.ABS
Resets the absolute position sensor.
F15
COORDI
Sets the standard coordinates.
4
Operation
F1
ROBOT
(
LOWER
+
MODE
WARNING
w The
11.1
robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n NOTE
• When two robots (main and sub
robots) are specified, check the
currently selected robot group on
the MPB before performing
manual movement. If the selected
robot group is wrong, press the
ROBOT ( LOWER + MODE ) key to
change the robot group.
• When the current position is
displayed in “mm” units, manual
movement is not possible if “Over
soft limit” is detected on an axis
other than the specified axis.
• If return-to-origin is incomplete,
the current position is always
displayed in "pulse" units when
the controller is turned on.
Switches the robot group.
)
Manual movement
“MANUAL” mode allows manual movement of robots 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:
As long as a Jog key is pressed, the corresponding arm (axis) moves.
(2) When the current position is displayed in “mm” units:
As long as a Jog key is pressed, the corresponding robot arm tip moves in the
corresponding direction on the Cartesian coordinates.
4-73
11. “MANUAL” mode
n NOTE
• If the robot movement beyond the
soft limit is attempted with the Jog
keys, the message “Over soft
limit” appears and the robot stops.
Refer to “12.1.2 Axis parameters”
for the soft limit.
• When a Jog key is pressed once
(momentarily), the movement
distance (inching distance) is
equal to the manual speed setting
value.
[Example]
When manual movement speed is 20%:
Inching distance in “pulse” units
= 20 pulses
Inching distance in “mm” units
= 0.20 mm
Operation
4
CAUTION
c When
return-to-origin is incomplete,
the soft limit does not work correctly.
n NOTE
• When the current position is
displayed in “pulse” units, and
some servos are off and some
servos are on, the axes set with
servo turned on can be moved
manually.
• When the current position is
displayed in “mm” units, manual
movement can be done only when
the servos of all axes are on.
• Each axis travels by jog movement
towards the plus or minus software
limit. The maximum movement
time for one movement command
is 300 seconds. So if the software
limits are set too large and the
movement time exceeds 300
seconds at the specified speed, the
axis movement will stop in 300
seconds. To move the axis further,
use jog movement once again.
4-74
2. When return-to-origin is not complete
(1) When the current position is displayed in “pulse” units:
Robot movement with the Jog keys is possible the same as when return-to-origin
is complete. However, the message “Origin incomplete” appears when a Jog key
is pressed.
(2) When the current position is displayed in “mm” units:
The robot does not move with the Jog keys. The current position display switches
automatically to “pulse” units and the message “Origin incomplete” appears. Perform absolute reset at this point.
11. “MANUAL” mode
11.2
cannot be guaranteed that the robots
will move to the same position if a
different hand system is used to move
to a point data on the Cartesian
coordinates (millimeter units).
The axis data for three points is displayed on the screen along with a point comment on
the selected point number. To see the other data, scroll the screen with the cursor keys or
page keys.
↓
Scrolls up or down one line at a time.
→
Scrolls right or left one character at a time.
Scrolls up or down three lines at a time.
<<
>>
Scrolls right or left one page at a time.
4
The 5-digit area on the left side shows the point numbers, with the point number for
editing shown highlighted.
The hand system will appear in the sixth line when the SCARA robot is selected and a
hand system flag of the extended setting is set.
Fig. 4-11-4 Point data
MANUAL >POINT
50% [MG][S0H0J]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
30.00
-24.54
12.35
-23.11
COMNT:
[POS]
EDIT
[
0
TEACH
]
0
0
0
JUMP
VEL+
VEL-
4-75
Operation
↑
<<
c InCAUTION
the case of SCARA robots, it
>>
robots) are specified, the point data
can be shared between them.
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 be set as an extended function for the point data set
with the Cartesian coordinates ("mm" units). The hand system flag is valid only for the
SCARA robot.
Point numbers can be specified in the range of 0 to 4000.
→
NOTE
n When
two robots (main and sub
Displaying and editing point data
11. “MANUAL” mode
Valid keys and submenu descriptions in “MANUAL>POINT” mode are shown below.
Valid keys
Menu
Function
Cursor key
(↑/↓)
Specifies the point data and scrolls the screen.
Page key
>>
<<
Switches to other screens.
( / )
Operation
4
F1
EDIT
Enters point data with keys.
F2
TEACH
Enters point data by teaching.
F3
JUMP
Shows the specified point data.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases automatic movement speed for the selected robot group in
steps.(100→50→20→5→1 %)
F6
COPY
Copies point data.
F7
ERASE
Deletes point data.
F8
UNITCHG Changes the current position display units to “mm” or “pulse”.
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
F11
TRACE
Moves the arm to the specified point.
F12
COMMENT Switches to the point comment edit screen.
F13
ERR.RST Allows editing even if the point data is destroyed.
F14
AXIS←
Moves the cursor to the left to select another axis. (Enabled only when
auxiliary axis is added.)
F15
AXIS→
Moves the cursor to the right to select another axis. (Enabled only when
auxiliary axis is added.)
ROBOT
(
LOWER
+
MODE
11.2.1
Switches the robot group.
)
Point data input and editing
[Procedure]
1) In “MANUAL>POINT” mode, use the cursor (↑/↓) keys to select the point to edit.
2) Press the F 1 (EDIT) key to enter “MANUAL>POINT>EDIT” mode.
An edit cursor appears at the left end of the point line data that was selected.
Fig. 4-11-5 Editing point data
50% [MG][S0H0J]
MANUAL>POINT>EDIT
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122562
250.00
-24654
COMNT:
[POS]
UNDO
4-76
0
0
JUMP
15.00
30.00
2535
-13711
[
]
0
0
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.
hand system flag in the point data, set
1 (RIGHTY: right-handed system) or 2
(LEFTY: left-handed system) at the end
of the b axis data setting.
4) Press the
key, cursor up/down (↑/↓) keys or page up/down (
,
<<
n ToNOTE
set the SCARA robot and set the
)
keys to finish the point data input.
Press the
ESC
key if you want to cancel the point data input.
Valid keys and submenu descriptions in “MANUAL>POINT>EDIT” mode are shown
below.
Valid keys
Menu
Cursor key
(↑/↓)
Function
Moves the cursor and scrolls the screen.
>>
<<
Page key
Switches to other screen.
INS
Toggles between Insert mode and Overwrite mode.
( / )
Deletes one character on the cursor position.
DEL
F1
UNDO
Restores the point data.
F3
JUMP
Jumps to the specified point number.
11.2.1.1 Restoring point data
[Procedure]
During point 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.
4-77
4
Operation
to b-axis. If omitted, “0” will be
automatically entered for that
axis.
• The error message “Digit number
error” appears when the data
format is wrong. Enter it in the
correct format.
>>
n NOTE
• Enter all point data for the X-axis
• To enter the data in joint coordinates (“pulse” units)
Enter an integer of up to 8 digits.
(Even if the input data is less than 8 digits, it will be displayed in 8 digits when the
number of display digits is set to 8 in “SYSTEM>PARAM” mode.)
: ±######
(±########)
• To enter the data in Cartesian coordinates (“mm” units)
Enter a number consisting of an integer portion of up to 5 digits and having 2 or less
places below the decimal point.
(Even if the input data is less than 8 digits, it will be displayed in 8 digits when the
number of display digits is set to 8 in “SYSTEM>PARAM” mode.)
: ±###.##,±####.#,±#####.
(±#####.##,±#####.#,±#######.)
To set the SCARA robot and set a hand system flag of the extended setting, set 1 or 2
at the end of the b axis data. If a value other than 1 or 2 is set, or if no value is
designated, 0 will be set to indicate that no hand system flag has been set.
1: Indicates that point has been set with RIGHTY (right-handed system).
2: Indicates that point has been set with LEFTY (left-handed system).
11. “MANUAL” mode
NOTE
n Point
data teaching cannot be
performed when return-to-origin is
incomplete. Perform point teaching
after performing absolute reset.
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.
NOTE
n When
two robots (main and sub
Operation
4
robots) are specified, check the
currently selected robot group on the
MPB before performing point
teaching.
“[MG]” indicates the main robot
group is selected, and “[SG]”
indicates the sub robot group is
selected. To change the robot group,
use the ROBOT ( LOWER + MODE ) key.
Fig. 4-11-6 Point data teaching (with no auxiliary axis [1])
When teaching at P8
MANUAL>POINT
50% [MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
30.00
-24.54
12.35
-23.11
COMNT:
[POS]
[
10.00
EDIT
TEACH
]
100.00
5.00
JUMP
VEL+
10.00
VEL-
2) Use the Jog keys to move the robot arm.
As the arm moves, the current position data on the 7th line on the screen changes.
w The robot starts to move when a
WARNING
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
c ToCAUTION
perform teaching at a point on the
Cartesian coordinates (millimeter
units) with a SCARA robot, always
use the correct hand system that
should be actually moved.
It cannot be guaranteed that the
robots will move to the same position
if moving with a hand system
different from that used for teaching.
3) When the arm 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 number.
After teaching, the pointer cursor moves down to the next line automatically.
The format for point data input by teaching is set to the currently selected coordinate system.
Fig. 4-11-7 Point data teaching (with no auxiliary axis [2])
MANUAL>POINT
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
P8
=
50.00
100.00
5.00
10.00
P9
= 122.62
-24.54
12.35
-23.11
COMNT:
[POS]
EDIT
4-78
50% [MG][S0H0X]
[
50.00
TEACH
30.00
]
100.00
5.00
10.00
JUMP
VEL+
VEL-
11. “MANUAL” mode
4) When point data is already allotted to the currently selected point number, a check
message appears on the guideline when the
F 2
(TEACH) key is pressed.
Fig. 4-11-8 Point data teaching (with no auxiliary axis [3])
MANUAL>POINT>TEACH
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
30.00
P8
=
50.00
100.00
5.00
10.00
P9
= 122.62
-24.54
12.35
COMNT:
[POS]
[
50.00
100.00
Overwrite point OK?
-23.11
]
5.00
10.00
YES
NO
Press the F 4 (YES) key to perform the teaching. The specified point number
data is rewritten.
F 5
(NO) key if you want to cancel the teaching input.
When an auxiliary axis is used:
[Procedure]
1) In “MANUAL> POINT” mode, use the cursor keys to select the point number to
obtain point data.
Fig. 4-11-9 Point data teaching (with auxiliary axis [1])
When teaching at P8
MANUAL>POINT
100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
30.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
COMNT:
[
[POS] -100.00
EDIT
TEACH
-30.00
]
400.00
50.15
111.23
JUMP
VEL+
VEL-
4-79
Operation
Press the
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 data values
should be highlighted. When teaching on the auxiliary its point data value should be
highlighted.
Note that an undefined point cannot be specified except for point numbers.
Fig. 4-11-10 Point data teaching (with auxiliary axis [2])
When teaching on all axes
MANUAL >POINT
100%[MG][S0H0X]
————————————x———————y———————z———————r———
4
P7
= 100.00
250.00
15.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
-30.00
Operation
COMNT:
[POS]
[
-10450
EDIT
TEACH
30.00
]
42460
20051
23453
JUMP
VEL+
VEL-
Fig. 4-11-11 Point data teaching (with auxiliary axis [3])
When teaching on standard axes
MANUAL>POINT
100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
30.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
COMNT:
[POS]
EDIT
[
-10450
TEACH
42460
JUMP
-30.00
]
20051
VEL+
23453
VEL-
Fig. 4-11-12 Point data teaching (with auxiliary axis [4])
When teaching on auxiliary axis
MANUAL>POINT
100%[MG][S0H0X]
————————x———————y———————z———————r———————a
P7
=00
250.00
15.00
30.00
0.00
P8
=00
150.00
115.00
90.00
80.00
P9
=00
200.00
15.00
-30.00
50.00
COMNT:
[POS] 50
EDIT
WARNING
w The
robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
4-80
[
42460
TEACH
20051
JUMP
]
23453
VEL+
38301
VEL-
3) Use the Jog keys to move the robot axis for teaching.
As the arm moves, the current position data on the 7th line on the screen changes.
11. “MANUAL” mode
c ToCAUTION
perform teaching at a point on the
Cartesian coordinates (millimeter
units) with a SCARA robot, always
use the correct hand system that
should be actually moved.
It cannot be guaranteed that the
robots will move to the same position
if moving with a hand system
different from that used for teaching.
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 coordinate system. However, when teaching is performed on
different axes, they must use the same coordinates as the teach points. Therefore, if
the point data is in “mm” units, then the current position must also be in “mm”
units.
When point data is already allotted to the currently selected point, a check message
“Overwrite point OK?” appears on the guideline when the
pressed.
F 2
Press the
F 4
(YES) key to perform the teaching.
Press the
F 5
(NO) key if you want to cancel the teaching,
(TEACH) key is
4
Fig. 4-11-13 Point data teaching (with auxiliary axis [5])
MANUAL>POINT>TEACH
100%[MG][S0H0X]
Operation
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
P8
= 220.00
150.00
115.00
90.00
P9
= 400.00
200.00
15.00
-30.00
COMNT:
[POS]
[
212.43
152.31
Overwrite point OK?
100.26
30.00
]
86.86
YES
NO
After teaching, the specified point number moves to the next line automatically.
Fig. 4-11-14 Point data teaching (with auxiliary axis [6])
When teaching on all axes
MANUAL>POINT
100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
30.00
P8
= 212.43
152.31
100.26
86.86
P9
= 400.00
200.00
15.00
COMNT:
[POS]
[
212.43
EDIT
TEACH
-30.00
]
152.31
100.26
86.86
JUMP
VEL+
VEL-
Fig. 4-11-15 Point data teaching (with auxiliary axis [7])
When teaching on standard axes
MANUAL>POINT
100%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
30.00
P8
= 212.43
152.31
100.26
86.86
P9
= 400.00
200.00
15.00
COMNT:
[POS]
EDIT
[
212.43
TEACH
-30.00
]
152.31
100.26
86.86
JUMP
VEL+
VEL-
4-81
11. “MANUAL” mode
Fig. 4-11-16 Point data teaching (with auxiliary axis [8])
When teaching on auxiliary axis
MANUAL>POINT
100%[MG][S0H0X]
———————x———————y———————z———————r———————a
NOTE
n Point
data teaching cannot be
Operation
teaching, make sure that the
emergency stop button is
pressed so that the servo will
not turn on.
NOTE
n When
the robot servo is off, automatic
and manual operation cannot be
performed. There are two methods for
turning on the robot servo: One is to
use the MPB and the other is to use the
dedicated input.
Refer to “14. UTILITY mode” in
Chapter 4 or “1. STD.DIO” in
Chapter 5.
250.00
15.00
P8
=00
150.00
115.00
90.00
87.86
P9
=00
200.00
15.00
-30.00
50.00
152.31
100.26
EDIT
30.00
[
[POS] 43
11.2.3
WARNING
w When
you perform direct
=00
COMNT:
performed if return-to-origin is
incomplete.
4
P7
TEACH
JUMP
0.00
]
86.86
VEL+
87.86
VEL-
Point data input by direct teaching
Point data can also be obtained by direct teaching (moving the robot by hand to the target
point while the robot servo is off).
[Procedure]
1) Press the emergency stop button on the MPB.
2) Move the robot by hand to the target point and perform point teaching in
“MANUAL>POINT” mode.
For point data teaching methods, refer to the previous section “11.2.2 Point data
input by teaching”. (In this procedure you move the robot by hand since the Jog
keys cannot be used.)
11.2.4
Point jump display
[Procedure]
1) Press the F 3 (JUMP) key in “MANUAL>POINT” mode.
The message “Enter point no.>“ appears on the guideline.
Fig. 4-11-17 Point jump (1)
MANUAL>POINT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
250.00
15.00
P8
=
50.00
100.00
5.00
10.00
P9
= 122.62
-24.54
12.35
-23.11
COMNT:
[POS]
[
50.00
100.00
Enter point no.>100_
4-82
5.00
30.00
]
10.00
11. “MANUAL” mode
NOTE
n Valid
point numbers are from 0 to
4000.
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. 4-11-18 Point jump (2)
MANUAL>POINT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P100 =
0.00
0.00
0.00
0.00
10000
20000
10000
0
50.00
100.00
5.00
10.00
JUMP
VEL+
VEL-
P101 =
P102 =
COMNT:
[POS]
EDIT
TEACH
]
4
Copying point data
Operation
11.2.5
[
Point data can be copied under another point number.
[Procedure]
n IfNOTE
a hand system flag is set in the point
data, the hand system flag will also be
copied.
1) Press the F 6 (COPY) key in “MANUAL>POINT” mode.
The message “Copy(####-####,####)>“ appears on the guideline.
Fig. 4-11-19 Copying point data (1)
MANUAL>POINT
50% [MG][S0H0X]
————————————x———————y———————z———————r———
P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
COMNT:
[POS]
[
50.00
100.00
5.00
-23.11
]
10.00
Copy(####-####,####)>
4-83
11. “MANUAL” mode
NOTE
n Valid
point numbers are from 0 to
4000.
,
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 the data between P30 and P34 onto the lines after P50, enter
“30 - 34, 50” and press the
key.
A check message appears on the guideline.
Fig. 4-11-20 Copying point data (2)
MANUAL>POINT
50% [MG][S0H0X]
————————————x———————y———————z———————r———
Operation
4
P30
= 100.00
250.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
COMNT:
[POS]
15.00
[
50.00
100.00
(30-34,50)Copy OK?
30.00
]
5.00
10.00
YES
NO
3) Press the F 4 (YES) key to make a copy.
The point data in the selected range is copied onto the data lines starting from the
specified copy destination number.
Press the
11.2.6
(NO) if you want to cancel the copy.
F 5
Erasing point data
[Procedure]
1) Press the F 7 (ERASE) key in “MANUAL>POINT” mode.
The message “Erase (####-####)>” appears on the guideline.
Fig. 4-11-21 Erasing point data (1)
MANUAL >POINT
50% [MG][S0H0X]
————————————x———————y———————z———————r———
P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
COMNT:
[POS]
[
50.00
100.00
Erase(####-####)>
4-84
5.00
-23.11
]
10.00
11. “MANUAL” mode
NOTE
n Valid
point numbers are from 0 to
2) Use the
0
to
9
and
key.
following format and press the
4000.
keys to specify the point number range in the
–
“(erase start number) - (erase end number)”
For example, to erase the data between P30 and P34, enter “30-34” and press the
key.
A check message appears on the guideline.
Fig. 4-11-22 Erasing point data (2)
MANUAL >POINT
50% [MG][S0H0X]
————————————x———————y———————z———————r———
P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
5.00
10.00
P32
= 122.62
-24.54
12.35
[POS]
[
50.00
100.00
(30-34)Erase OK?
mode from “AUTO>POINT” mode,
press the F 11 (MODIFY) key or
ESC
key.
5.00
10.00
YES
NO
3) Press the
is erased.
F 4
(YES) key to erase the data. The point data in the specified range
Press the
F 5
(NO) key if you wan to cancel erasure.
11.2.7
n ToNOTE
return to “MANUAL>POINT”
-23.11
]
Point data trace
Point data positions can be checked by actually moving the robot.
For detailed information, refer to “9.7 Point trace” in Chapter 4.
[Procedure]
1) In “MANUAL>POINT” mode, press the
“AUTO>POINT” mode.
F 11
(TRACE) key to switch to
4-85
Operation
COMNT:
4
11. “MANUAL” mode
11.2.8
n NOTE
• Point comments can be entered for
point numbers having no data.
• A point comment can be up to 15
characters.
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 number highlighted.
Fig. 4-11-23
MANUAL>POINT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
4
= 100.00
P8
=
P9
= 122.62
250.00
15.00
-24.54
12.35
COMNT:
[POS]
Operation
EDIT
[
0
TEACH
30.00
-23.11
]
0
0
JUMP
VEL+
0
VEL-
Valid keys and submenu descriptions in “MANUAL > POINT” comment mode are shown
below.
Valid keys
Function
Menu
Cursor key
(↑/↓)
Specifies point data or scrolls the screen vertically.
Page key
>>
<<
Switches to other screens.
( / )
F1
EDIT
Edits point comments.
F2
TEACH
Enters point data by teaching.
F3
JUMP
Displays the specified (jumped) data.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F6
COPY
Copies point comments.
F7
ERASE
Deletes point comments.
F8
UNITCHG Changes the current position display units to “mm” or “pulse”.
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
F11
FIND
Enters the character string to be found.
F12
FIND+
Starts searching for a comment containing the specified character string
towards the end of the program.
F13
FIND-
Starts searching for a comment containing the specified character string
towards the top of the program.
ROBOT
4-86
(
LOWER
+
MODE
Switches the robot group.
)
11. “MANUAL” mode
11.2.8.1 Point comment input and editing
n NOTE
• For point comments, it is advisable
to enter a character string that is
easy to understand.
• A point comment can be up to 15
characters.
[Procedure]
1) In “MANUAL>POINT>COMMENT” mode, use the cursor (↑/↓) keys to select the
point 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.
Fig. 4-11-24
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
-24.54
12.35
[POS]
[
0
0
-23.11
Operation
COMNT:
4
30.00
]
0
0
Comment>_
3) Enter a point comment with the data keys.
Up to 15 characters can be entered as a comment.
4) Press the enter key to finish the point comment input and display it.
Press the
ESC
key if you want to cancel the comment input.
11.2.8.2 Point data input by teaching
For point data teaching methods, use the same procedure as explained in “11.2.2 Point
data input by teaching”.
4-87
11. “MANUAL” mode
11.2.8.3 Jump to a point comment
[Procedure]
NOTE
n Valid
point numbers are from 0 to
1) Press the F 3 (JUMP) key in “MANUAL>POINT>COMMENT” mode.
The message “Enter point no. >” appears on the guideline.
4000.
Fig. 4-11-25
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
4
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
30.00
-24.54
12.35
-23.11
COMNT:
[POS]
[
0
0
]
0
0
Operation
Enter point no.>107_
2) Enter the point comment to jump to, and press the
key.
A jump is made to the designated point and its comment is then displayed.
Fig. 4-11-26
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P107 = 340.05
250.03
P108 = 340.05
200.05
115.00
P109 = 122.62
-24.54
12.35
COMNT:WAIT_POS 08
[POS]
EDIT
4-88
115.00
0
TEACH
[
34.54
34.54
-23.11
]
0
0
JUMP
VEL+
0
VEL-
11. “MANUAL” mode
11.2.8.4 Copying a point comment
Point comments can be copied under another point number.
[Procedure]
1) Press the
NOTE
n Valid
point numbers are from 0 to
4000.
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 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 the point comments between P7 and P16 onto the lines after
P107, enter “7 - 16, 107” and press the
key.
Operation
Fig. 4-11-27
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
-24.54
12.35
COMNT:
[POS]
[
0
0
30.00
-23.11
]
0
0
Copy(####-####,####)>7-16,107_
3) A check message appears on the guideline.
Press the F 4 (YES) key to make a copy. The comments in the selected range are
copied onto the data lines starting from the specified copy destination number.
Press the
F 5
(NO) if you want to cancel the copy.
Fig. 4-11-28
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
-24.54
12.35
COMNT:
[POS]
[
0
(7-16,107)Copy OK?
4
0
30.00
-23.11
]
0
YES
0
NO
4-89
11. “MANUAL” mode
11.2.8.5 Erasing point comments
Point comments already entered can be deleted.
[Procedure]
NOTE
n Valid
point numbers are from 0 to
4000.
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
–
following format and press the
keys to specify the point number range in the
key.
“(erase start number) - (erase end number)”
For example, to erase the data between P7 and P16, enter “7-16” and press the
4
key.
Operation
Fig. 4-11-29
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
30.00
-24.54
12.35
-23.11
COMNT:
[POS]
[
0
0
]
0
0
Erase(####-####)>7-16_
3) A check message appears on the guideline.
Press the F 4 (YES) key to erase the point comments. The point comments in
the specified range are erased.
Press the
F 5
(NO) key if you wan to cancel erasure.
Fig. 4-11-30
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
-24.54
12.35
COMNT:
[POS]
[
0
(7-16)Erase OK?
4-90
0
30.00
-23.11
]
0
YES
0
NO
11. “MANUAL” mode
11.2.8.6 Point comment search
Point comments already entered can be located.
[Procedure]
n ANOTE
point comment can be up to 15
1) Press the F 11 (FIND) key in “MANUAL>POINT>COMMENT” mode.
The message “Character string >” appears on the guideline.
characters.
2) Enter the character string you want to search for, and press the
key.
A maximum of 15 characters can be used.
Fig. 4-11-31
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
4
————————————x———————y———————z———————r———
= 100.00
P8
=
P9
= 122.62
250.00
15.00
30.00
-24.54
12.35
-23.11
COMNT:
[POS]
[
0
0
]
0
0
Character string >WAIT_
3) Search starts from the cursor position towards the end of the program and stops at
the first matching character string.
Fig. 4-11-32
MANUAL>POINT>COMMENT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P334 = 100.00
250.00
15.00
-24.54
12.35
30.00
P335 =
P336 = 122.62
COMNT:WAIT_PICKUP
[POS]
EDIT
0
TEACH
[
-23.11
]
0
0
JUMP
VEL+
0
VEL-
4) To continuously search for another character string, press the
F 13
F 12
(FIND+) or
(FIND-) key.
Pressing the F 12 (FIND+) key restarts the search from the current cursor position towards the end of the program and stops at the first matching character string.
Pressing the F 13 (FIND-) key restarts the search from the current cursor position
towards the top of the program and stops at the first matching character string.
4-91
Operation
P7
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 check message appears on the guideline.
Fig. 4-11-33
CAUTION
c This
function resets an error, but does
4
MANUAL>POINT
not restore the point data. A problem
is probably occurring in the point
data, so check and correct the point
data in “MANUAL>POINT>EDIT”
mode.
50% [MG][S0H0X]
————— 9.2:Point data destroyed—————————
P30
= 100.00
250.00
15.00
30.00
P31
=
50.00
100.00
15.00
10.00
P32
= 122.62
-24.54
12.35
-23.11
Operation
COMNT:
[POS]
[
50.00
100.00
Error reset OK?
NOTE
n This
reset function does not work if an
error “9.3 Memory destroyed” occurs.
In this case, initialize the memory.
4-92
]
5.00
YES
10.00
NO
2) Press the F 4 (YES) key to reset the error.
Point data can be edited after resetting the error.
Press the
F 5
(NO) key if you want to cancel the error reset.
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 used. Refer to “11.9 Setting the standard
coordinates” for details.
n NOTE
• A total of 20 pallets can be
defined.
• The maximum number of points
that can be defined in one pallet is
32767.
• Data in the point data area is used
for pallet definition.
A total of 20 pallets (definition numbers 0 to 19) can be defined to assign a point data area
to each pallet. Each pallet is generated (outlined) by using 5 points (P[1] to P[5] as shown
below). The maximum number of points that can be defined in one pallet is 32767
(=NX*NY*NZ).
Fig. 4-11-34
4
P[5]
P[3]
P[4]
Operation
NZ
NY
P[1]
Pallet number
NOTE
n When
two robots (main and sub
robots) are specified, pallet definitions
can be shared between them. Pallet
definitions cannot be used with MULTI
type robots.
P[2]
NX
Point number used Pallet number
Point number used
PL0
P3996 to P4000
PL10
P3946 to P3950
PL1
P3991 to P3995
PL11
P3941 to P3945
PL2
P3986 to P3990
PL12
P3936 to P3940
PL3
P3981 to P3985
PL13
P3931 to P3935
PL4
P3976 to P3980
PL14
P3926 to P3930
PL5
P3971 to P3975
PL15
P3921 to P3925
PL6
P3966 to P3970
PL16
P3916 to P3920
PL7
P3961 to P3965
PL17
P3911 to P3915
PL8
P3956 to P3960
PL18
P3906 to P3910
PL9
P3951 to P3955
PL19
P3901 to P3905
Fig. 4-11-35
MANUAL >PALLET
PL0
=SET
PL1
=
PL2
=SET
PL3
=
[POS]
EDIT
50%[MG][S0H0X]
400.00
METHOD
0.00
0.00
VEL+
0.00
VEL-
Pallet definition numbers marked “SET” mean that they have already been defined.
4-93
11. “MANUAL” mode
Valid keys and submenu descriptions in “MANUAL>PALLET” mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
Specifies the pallet definition number.
Page key
>>
<<
Switches to other screens.
( / )
Operation
4
Function
Edits pallet definitions.
F1
EDIT
F2
METHOD Sets the pallet definition point by teaching.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F6
COPY
Copies pallet definitions.
F7
ERASE
Deletes pallet definitions.
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
F15
PASSWD
ROBOT
4-94
(
LOWER
+
MODE
Switches the robot group.
)
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 you want edit.
NOTE
n The
maximum number of points per
pallet is 32767 (=NX*NY*NZ).
4) Use the 0 to 9 keys to enter the desired value.
The maximum number of points per pallet must be within 32767 (=NX*NY*NZ).
Fig. 4-11-36
PALLET NO.
50%[MG][S0H0X]
=PL0
Operation
MANUAL>PALLET>EDIT
[XY]
Used point =P3996-P4000
NX =
3
NY =
4
NZ =
5_
POINT
5) Press the
key to determine the input value.
6) To continue editing, repeat steps 3) to 5).
7) Press the
ESC
key to quit editing and return to “MANUAL>PALLET” mode.
Valid keys and submenu descriptions in “MANUAL>PALLET>EDIT” mode are shown
below.
Valid keys
Menu
Cursor key
(↑/↓)
F1
Function
Move cursors.
POINT
4
Set point data in the pallet definitions.
4-95
11. “MANUAL” mode
n NOTE
• Each pallet is generated with 5
points for pallet definition.
• These 5 points should be defined
in order from P[1] to P[5]. See
“11.3 Displaying, editing and
setting pallet definitions”.
11.3.1.1 Point setting in pallet definition
In “MANUAL>PALLET>EDIT” mode, a screen like that shown below is displayed.
Fig. 4-11-37
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
P[3] =
98.62
-94.54
12.35
-23.11
0
0
0
[POS]
EDIT
4
TEACH
VEL+
0
VEL-
The 3rd line shows the point numbers and point data in the pallet definition.
Operation
Valid keys and submenu descriptions in this mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
Function
Specifies the point data or scrolls the screen.
F1
EDIT
Edits the point in pallet definition.
F2
TEACH
Sets the point in pallet definition by teaching.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F8
UNITCHG Switches the current position display units.
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
ROBOT
4-96
(
LOWER
+
MODE
Switches the robot group.
)
11. “MANUAL” mode
n NOTE
• Each pallet is generated (outlined)
with 5 points, so always specify
these 5 points for pallet definition.
• Point data in the pallet definition
must be entered in “mm” units.
• The 5 points should be defined in
order from P[1] to P[5]. See
“11.3 Displaying, editing and
setting pallet definitions”.
11.3.1.1.1 Editing the point in pallet definition
[Procedure]
1) Press the
(EDIT) key in “MANUAL>PALLET>EDIT>POINT” mode.
F 1
Fig. 4-11-38
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
P[3] =
98.62
-94.54
12.35
-23.11
0
0
0
[POS]
0
4
UNDO
2) Use the cursor (←/→/↑/↓) keys to move the cursor to the position you want edit.
4) Press the
Press the
to
9
,
+
,
–
,
.
and
SPACE
keys to enter the
key or cursor up/down (↑/↓) keys to finish the point data input.
ESC
key if you want to cancel the point data input.
5) To continue editing, repeat steps 2) to 4).
6) Press the ESC key to quit editing and return to “MANUAL>PALLET
>EDIT>POINT” mode.
Valid keys and submenu descriptions in this mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
F1
Function
Moves the cursor.
undo
Reverses the last data input and restores the preceding data.
11.3.1.1.2 Setting the point in pallet definition by teaching
For point data teaching methods, refer to “11.2.2 Point data input by teaching”.
4-97
Operation
3) Use the 0
point data.
11. “MANUAL” mode
11.3.2
NOTE
n Pallets
cannot be defined by teaching if
return-to-origin is incomplete. Perform
teaching after performing absolute
reset.
Pallet definition by teaching
[Procedure]
1) Select the pallet number in “MANUAL>PALLET” mode with the cursor (↑/↓)
keys.
2) Press the
mode.
F 2
(METHOD) key to enter “MANUAL>PALLET>METHOD”
3) Select the dimension of the pallet to be defined from “2-D” (plane) or “3-D” (solid).
Fig. 4-11-39
4
MANUAL>PALLET>METHOD
Operation
PALLET
50%[MG][S0H0X]
NO.=PL0
[XY]
Select dimension of this pallet
2-D
WARNING
w When
manipulating the robot, do
not enter the robot movement
range to avoid danger.
3-D
4) Move the robot work point to P[1] used in the pallet definition, and perform teaching by pressing the
key.
Fig. 4-11-40
MANUAL >PALLET>METHOD
n NOTE
• Each pallet is generated (outlined)
with 5 points for pallet definition.
• Point data in the pallet definition
must be entered in “mm” units.
• The 5 points should be defined in
order from P[1] to P[5]. See
“11.3 Displaying, editing and
setting pallet definitions”.
PALLET
50%[MG][S0H0X]
NO.=PL0
[XY]
Move arm to P[1] and press ENTER key
[POS]
0.00
0.00
0.00
0.00
VEL+
VEL–
5) Perform teaching at P[2], P[3], P[4] and P[5] (only when “3-D” is selected) as in
step 4).
6) Enter the number of points NX between P[1] and P[2] on the pallet with a positive
integer.
Fig. 4-11-41
MANUAL>PALLET>METHOD
PALLET
NO.=PL0
50%[MG][S0H0X]
[XY]
Enter number of points(NX) on P[1]-P[2]
[1-1000] ENTER >_
4-98
11. “MANUAL” mode
7) Enter the number of points NY and NZ (only when “3-D” is selected) as in step 6).
8) A check 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 setting.
Fig. 4-11-42
MANUAL >PALLET>METHOD
PALLET
50%[MG][S0H0X]
NO.=PL0
[XY]
Used point =P3996-P4000
NX =
5
NY =
9
NZ =
3
Set OK?
4
YES
NO
n NOTE
• Each pallet is generated with 5
points for pallet definition.
• The 5 points should be defined in
order from P[1] to P[5]. See
“11.3 Displaying, editing and
setting pallet definitions”.
Valid keys
Menu
Function
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F8
UNITCHG Switches between the current display units (mm or pulses).
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
4-99
Operation
Valid keys and submenu descriptions in “MANUAL>PALLET>METHOD” mode are
shown below.
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. 4-11-43
n NOTE
• Valid pallet numbers are from 0 to
19.
• Pallet definition cannot be copied
if the currently selected pallet is
undefined.
PL0
50%[MG][S0H0X]
=SET
PL1
=SET
PL2
=SET
PL3
=
[POS]
Operation
4
MANUAL >PALLET
0.00
0.00
0.00
0.00
Copy(PL NO.)>3_
3) A check message then appears in the guideline.
Press the
F 4
(YES) key to make a copy.
Press the
F 5
(NO) key if you want to cancel the copy.
Fig. 4-11-44
MANUAL>PALLET
PL0
50%[MG][S0H0X]
=SET
PL1
=SET
PL2
=SET
PL3
=
[POS]
0.00
0.00
PL1 -> PL3 Copy OK?
4-100
0.00
YES
0.00
NO
11. “MANUAL” mode
11.3.4
Deleting a pallet definition
[Procedure]
1) Select the pallet number in “MANUAL>PALLET” mode with the cursor (↑/↓)
keys.
NOTE
n Pallet
definition cannot be deleted if
the currently selected pallet is
undefined.
2) Press the F 7 (ERASE) key.
A check message then appears asking if the currently selected pallet definition is to
be deleted.
Press the
F 4
(YES) key to delete it.
Press the
F 5
(NO) key if you want to cancel.
Fig. 4-11-45
MANUAL>PALLET
=SET
PL1
=SET
PL2
=SET
PL3
=SET
[POS]
Erase OK?
0.00
0.00
0.00
YES
Operation
PL0
4
50%[MG][S0H0X]
0.00
NO
4-101
11. “MANUAL” mode
11.4
Changing the manual movement speed
Manual movement speed of the selected robot group can be set anywhere within the
range from 1 to 100%. Movement speed in “MANUAL” mode is set separately from the
“AUTO” mode movement speed. One-fifth of the maximum speed in “AUTO” mode is
equal to the maximum movement speed in “MANUAL” mode.
[Procedure]
n When two robots (main and sub
NOTE
Operation
4
robots) are specified, two speeds are
displayed for “ main group / sub group ”,
with the currently selected robot group
highlighted. To switch the robot group,
use the ROBOT key ( LOWER + MODE ).
4-102
1) Press the F 4 (VEL+) or the F 5 (VEL-) key to change the manual movement speed in steps.
Each time this key is pressed, the speed changes in steps of 1 ← → 5 ← → 20 ←
→ 50 ← → 100%. The maximum motor speed is set at 100%.
2) Press the F 9 (VEL++) or the F 10 (VEL--) key to change the manual movement speed gradually.
Each time this key is pressed, the speed changes in units of 1%.
Holding down the key changes the speed continuously.
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 used. Refer to “11.9 Setting the standard
coordinates” for details.
Shift coordinates cannot be used with MULTI type robots.
n NOTE
• When two robots (main and sub
robots) are specified, the shift data
can be shared between them. Shift
coordinate numbers can be set for
each robot separately.
• A maximum of 10 shift coordinates
can be set per robot.
By setting shift coordinates, the point data on the Cartesian coordinates (“mm” units) can
be shifted to any desired position within the robot working area. The working area can
also be restricted in each direction.
Up to 10 shift coordinates (shift coordinate numbers 0 to 9) can be set to shift the standard
coordinates in the X, Y, Z and R (XY plane rotation) directions. Each shift coordinate can
specify the robot operating area.
Sn=
±###.##
dX (mm)
(n=0 to 9)
±###.## ±###.##
dY (mm) dZ (mm)
Operation
• Shift coordinate data format
±###.##
dR (degrees)
When the shift amount is dX=0.00, dY=0.00, dZ=0.00, dR=0.00, the shift coordinates
equal the standard coordinates.
Fig. 4-11-46 Standard coordinates and shift coordinates
Standard coordinate
X
dR
–
dY
ate
Z-axis origin
n
ift
NOTE
n Shift
coordinates cannot be used with
MULTI type robots since the SHIFT/
HAND selection display on the 1st line
on the MPB screen appears blank.
Sh
X'
i
ord
co
+
dX
Y
4
dZ
Y'
4-103
11. “MANUAL” mode
Upon entering “MANUAL>SHIFT” mode, a screen like that shown in Fig. 4-11-47, Fig.
4-11-48 or Fig. 4-11-49 appears.
The currently selected shift coordinate number is highlighted.
Fig. 4-11-47 “MANUAL>SHIFT” mode (one-robot setting)
MANUAL>SHIFT
50% [MG][S1H0X]
————————————x———————y———————z———————r———
S0
=
0.00
0.00
0.00
0.00
S1
= 300.00
0.00
0.00
0.00
S2
= 300.00 -300.00
S3
=
[POS]
EDIT
4
100.00
0.00
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
VEL+
VEL-
RANGE
Operation
Fig. 4-11-48 “MANUAL>SHIFT” mode (two-robot setting [1])
Main robot group is selected:
MANUAL>SHIFT
50/50% [MG][S1H0X]
————————————x———————y———————z———————r———
S0
=
0.00
0.00
0.00
0.00
S1
= 300.00
0.00
0.00
0.00
S2
= 300.00 -300.00
S3
=
[POS]
EDIT
100.00
0.00
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
VEL+
VEL-
RANGE
Fig. 4-11-49 “MANUAL>SHIFT” mode (two-robot setting [2])
Sub robot group is selected:
MANUAL >SHIFT
50/50% [SG][S3H4X]
————————————x———————y———————z———————r———
S0
=
0.00
0.00
0.00
S1
= 300.00
S2
0.00
0.00
0.00
= 300.00 -300.00
100.00
S3
=
0.00
[POS]
0.00
EDIT
4-104
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
VEL+
VEL-
RANGE
11. “MANUAL” mode
Valid keys and submenu descriptions in “MANUAL>SHIFT” mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
Function
Specifies the shift coordinate number.
Page key
>>
<<
Switches to other screens.
( / )
F1
EDIT
Edits the shift coordinates.
F2
RANGE
Sets the shift coordinates range.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F6
METHOD1 Makes setting 1 for shift coordinates.
F7
METHOD2 Makes setting 2 for shift coordinates.
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
4
Operation
ROBOT
(
LOWER
+
MODE
Switches the robot group.
)
4-105
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
(EDIT) key to enter “MANUAL>SHIFT>EDIT” mode.
F 1
3) Use the cursor (←/→) key to move the cursor to the position you want to change.
omitted, “0” will be automatically
entered for that axis.
.
4) Use the 0 to 9 , + , – ,
and SPACE keys to enter the
shift coordinate data.
Enter a space to separate between the data for x, y, z, r. The data input formats are
as follows.
• To enter the data in Cartesian coordinates (“mm” units)
Enter a number consisting of an integer portion of up to 5 digits and having 2
or less places below the decimal point.
±###.##,
±####.#,
±#####.
Operation
Fig. 4-11-50 Editing shift coordinate data
MANUAL>SHIFT>EDIT
50% [MG][S1H0X]
————————————x———————y———————z———————r———
S0
=
0.00
0.00
0.00
S1
= 300.00
0.00
100.00
S2
= 300.00 -300.00
100.00
0.00
S3
=
[POS]
NOTE
n The
shift coordinate data on which the
180._
0.00
0.00
0.00
180.00
600.00
0.00
0.00
0.00
UNDO
5) Press the
key, cursor up/down (↑/↓) keys or page up/down (
,
<<
cursor was positioned when returning
to “MANUAL>SHIFT” mode is used
as the shift coordinates for the
currently selected robot group.
0.00
>>
4
NOTE
n Enter
all shift data for x, y, z and r. If
)
keys to finish the data input.
Press the
ESC
key if you want to cancel the data input.
6) To continue the editing, repeat steps 3) to 5).
7) Press the
ESC
key to quit editing and return to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions in “MANUAL>SHIFT>EDIT” mode are shown
below.
Valid keys
F1
4-106
Menu
UNDO
Function
Reverses the last data input and restores the preceding data.
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 shift coordinate range
By setting the shift coordinate range, the robot operating area can be restricted to the
desired range on each shift coordinate. Moreover, setting the soft limit parameters allows
you to specify the robot working area more precisely.
Shift coordinate range data format
• Plus side
SP n= ±###.##
±###.##
±###.##
dPX (mm) dPY (mm) dPZ (mm)
±###.##
dMY (mm)
±###.##
dMZ (mm)
±###.##
dMR (degrees)
Fig. 4-11-51 Shift coordinate range
Y
dM
X
Y
dP
[Example]
SP1 ...... Plus side working area
of shift coordinate S1
SM 2 .... Minus side working area
of shift coordinate S2
• When the plus and minus sides on
an axis (x, y, z, r) are both at 0.00,
the working area on that axis is
not be restricted.
Operation
• Minus side
SMn= ±###.##
dMX (mm)
(n=0 to 9)
n NOTE
• ”n” is a shift coordinate number.
4
±###.##
dPR (degrees)
X
dM
– dMZ
Z'
d
dPR
X'
dMR
Y
PX
dPZ
+
Y'
To edit a shift coordinate range, use the procedure below.
[Procedure]
1) In “MANUAL>SHIFT” mode, use the cursor (↑/↓) keys to select the shift coordinate number you want to edit.
4-107
11. “MANUAL” mode
2) Press the
(RANGE) key to enter the “MANUAL>SHIFT>RANGE” mode.
F 2
A cursor for editing the shift coordinate range appears.
Fig. 4-11-52 Editing shift coordinate range (1)
MANUAL>SHIFT>RANGE
50% [MG][S1H0X]
————————————x———————y———————z———————r———
Range of shift coorinate [mm/deg]
SP1
=_
0.00
0.00
0.00
0.00
SM1
=
0.00
0.00
0.00
0.00
150.00
0.00
0.00
0.00
[POS]
UNDO
3) Use the cursor (←/→) keys to move the cursor to the position you want to change.
NOTE
n Enter
all shift range data for x, y, z
and r. If omitted, “0” will be
automatically entered for that axis.
.
4) 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. The data input formats are
as follows.
• To enter the data in Cartesian coordinates (“mm” units)
Enter a number consisting of an integer portion of up to 5 digits and having 2
or less places below the decimal point.
±###.##,
±####.#,
±#####.
Fig. 4-11-53 Editing shift coordinate range (2)
MANUAL>SHIFT>RANGE
50% [MG][S1H0X]
————————————x———————y———————z———————r———
Range
of
shift coorinate
SP1
= 300.00
SM1
=
[POS]
[mm/deg]
300.00
250.00
0.00
0.00
0.00
180._
0.00
150.00
0.00
0.00
0.00
5) Press the
NOTE
n The
shift coordinate number selected
when returning to
“MANUAL>SHIFT” mode is used as
the shift coordinates for the currently
selected robot group.
key, cursor up/down (↑/↓) keys or page up/down (
,
<<
UNDO
>>
Operation
4
)
keys to finish the data input.
Press the
ESC
key if you want to cancel the data input.
6) To continue editing the shift coordinate range on the minus side, repeat steps 3) to
5).
7) Press the
ESC
key to quit editing and return to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions for editing shift coordinates range are shown below.
Valid keys
F1
4-108
Menu
UNDO
Function
Reverses the last data input and restores the preceding data.
11. “MANUAL” mode
11.5.2.1 Restoring a shift coordinate range
[Procedure]
During editing of shift coordinate range data, pressing the F 1
the last data input and restores the preceding data.
This function is enabled only on lines that are not yet complete.
11.5.3
(UNDO) key reverses
Shift coordinate setting method 1
This method sets the shift coordinate data by performing teaching at 2 points and then
entering the plus/minus direction of those 2 points
The first teach point 1 (1st P) becomes the shift coordinate origin. The Z value of teach
point 1 is the Z value of the shift coordinate.
Fig. 4-11-54 Shift coordinate setting method 1 (1)
Operation
NOTE
n When
two robots (main and sub
4
X
robots) are specified, check the
currently selected robot group on the
MPB screen.
“[MG]” indicates the main robot
group is selected, and “[SG]”
indicates the sub robot group is
selected. To change the robot group,
use the ROBOT ( LOWER + MODE ) key.
Point 1
(1st P)
Point 2
(2nd P)
X'
Y'
Y
[Procedure]
1) In “MANUAL>SHIFT” mode, select the shift coordinate number with the cursor
(↑/↓) key.
2) Press the
mode.
F 6
(METHOD1) key to enter “MANUAL>SHIFT> METHOD1”
Fig. 4-11-55 Shift coordinate setting method 1 (2)
MANUAL>SHIFT>METHOD1
50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
1st P=
2nd P=
[POS]
600.00
0.00
0.00
VEL+
0.00
VEL-
4-109
11. “MANUAL” mode
WARNING
w The
robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
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.)
NOTE
n Perform
teaching carefully to obtain
Fig. 4-11-56 Shift coordinate teaching
MANUAL>SHIFT>METHOD1
accurate teach points. If teach point is
inaccurate, precise shift coordinates
will not be set.
50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
1st P= 214.45
-15.01
20.32
-15.01
20.32
2nd P=
4
[POS]
214.45
VEL+
0.00
VEL-
Operation
5) Determine teach point 2 with the same procedure as for teach point 1.
6) Select the plus/minus direction of teach point 1 towards point 2 by using the
(+X),
(-X),
F 2
F 3
(+Y) or
F 4
F 1
(-Y) key.
Fig. 4-11-57 Coordinate direction setting
MANUAL>SHIFT>METHOD1
50% [MG][S0H0X]
————————————x———————y———————z———————r———
Press F.key to get Direction
+——————————+———> +X
1st P.
2nd P.
+X
+X
NOTE
n The
Z-direction shift value is
automatically obtained when teach
point 1 is determined. The Z-axis data
at teach point 2 is therefore ignored.
-X
+Y
-Y
7) When the coordinate direction is selected, the shift coordinate values (dX, dY, dZ,
dR) are automatically calculated and stored.
The screen then returns to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions in “MANUAL>SHIFT>METHOD1” mode are
shown below.
Valid keys
4-110
Menu
Function
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F8
UNITCHG Switches between the current display units (mm or pulses).
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
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. 4-11-58 Shift coordinate setting method 2 (1)
Point 1
(1st P)
X
NOTE
n When
two robots (main and sub
4
Operation
robots) are specified, check the
currently selected robot group on the
MPB screen.
“[MG]” indicates the main robot
group is selected, and “[SG]”
indicates the sub robot group is
selected. To change the robot group,
use the ROBOT ( LOWER + MODE ) key.
Point 2
(2nd P)
X'
Y'
Y
[Procedure]
1) In “MANUAL>SHIFT” mode, select the shift coordinate number with the cursor
(↑/↓) key.
2) Press the
mode.
F 7
(METHOD2) key to enter “MANUAL>SHIFT> METHOD2”
Fig. 4-11-59 Shift coordinate setting method 2 (2)
MANUAL>SHIFT>METHOD2
50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
1st P=
2nd P=
w The robot starts to move when a
WARNING
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
[POS]
600.00
0.00
0.00
VEL+
0.00
VEL-
3) Use the Jog keys to move the robot arm tip to teach point 1. (Position it accurately.)
NOTE
n Perform
teaching carefully to obtain
accurate teach points. If teach point
accuracy is inadequate, precise shift
coordinates will not be set.
4-111
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. 4-11-60 Shift coordinate setting
MANUAL>SHIFT>METHOD2
NOTE
n Enter
all point data (x, y, z) (x, y). If
50% [MG][S0H0X]
————————————x———————y———————z———————r———
Enter the point data [mm]
omitted, “0” will be automatically
entered for that axis.
1st P=_
0.00
0.00
0.00
13.00
150.00
0.00
2nd P=
[POS]
VEL+
4
c If teach points and input points are
5) Use the
0
to
9
,
+
,
–
,
.
and
0.00
VELSPACE
keys to enter the
Operation
CAUTION
not accurately determined, calculation results will be inaccurate, so
always determine these points
correctly.
n NOTE
The Z-direction shift value is automatically obtained when teach point 1 is
determined, so the Z-axis data at teach
point 2 is ignored.
point data (x, y, z) and press the
6) Determine teach point 2 with the same procedure as for teach point 1.
7) When the teach point 2 has been entered, the shift coordinates (dX, dY, dZ and dR)
are automatically calculated and stored.
The screen then returns to “MANUAL>SHIFT” mode.
Valid keys and submenu descriptions in “MANUAL>SHIFT>METHOD2” mode are
shown below.
Valid keys
4-112
key.
Menu
Function
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F8
UNITCHG Switches between the current display units (mm or pulses).
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
11. “MANUAL” mode
11.6
NOTE
n When
two robots (main and sub
robots) are specified, hand definitions
data cannot be shared between them.
The main robot uses H0 - H3, and the
sub robot H4 - H7 for hand definition
data.
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. Refer to “11.9 Setting the standard
coordinates” for details.
Hand definitions cannot be used with MULTI type robots.
Four kinds of hand definitions can be set to change the robot working points with standard
coordinate settings to the working points of the hand installed to the 2nd arm (Y-axis) or
the R-axis.
This function allows movement using different hands towards point data in the same
Cartesian coordinate format.
When all values for a hand definition are “0”, this means the hand definition is not set.
NOTE
n Hand
definition data cannot be used
with MULTI type robots since the
SHIFT/HAND selection display on the
1st line on the MPB screen appears
blank.
On entering “MANUAL>HAND” mode, a screen like that shown in Fig. 4-11-61, Fig. 411-62 or Fig. 4-11-63 appears.
The currently selected hand definition number is highlighted.
Fig. 4-11-61 Hand definition screen (one-robot setting)
MANUAL>HAND
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0
=
0
0.00
H1
=
0.00
100.00
0.00
R
H2
=
90.00
100.00
100.00
R
H3
=
8000
100.00
100.00
600.00
0.00
0.00
[POS]
EDIT
0.00
VEL+
0.00
VEL-
4-113
4
Operation
• Data format for hand definition
Hn= ±aaaaaa ±bbbbbb ±cccccc [R]
(main robot : n = 0 to 3 / sub robot : n = 4 to 7)
1st parameter ................ ±aaaaaa
Enter a number consisting of an integer portion of up to
5 digits and having 2 or less places below the decimal
point, or an integer of up to 7 digits (depending on the
robot type setting and hand definition type).
2nd to 3rd parameters .. ±bbbbbb, ±cccccc
Enter a number consisting of an integer portion of up to
5 digits and having 2 or less places below the decimal
point.
4th parameter ............... R
Enter one character (depending on the hand definition
type).
11. “MANUAL” mode
Fig. 4-11-62 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
H1
H2
H3
=
0.00
100.00
0.00
R
=
90.00
100.00
100.00
R
=
8000
100.00
100.00
600.00
0.00
0.00
[POS]
EDIT
0.00
VEL+
0.00
VEL-
Fig. 4-11-63 Hand definition screen (two-robot setting [2])
4
Sub robot group is selected:
Operation
MANUAL>HAND
50/50% [SG][S3H5X]
————————————1———————2———————3———————4———
H4
=
0
0.00
H5
=
0.00
100.00
0.00
R
H6
=
90.00
100.00
100.00
R
H7
=
8000
100.00
100.00
600.00
0.00
0.00
[POS]
EDIT
0.00
VEL+
0.00
VEL-
Valid keys and submenu descriptions in “MANUAL>HAND” mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
Function
Specifies the hand definition number.
F1
EDIT
Edits the hand definition.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F6
METHOD1 Makes setting 1 for hand coordinates.
F8
UNITCHG Switches between the current display units (mm or pulses).
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
ROBOT
4-114
(
LOWER
+
MODE
Switches the robot group.
)
11. “MANUAL” mode
Movement of each robot type and the parameter contents are shown below.
(1) SCARA robots
Fig. 4-11-64
HAND 1
HAND 0
20.00mm
Sta
nd
ard
2n
da
rm
15
0.0
0m
m
-5000 pulse
Fig. 4-11-65 Hands attached to 2nd arm (SCARA type)
MANUAL>HAND
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0
=
0
150.00
0.00
H1
=
-5000
20.00
0.00
H2
=
0
0.00
0.00
H3
=
0
0.00
0.00
600.00
0.00
0.00
[POS]
EDIT
VEL+
0.00
VEL-
4-115
4
Operation
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” determines whether the robot is in a right-handed
system or left-handed system.
b. Parameter descriptions
<1st parameter>: Specify with an integer the difference between the number of
offset pulses of the standard 2nd arm and the number of offset
pulses of the imaginary 2nd arm of hand “n”. If
counterclockwise, enter a “+” value. (unit: pulses)
<2nd parameter>: Specify with a real number the difference between the imaginary
2nd arm length of hand “n” and the standard 2nd arm length.
(unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand “n” with a real number.
(unit: mm)
<4th parameter>: No setting for “R”.
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. Parameter descriptions
<1st parameter>: When the current R-axis position is 0.00, specify with a real
number the angle between the +X direction of Cartesian
coordinates and hand “n”. If counterclockwise, enter a “+” value.
(unit: degrees)
<2nd parameter>: Specify the length of hand “n” with a positive real number. (unit:
mm)
<3rd parameter>: Specify the Z-axis offset amount of hand “n” with a real number.
(unit: mm)
<4th parameter>: Specify “R”.
Operation
4
Fig. 4-11-66
Y
Standard 2nd arm 150.00mm
X
-90.00 degrees
HAND 0
100.00mm
HAND 1
Fig. 4-11-67 Hands attached to R-axis (SCARA type)
MANUAL>HAND
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0
=
0.00
150.00
H1
= -90.00
H2
=
H3
=
[POS]
EDIT
4-116
0.00
R
R
100.00
0.00
0
0.00
0.00
0
0.00
0.00
600.00
0.00
0.00
VEL+
0.00
VEL-
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
<1st parameter>: Specify the X-axis offset amount of hand “n” with a real number.
(unit: mm)
<2nd parameter>: Specify the Y-axis offset amount of hand “n” with a real
numbers. (unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand ”n” with a real number.
(unit: mm)
<4th parameter>: No setting for “R”.
4
Fig. 4-11-68
Operation
X
HAND 1
-100.00mm
HAND 0
-100.00mm
Y
Fig. 4-11-69 Hands attached to 2nd arm (Cartesian type)
MANUAL>HAND
50%
[MG][S0H1X]
————————————1———————2———————3———————4———
H0
=
0.00
0.00
0.00
H1
=-100.00 -100.00 -100.00
H2
=
0.00
0.00
0.00
H3
=
0.00
0.00
0.00
600.00
0.00
0.00
[POS]
EDIT
VEL+
0.00
VEL-
4-117
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. Parameter descriptions
<1st parameter>: When the current R-axis position is 0.00, specify with a real
number the angle between the +X direction of Cartesian
coordinates and hand “n”. If counterclockwise, enter a “+” value.
(unit: degrees)
<2nd parameter>: Specify the length of hand “n” with a positive real number. (unit:
mm)
<3rd parameter>: Specify the Z-axis offset amount of hand “n” with a real number.
(unit: mm)
<4th parameter>: Specify “R”.
Operation
4
Fig. 4-11-70
X
HAND 1
-90.00 degree
150.00mm
HAND 0
100.00mm
Y
Fig. 4-11-71 Hands attached to R-axis (Cartesian type)
MANUAL>HAND
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0
=
H1
= -90.00
H2
=
0.00
0.00
0.00
H3
=
0.00
0.00
0.00
600.00
0.00
0.00
[POS]
EDIT
4-118
0.00
0.00
R
150.00 -100.00
100.00
R
VEL+
0.00
VEL-
11. “MANUAL” mode
11.6.1
Editing hand definitions
[Procedure]
1) Press the
(EDIT) key in “MANUAL>HAND” mode.
F 1
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. 4-11-72 Hand editing screen (1)
MANUAL>HAND>EDIT
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0
=
H1
=_
H2
=
H3
=
0.00
0.00
100.00
0.00
R
90.00
100.00
100.00
R
8000
100.00
100.00
600.00
0.00
0.00
4
0.00
UNDO
3) Use the cursor (←/→) key to move the cursor to the position you want to edit.
4) Use the
0
to
9
,
,
+
,
–
.
,
SPACE
,
R
and
keys to
enter the data.
Fig. 4-11-73 Hand editing screen (2)
MANUAL>HAND>EDIT
50% [MG][S0H1X]
————————————1———————2———————3———————4———
H0
=
0
H1
=
45.00
H2
=
90.00
100.00
100.00
H3
=
8000
100.00
100.00
600.00
0.00
0.00
[POS]
0.00
300
0.00
100
R_
R
0.00
UNDO
5) Pressing the
key or cursor up/down (↑/↓) keys finishes the hand definition
settings.
Press the
NOTE
n The
hand definition data on which the
cursor was positioned when returning
to “MANUAL>HAND” mode is used
as the current hand definition.
ESC
key if you wan to cancel the settings.
6) To continue editing, repeat steps 2) to 4).
7) Press the
ESC
key to quit editing and return to “MANUAL>HAND” mode.
Valid keys and submenu descriptions in “MANUAL>HAND>EDIT” mode are shown
below.
Valid keys
F1
Menu
UNDO
Function
Reverses the last data input and restores the preceding data.
4-119
Operation
[POS]
0
0.00
11. “MANUAL” mode
11.6.1.1 Restoring hand definitions
[Procedure]
1) During hand definition 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.
n NOTE
• The setting methods differ between
Cartesian robots and SCARA
robots.
Cartesian robots
Hand definition data is set by
teaching the identical points that
are used for hand working points
and non-hand working points.
Operation
4
SCARA robots
Hand definition data is set by
teaching the identical points that
are used at working points for
right-handed and left-handed
systems.
• When two robots (main and sub
robots) are specified, check the
currently selected robot group on
the MPB screen. “[MG]”
indicates the main robot group
and “[SG]” the sub robot group.
Switch the robot group with the
ROBOT key ( LOWER + MODE ) as
needed.
11.6.2
Hand definition setting method 1
By using this method, a hand attached to the 2nd arm can be set to the current hand
definition.
[Procedure]
1) In “MANUAL>HAND” mode, use the cursor (↑/↓) key to select the hand definition
number.
2) Press the
mode.
F 6
(METHOD1) key to enter “MANUAL>HAND> METHOD1”
Fig. 4-11-74 Hand setting 1 (1)
MANUAL>HAND>METHOD1
50% [MG][S0H0X]
————————————1———————2———————3———————4———
Move arm to P[1] and press ENTER key
1st P=
2nd P=
[POS]
600.00
0.00
0.00
VEL+
4-120
0.00
VEL-
11. “MANUAL” mode
WARNING
w The
robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
3) Use the Jog keys to move the robot working point to point 1.
(Position it accurately.)
4) Press the
key to enter the teaching value.
Fig. 4-11-75 Hand setting 1 (2)
MANUAL>HAND>METHOD1
n To perform teaching at point 1 with a
50% [MG][S0H0X]
————————————1———————2———————3———————4———
NOTE
Move arm to P[2] and press ENTER key
SCARA robot, always move in the
right-hand system.
To perform teaching at point 2 with a
SCARA robot, always move in the lefthanded system.
1st P= 214.45
-15.01
20.32
-15.01
20.32
2nd P=
[POS]
214.45
4
0.00
VEL+
VEL-
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>HAND>METHOD1” mode are
shown below.
Valid keys
n NOTE
• When teach point 1 is obtained,
the Z direction shift value is
automatically determined.
• If the ESC key was pressed
during hand definition or hand
definition was not calculated, the
input data returns to the preceding
value.
• If teach points are not accurately
determined, the hand definition
will be inaccurate, so always
determine these points correctly.
Menu
Function
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F8
UNITCHG Switches between the current display units (mm or pulses).
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
4-121
Operation
5) Use the Jog keys to move the robot working point to point 2.
(Position it accurately.)
11. “MANUAL” mode
11.7
Changing the display units
[Procedure]
1) Press the F 8 (UNITCHG) key in “MANUAL” mode.
This switches the units used to indicate the current position in “MANUAL” mode.
2) Each time the key is pressed, the units displayed on the upper right of the MPB
screen are switched to either “X”(mm) or “J”(pulse).
• “mm” units (Cartesian coordinates)
Displays the current position with a number consisting of an integer and a
decimal fraction. Robot manual movement is an XY movement on the currently
selected shift coordinates.
4
Operation
• “pulses” units (joint coordinates)
Displays the current position with an integer.
Robot manual movement is performed on each axis.
4-122
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 when the origin is incomplete.
Always perform absolute reset when the origin is incomplete.
Origin incomplete may occur due to the following conditions.
CAUTION
c Emergency
stop may occur if absolute
reset at the stroke end is performed
for two or more axes simultaneously.
In this case, perform return-to-origin
for each axis separately instead of
simultaneously.
n
NOTE
Origin incomplete errors are listed below. These errors occur during startup of the robot
controller.
17.27:D?.ABS.backup failed (CPU)
17.80:D?.ABS.backup failed (DRIVER)
17.81:D?.ABS.battery wire breakage
17.92:D?.Resolver disconnected during power off
17.93:D?.Position backup counter overflow
17.94:D?.ABS. battery low voltage
etc.
4-123
4
Operation
• Basically, use the MPB (teaching
pendant) to perform absolute
reset.
• Absolute reset can also be
performed by dedicated input.
However, this technique is limited
to axes using the stroke end
method or sensor method for
detecting the origin. This
dedicated input technique will also
not work if origin incomplete
occurs on axes set by the mark
method.
a. An absolute-related error occurred on the axis.
b. A power drop was detected in the absolute battery for the driver installed outside the
robot Controller.
c. Cable connecting to the robot unit from the robot Controller was disconnected. (This
is the status when shipped from the factory.)
d. Robot generation was changed.
e. Parameters were initialized.
f. Axis-related parameters such as “Origin shift”, “Origin detection method” and “Origin
return direction” and “Axis polarity” were changed. (This occurs when some parameters
were changed.)
g. Motor was replaced.
h. All data files (data file with extension “ALL”) or parameter files (data files with
extension “PRM”) were written into the robot controller.
11. “MANUAL” mode
11.8.1
Checking absolute reset
Check the status of absolute reset on each axis of the robot controller.
[Procedure]
1) Press
(RST.ABS) in “MANUAL” mode to enter “MANUAL>RST.ABS” mode.
F 13
Fig. 4-11-76
This screen shows the following information.
MANUAL >RST.ABS
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Press F.key to get axis for ABSRST
4
M1 = NG / Mark
M5= no axis
M2 = NG / Mark
M6= no axis
M3 = NG / TORQUE
M4 = OK / Mark
Operation
M1
M2
M3
M4
M5
Axis
Absolute Reset Status
"Origin Detection Method" Parameter
Axis 1
Origin incomplete
Mark method
Axis 2
Origin incomplete
Mark method
Axis 3
Origin incomplete
Stroke end method
Axis 4
Return to origin complete
Mark method
No axis hereafter
The above MPB screen shows the return-to-origin is incomplete on axis 1, axis 2 and axis
3 but complete on axis 4. The robot controller is in origin incomplete status, since not all
axes performed return-to-origin.
Valid keys
Menu
Function
F1
M1
Performs absolute reset on axis 1.
F2
M2
Performs absolute reset on axis 2.
F3
M3
Performs absolute reset on axis 3.
F4
M4
Performs absolute reset on axis 4.
F11
ALL
Performs absolute reset on all axes.
* Valid key menus differ depending on the sub robot or auxiliary axis settings.
4-124
11. “MANUAL” mode
NOTE
n When
the mark method is used as the
origin detection method, absolute reset
is impossible unless the machine
reference is between 25 to 75%.
w The robot starts to move when a
WARNING
movement key is pressed. To
avoid danger, do not enter the
robot movement range.
11.8.2
Axis absolute reset
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. Stroke end or sensor method
1. When the mark method is used as the origin detection method
Return-to-origin is not performed on an axis using the mark method. So use the
movement keys while in servo-on, or direct movement while in servo-off, to move to
a position where absolute reset can be performed.
Valid keys
Menu
Function
F1
ADJ+
Moves the selected axis in the plus direction to the first position
where absolute reset is possible.
F2
ADJ-
Moves the selected axis in the minus direction to the first position
where absolute reset is possible.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
4
Press the key F 1 (ADJ. +), and the axis moves to w and the machine reference
will change to around 50%. (Absolute reset is now possible.)
or
Press the key F 2 (ADJ. -), and the axis moves to e and the machine reference
will change to around 50%. (Absolute reset is now possible.)
Fig. 4-11-77
Minus (-) direction
Plus (+) direction
e
0
25
50
q
75
w
0
25
50
75
0
Machine reference (%)
: Range in which absolute reset can be made (25 to 75%).
4-125
Operation
Key operations to move to a position where absolute reset is possible
For instance, when the current axis position is q (machine reference: 82%):
11. “MANUAL” mode
[Procedure]
1) In “MANUAL>RST. ABS” mode, press the F 1 (M1) to F 4 (M4) keys to
enter “MANUAL>RST.ABS” mode on each axis. The selected axis appears
highlighted on the MPB screen.
Fig. 4-11-78
This screen shows the following information.
MANUAL >RST.ABS>M1
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
4
6%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M4 = OK /
72%
Operation
ADJ.+
ADJ.-
VEL+
VEL-
Axis
Absolute Reset Status
Machine Reference Setting(%)
Axis 1
Origin incomplete
6
Axis 2
Origin incomplete
49
Axis 3
Origin incomplete
Stroke end method
Axis 4
Return to origin complete
72
No axis hereafter
2) In Servo-ON
WARNING
w The
robot starts to move when a
Jog key or movement key is
pressed. To avoid danger, do not
enter the robot movement range.
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 25 to 75%.
Fig. 4-11-79
MANUAL >RST.ABS>M1
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M4 = OK /
72%
ADJ.+
4-126
ADJ.-
VEL+
VEL-
11. “MANUAL” mode
WARNING
w When
you perform direct
teaching, make sure that the
emergency stop button is
pressed so that the servo will
not turn on.
In Servo-OFF
Check that the emergency stop button on the MPB is on, and move the selected axis
by direct movement to a position for absolute reset. Set so that the machine reference
is within a range of 25 to 75%.
Fig. 4-11-80
MANUAL >RST.ABS>M1
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M4 = OK /
72%
ADJ.+
VEL+
4
VEL-
key and a check message appears on the guideline.
Press the
F 4
(YES) key to perform absolute reset of the selected axis.
Press the
F 5
(NO) key to cancel absolute reset of the selected axis.
Operation
3) Press the
ADJ.-
Fig. 4-11-81
MANUAL >RST.ABS>M1
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
c AnCAUTION
error message, "17.91:D?,Cannot
perform ABS.reset" appears if the
machine reference is not within a
range of 25 to 75%. The absolute
reset operation then terminates as an
error.
If the robot controller is in origin
incomplete due to some kind of
problems, perform absolute reset on
the axis which was unable to return to
origin. After absolute reset, always
check if the axis can move to the same
position as before origin incomplete.
M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M4 = OK /
72%
Reset ABS OK?
YES
NO
4) When all axes have returned to origin, the dashed line (- - - -) on the message line
changes to a solid line (——), and return-to-origin is now complete. Then, press an
axis movement key and the MPB screen displays the current position of each axis.
5) When origin incomplete status cannot be canceled, this means an axis has still not
returned to origin. So repeat the absolute reset operation.
4-127
11. “MANUAL” mode
2. When the stroke end or sensor method is used as the origin detection
method
When the selected axis uses the stroke end or sensor method, then servo must be
turned on to perform return-to-origin.
[Procedure]
WARNING
w The
robot starts to move when
absolute reset is performed. To
avoid danger, do not enter the
robot movement range.
4
1) In “MANUAL>RST. ABS” mode, press the F 1 (M1) to F 4 (M4) keys to
enter “MANUAL>RST.ABS” mode on each axis. A check message appears on the
guideline.
Press the
F 4
(YES) key to perform absolute reset of the selected axis.
Press the
F 5
(NO) key to cancel absolute reset of the selected axis.
Fig. 4-11-82
Operation
MANUAL >RST.ABS>M3
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
NOTE
n When
the "Origin detection method"
parameter is set to the stroke end
method:
Each axis moves in the specified
return-to-origin direction until it
reaches the stroke end, and then
moves back slightly in the opposite
direction to a position where
absolute reset is performed after
checking that absolute reset is
possible.
When the "Origin detection method"
parameter is set to the sensor method:
Each axis moves in the specified
return-to-origin direction. When the
origin sensor detects the origin, the
axis moves slightly at low speed to a
position where absolute reset is
performed after checking that
absolute reset is possible.
Starting origin search
Reset ABS OK?
YES
NO
2) After return-to-origin is complete, the machine reference of the selected axis is
displayed.
Fig. 4-11-83
MANUAL >RST.ABS
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Machine Reference (%)
M3 =
M1
M2
M3
49
M4
M5
3) When all axes have returned to origin, the dashed line (- - - -) on the message line
changes to a solid line (——), and return-to-origin is now complete. Then, press an
axis movement key and the MPB screen displays the current position of each axis.
4) To cancel the return-to-origin operation, press the STOP key. In this case, the
message “Origin Incomplete” then appears on the message line.
4-128
11. “MANUAL” mode
11.8.3
Absolute reset on all axes
This section explains how to perform absolute reset on all axes of the robot controller.
The sequence for performing absolute reset of the axes is given below.
1. First, perform absolute reset at the current position, on all axes that use the
mark method.
2. Next, perform absolute reset according to the return-to-origin sequence on axes
using the stroke end and sensor methods.
Valid keys
Menu
Cursor key
(↑/↓)
Function
Specifies the axis definition number.
ADJ.+
Moves the selected axis in the plus direction to the first position
where absolute reset is possible.
F2
ADJ.-
Moves the selected axis in the minus direction to the first position
where absolute reset is possible.
F4
VEL+
Increases manual movement speed for the selected robot group in steps.
(1→5→20→50→100 %)
F5
VEL-
Decreases manual movement speed for the selected robot group in steps.
(100→50→20→5→1 %)
F9
VEL++
Increases manual movement speed for the selected robot group in 1%
increments.
F10
VEL--
Decreases manual movement speed for the selected robot group in 1%
decrements.
Key operations to move to a position where absolute reset is possible
For instance, when the current axis position is q (machine reference: 82%):
Press the F 1 key (ADJ. +), and the axis moves to w and the machine reference
will change to around 50%. (Absolute reset is now possible.)
or
Press the F 2 key (ADJ. -), and the axis move to e and the machine reference will
change to around 50%. (Absolute reset is now possible.)
Fig. 4-11-84
Plus (+) direction
Minus (-) direction
e
0
25
50
q
75
w
0
25
50
75
0
Machine reference (%)
: Range in which absolute reset can be made (25 to 75%).
4-129
4
Operation
F1
11. “MANUAL” mode
[Procedure]
1) Press the F 11 (ALL) key in “MANUAL>RST.ABS” mode to enter “ABS
RESET” mode for all axes.
Fig. 4-11-85
This screen shows the following information.
MANUAL >RST.ABS>ALL
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
Operation
4
6%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M4 = OK /
72%
ADJ.+
n When the mark method is used as the
NOTE
origin detection method, absolute reset
is impossible unless the machine
reference is between 25 to 75%.
ADJ.-
VEL+
VEL-
Axis
Absolute Reset Status
Machine Reference Setting(%)
Axis 1
Origin incomplete
6
Axis 2
Origin incomplete
49
Axis 3
Origin incomplete
Stroke end method
Axis 4
Return to origin complete
72
No axis hereafter
When the "Origin detection method" parameter is set to the mark method, absolute
reset is not possible unless the machine reference is between 25 and 75%.
WARNING
w The
robot starts to move when a
Jog key or movement key is
pressed. To avoid danger, do not
enter the robot movement range.
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 time so that the
machine reference is between 25 to 75%.
Fig. 4-11-86
MANUAL >RST.ABS>ALL
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M4 = OK /
72%
ADJ.+
4-130
ADJ.-
VEL+
VEL-
11. “MANUAL” mode
WARNING
w The
robot starts to move when
3) Press the
absolute reset is performed. To
avoid danger, do not enter the
robot movement range.
Press the
method.
F 4
(YES) key to perform absolute reset on all axes using the mark
Press the
method.
F 5
(NO) key to cancel absolute reset on all axes using the mark
n AnNOTE
error message, "17.91:D?.Cannot
Fig. 4-11-87
MANUAL >RST.ABS>ALL
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Align axes with MARK,& Press ENTER
M1 = NG /
50%
M5= no axis
M2 = NG /
49%
M6= no axis
M3 = NG /
TORQUE
M4 = OK /
72%
Reset ABS OK?
YES
4
NO
4) When absolute reset ends correctly on all axes using the mark method, a check
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 sensor method.
Press the F 5 (NO) key to cancel absolute reset on axes using the stroke end or
sensor method.
Fig. 4-11-88
MANUAL >RST.ABS>ALL
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
Starting origin search
Reset ABS OK?
YES
NO
4-131
Operation
perform ABS.reset" appears if the
machine reference is not within a
range of 25 to 75%. Absolute reset
operation terminates as an error.
If the robot controller is in origin
incomplete due to some kind of
problems, perform absolute reset on
the axis which was unable to return to
origin. After absolute reset, always
check if the axis can move to the same
position as before origin incomplete.
key and a check message appears on the guideline.
11. “MANUAL” mode
5) After return-to-origin is complete, the machine reference of axes using the stroke
end or sensor method is displayed.
Fig. 4-11-89
c IfCAUTION
the robot controller is in origin
incomplete due to some kind of
problems, perform absolute reset on
the axis which was unable to return to
origin. After absolute reset, always
check if the axis can move to the same
position as before origin incomplete.
MANUAL >RST.ABS
Machine Reference (%)
M3 =
M1
M2
M3
49
M4
M5
6) When absolute reset of all axes ends correctly, the dashed line (- - - -)on the
message line changes to a solid line (––––), and return-to-origin is now complete.
Then, press an axis movement key and the MPB screen displays the current position
of each axis.
4
Operation
50% [MG] [SOHOJ]
––––––––––––––––––––––––––––––––––––––––
c IfCAUTION
absolute reset does not end
correctly after performing absolute
reset on all axes, check the return-toorigin status on each axis. Then try
absolute reset on all axes once again
or try absolute reset on each
individual axis until you can
successfully set the return-to-origin.
4-132
7) To cancel the return-to-origin operation, press the STOP key. In this case, the
message "Origin Incomplete" then appears on the message line.
11. “MANUAL” mode
11.9
Setting the standard coordinates
The standard coordinates set for SCARA robots are treated as Cartesian coordinates using
the X-axis rotating center as the coordinate origin.
The following operations and functions are enabled on SCARA robots by setting the
standard coordinates.
n OnNOTE
Cartesian type robots, there is no
need to set the standard coordinates.
• Moving robot arm tip at right angles.
• Using pallet definition, SHIFT coordinates and HAND definition.
• Using commands requiring coordinate conversion (such as linear/circular interpolation
and pallet movement commands).
There are 3 methods for setting the standard coordinates.
Fig. 4-11-90
L
P[3]
L
P[4]
P[1]
P[2]
P[3]
P[2]
P[1]
4-point teaching
3-point teaching
Simple teaching
4-133
4
Operation
• 4-point teaching
This method sets the standard coordinates by using 4 teach points that form a rectangle.
The first teach point is specified as the teaching origin and the positions of the other 3
points are entered relative to the first point.
• 3-point teaching
This method sets the standard coordinates by using 3 teach points (equally spaced) on
a straight line. The direction and length from the first teach point to the last teach point
must be entered.
• Simple teaching
This method sets the standard coordinates by moving the X and Y arms so as to set
them in a straight line and then entering the length of the X and Y arms.
11. “MANUAL” mode
CAUTION
c When
setting the standard
Operation
4
coordinates, note the following points.
• Always perform teaching with
the same hand system carefully
and accurately.
• Set the teach points as near as
possible to the center of actual
working area and also separate
them from each other as much as
possible.
• The plane formed by the robot X
and Y axes must be parallel to the
actual working plane.
• If the robot has an R-axis,
perform point teaching at the
rotation center of the R-axis.
• The standard coordinate setting
accuracy greatly affects the
overall Cartesian coordinate
precision.
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 Y-axis and R-axis,
or distance to rotation center of Y-axis and working point)
2) “Offset pulse”
M1= ###### ..... X-axis offset pulse (angle formed by the X-axis when the robot is
at the origin (0 pulse) position and the X-axis on the standard
coordinate plane)
M2= ###### ..... Y-axis offset pulse (angle formed by the X-axis and Y-axis when
the robot is at the origin (0 pulse) position)
M4= ###### ..... R-axis offset pulse (angle formed by the R-axis when the robot is
at the origin (0 pulse) position and the X-axis on the standard
coordinate plane)
When two robots (main and sub robots) are specified, the following parameters are also
entered automatically for the sub robot.
1) “Arm length [mm]”
S1= ###.## ........ X-axis arm length (distance to rotation center X-axis and Y-axis)
S2= ###.## ........ Y-axis arm length (distance to rotation center of Y-axis and R-axis,
or distance to rotation center of Y-axis and working point)
2) “Offset pulse”
S1= ###### ....... X-axis offset pulse (angle formed by the X-axis when the robot is at
the origin (0 pulse) position and the X-axis on the standard coordinate
plane)
S2= ###### ....... Y-axis offset pulse (angle formed by the X-axis and Y-axis when the
robot is at the origin (0 pulse) position)
S4= ###### ....... R-axis offset pulse (angle formed by the R-axis when the robot is at
the origin (0 pulse) position and the X-axis on the standard coordinate
plane)
However, the R-axis offset is not entered automatically. Set it in
“SYSTEM>PARAM>AXIS” mode.
4-134
11. “MANUAL” mode
Fig. 4-11-91
lengt
h
Y
Y-ax
is arm
R-axis offset pulse
X-
ax
is
ar
m
le
ng
th
Y-axis offset pulse
4
robots) are specified, check the
currently selected robot group on the
MPB. To switch the robot group, use
the ROBOT key ( LOWER + MODE ).
n NOTE
• Approximate standard coordinate
settings are made prior to
shipment.
• The number of offset pulses equals
the number of pulses used by the
X, Y and R axes when they moved
towards the X-axis on the standard
coordinates.
Operation
CAUTION
c When
two robots (main and sub
X-axis offset pulse
X
Press the F 15 (COORDI) key in “MANUAL” mode.
This mode allows setting the standard coordinates.
Fig. 4-11-92
MANUAL>COORDI
50% [MG][
J]
————————————x———————y———————z———————r———
How many points method are used?
F1:4 points teach method
F2:3 points teach method
F5:Simple method
4POINTS 3POINTS
SIMPLE
Valid keys and submenu descriptions in “MANUAL” mode are as shown below.
Valid keys
Menu
Function
F1
4POINT
F1 Sets standard coordinates by 4-point teaching.
F2
3POINT
F2 Sets standard coordinates by 3-point teaching.
F5
SIMPLE
F5 Sets standard coordinates by simple teaching.
4-135
11. “MANUAL” mode
11.9.1
Setting the standard coordinates by 4-point teaching
Fig. 4-11-93
n NOTE
• Separate the teach points from
P[3]
P[4]
P[1]
P[2]
each other as much as possible.
• Setting might be impossible if one
side is less than 50mm.
Operation
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 “MANUAL>COORDI” mode, press the F 1 (4POINTS) key to enter the mode
for setting standard coordinates by 4-point teaching.
Fig. 4-11-94
MANUAL>COORDI>4POINTS
50% [MG][
J]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
P[2]=
P[3]=
P[4]=
[POS]
0
0
0
VEL+
4-136
0
VEL-
11. “MANUAL” mode
NOTE
n The
standard coordinates are
calculated based on the teach points
and input point data, so perform
teaching and point data input as
accurately as possible.
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. 4-11-95
MANUAL>COORDI>4POINTS
50% [MG][
J]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
P[2]= 100.00
0.00_
P[3]=
4
P[4]=
[POS]
0
0
0
VEL-
5) Repeat step 3), 4) to set teach points P[3] and P[4].
6) A message for checking the length and offset pulse value appears on the guideline.
(If the calculation failed, an error message appears.)
Press the
F 4
(YES) key to store the setting.
Press the
F 5
(NO) key if you want to cancel the setting.
Fig. 4-11-96
MANUAL>COORDI>4POINTS
50% [MG][
J]
————————————x———————y———————z———————r———
Arm length[mm]
M1= 199.96
M2= 199.98
Offset pulse
M1= -12421
Set OK?
M2=
2001
YES
NO
4-137
Operation
VEL+
0
11. “MANUAL” mode
NOTE
n Separate
the teach points from each
other as much as possible.
11.9.2
Setting the standard coordinate by 3-point teaching
Fig. 4-11-97
L
L
P[2]
P[1]
P[3]
Operation
4
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, press the F 2 (3POINTS) key to enter the
mode for setting standard coordinates with 3-point teaching.
Fig. 4-11-98
MANUAL>COORDI>3POINTS
50% [MG][
J]
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
P[1]=
P[2]=
P[3]=
[POS]
0
0
0
VEL+
NOTE
n The
standard coordinates are
calculated based on the teach points
and input point data, so perform
teaching and point data input as
accurately as possible.
0
VEL-
2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the
key.
Fig. 4-11-99
MANUAL>COORDI>3POINTS
50% [MG][
J]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
P[1]= -43202
47158
P[2]=
P[3]=
[POS]
-43202
47158
0
VEL+
4-138
0
VEL-
11. “MANUAL” mode
3) Perform teaching at points P[2] and P[3] as in step 2).
4) Use the
(+X) to
F 1
(-Y) keys to set the direction from P[1] to P[3].
F 4
Fig. 4-11-100
MANUAL>COORDI>3POINTS
50% [MG][
J]
Press F.key to get Direction
+———————————+———>
P[1]
[POS]
P[3]
-9654
+X
5) Use the
48567
-X
to
0
,
+Y
0
4
-Y
keys to enter the length between P[1] and P[3],
.
Operation
and press the
9
0
key.
(The length should be less than 1000.)
Fig. 4-11-101
MANUAL >COORDI>3POINTS
50% [MG][
J]
Select 1st P. to 3nd P. get Direction
+———————————+———> +X
P[1]
P[3]
Enter the length of P[1]-P[3] [mm]
[1-1000] Enter >_
6) A message for checking the arm length and offset pulse value appears on the
guideline. (If the calculation failed, an error message appears.)
Press the
F 4
(YES) key to store the setting.
Press the
F 5
(NO) key if you want to cancel the setting.
Fig. 4-11-102
MANUAL >COORDI>3POINTS
50% [MG][
J]
Arm length[mm]
M1= 199.96
M2= 199.98
Offset pulse
M1= -12421
Set OK?
M2=
2001
YES
NO
4-139
11. “MANUAL” mode
NOTE
n Position
the XY arms as accurately as
possible, so that they are exactly set in
a straight line including the rotation
center of the R-axis.
11.9.3
Setting the standard coordinates by simple teaching
Fig. 4-11-103
+Y direction
+X direction
[Procedure]
1) In “MANUAL>COODI” mode, press the
simple standard coordinate setting.
4
F 5
(SIMPLE) key to enter the mode for
Fig. 4-11-104
Operation
MANUAL >COORDI>SIMPLE
50% [MG][
J]
————————————x———————y———————z———————r———
Please Move X & Y arms straight
before press Enter key.
X Arm Y Arm
0=======0======[ —> +X
[POS]
24349
-1029
0
VEL+
0
VEL-
2) Use the Jog keys or your hands (if the servo is off) to move the robot arm so that the
X and Y arms are set in a straight line, then press the
key.
At this point, the +X direction is set as shown in Fig. 4-11-103.
3) Enter the X arm length and press the
key.
Fig. 4-11-105
MANUAL >COORDI>SIMPLE
50% [MG][
J]
————————————x———————y———————z———————r———
Enter the length of X Arm [mm]
[1-1000] Enter >225.00_
4-140
11. “MANUAL” mode
4) Enter the Y arm length and press the
key.
Fig. 4-11-106
MANUAL >COORDI>SIMPLE
50% [MG][
J]
————————————x———————y———————z———————r———
Enter the length of Y Arm [mm]
[1-1000] Enter >175.00_
5) A message for checking the arm length and offset pulse value appears on the
guideline.
F 4
(YES) key to store the setting.
Press the
F 5
(NO) key if you cancel the setting.
4
Operation
Press the
Fig. 4-11-107
MANUAL>COORDI>SIMPLE
50% [MG][
J]
————————————x———————y———————z———————r———
Arm length[mm]
M1= 225.00
M2= 175.00
Offset pulse
M1= 24349
Set OK?
M2=
-1029
YES
NO
4-141
11. “MANUAL” mode
11.10 Executing the user function keys
n NOTE
• When using the user function keys,
it is necessary to make a program
named “FUNCTION” and then
write command statements for
storing functions.
• When registering the function
keys, refer to “10.3.9 Making a
sample program automatically”
and “10.6 Registering user
function keys”.
w WARNING
• The robot starts to move
Operation
4
when some commands are
executed. To avoid danger,
do not enter the robot
movement range.
• Robot movement commands
are executed at “AUTO”
mode speed rather than
“MANUAL” mode speed.
User function keys allow you to perform various tasks easily when needed. For example,
if operation of an air-driven unit connected to an output port has been assigned to a function
key, this proves useful when performing point teaching in “MANUAL” mode.
[Procedure]
1) Press the
USER
key in “MANUAL” mode and the menus (character strings shown
highlighted) from F 1 to F 15 or F 16 to F 30 appear when assigned in
advance.
Each character string is displayed in up to 7 characters from the beginning.
2) Press the desired function key and the preassigned task will be executed just as if
using online commands.
Fig. 4-11-108
MANUAL>POINT
50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7
= 100.00
P8
=
P9
= 122.62
250.00
15.00
30.00
-24.54
12.35
-23.11
COMNT:
[POS]
[
0
0
]
0
0
1 DO(20)A DO(21)A DO(22)A DO(23)A DO(24)A
4-142
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
r Online command
e Message line
q Mode hierarchy
w Version display
execution mark
t Robot model
SYSTEM
name
y Axis
configuration
V8.01
@
u Standard system
configuration
Robot
= TXYx-A
Axes
= XYZR
Standard = SRAM/196kB,DIO_N
Opt-i/f
i Other
expanded
configurations
CMU
OPTION
INIT
DIAGNOS
o Guideline
q Mode hierarchy
Shows the current mode hierarchy. When the highest mode (in this case “SYSTEM”)
is highlighted it means the servomotor power is on. When not highlighted it means the
servomotor power is off.
w Version display
Shows the version number of software currently installed in the robot controller.
e Message line
If an error occurs, the error message appears here.
r Online command execution mark
When an online command is being executed, a “@” mark appears in the second column on the second line. This mark changes to a dot ( . ) when the online command
ends.
t Robot model name
Shows the robot model name specified by the controller.
When two robots (main robot and sub robot) are specified, their model names appear
separated by a slash ( / ).
y Axis configuration
Shows the axis configuration of the robot connected to the controller.
When two robots (main robot and sub robot) are specified, their axis configurations
appear separated by a slash ( / ). If an auxiliary axis is added, it also appears preceded
by a plus mark (+).
c CAUTION
• See "7. I/O connections" in
Chapter 3 for a definition of NPN
and PNP specifications.
• For detailed information about
serial I/O units such as CC-Link
units, refer to descriptions in
their user's manual.
u Standard system configuration
Shows the memory type and size and standard DIO type.
Display
Meaning
DIO_N
Standard DIO works on NPN specifications.
DIO_P
Standard DIO works on PNP specifications.
4-143
Operation
PARAM
4
= DIO_N(1/2)
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
Meaning
DIO_N(m/n..)
An optional DIO of NPN specifications is installed. The number in
parentheses is an ID number.
DIO_P(i/j..)
An optional DIO of PNP specifications is installed. The number in
parentheses is an ID number.
CCLNK(n/m)
A CC-Link unit is installed. The number in parentheses indicates a
station number "n" and a communication speed "m".
D_Net(n/m)
A DeviceNet unit is installed. The number in parentheses indicates a
MAC ID number "n" and a communication speed "m".
When set to SAFE mode, the following display appears.
Operation
4
CAUTION
c For
details on service mode setting,
refer to "12.3.2 Setting the
“SERVICE” mode".
Display
Meaning
safemode
Operation mode is set to SAFE mode that enables service mode.
o Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.
Valid keys and submenu descriptions in “SYSTEM” mode are shown below.
Valid keys
4-144
Menu
Function
F1
PARAM
Sets parameters for the controller and for robot operation.
F2
CMU
Sets communication parameters.
F3
OPTION
Sets parameters for expansion function.
F4
INIT
Initializes data.
F5
DIAGNOS Performs diagnostics and calls up error history, etc.
F9
BACKUP
Saves and restores data on internal flash ROM.
12. “SYSTEM” mode
12.1 Parameters
This section explains various parameters relating to the controller setting and robot operation.
There are 4 types of parameters: robot parameters and axis parameters for robot operation,
controller setting parameters and option board parameters.
[Procedure]
1) Press the
mode.
(PARAM) key in “SYSTEM” mode to enter “SYSTEM>PARAM”
F 1
2) Press the F 1 (ROBOT), F 2 (AXIS), F 3 (OTHER) or
BRD) key to select the parameter type.
Items for the selected parameter type are displayed.
F 5
(OP.
4
Fig. 4-12-2 “SYSTEM>PARAM” mode
Robot
Operation
SYSTEM>PARAM
V8.01
= TXYx-A
M1= aTx-T6-12
M5= no axis
M2= aTy-T6-12
M6= no axis
M3= aZF-F10-10V
M4= aRF
ROBOT
AXIS
OTHERS
3) Select a parameter item with the cursor (↑/↓) keys.
Or press the F
parameter item.
2
(JUMP) key and enter a parameter number to jump to that
Fig. 4-12-3 Robot parameters
SYSTEM >PARAM>ROBOT
V8.01
1.Tip weight[kg]
2.Origin sequence
3.R axis orientation
4.Armtype at PGM reset
EDIT
4) Press the
F 1
JUMP
(EDIT) key.
5) Edit the selected parameter.
There are 2 ways to edit parameters. The first is by entering data with the numeric
keys, and the second is by selecting items with the function keys.
When entering data with the numeric keys, values entered outside the allowable
range are converted automatically to the upper or lower limit value.
Also refer to “12.1.1 Robot parameters” and “12.1.2 Axis parameters”.
6) Press the
ESC
key to quit parameter editing.
4-145
12. “SYSTEM” mode
Valid keys and submenu descriptions in “SUSTEM>PARAM” mode are shown below.
Valid keys
Operation
4
4-146
Menu
Function
F1
ROBOT
Sets robot parameters for robot operation.
F2
AXIS
Sets axis parameters for robot operation.
F3
OTHER
Sets other parameters for setting the controller.
F5
OP. BRD
Sets parameters for option boards.
F10
PASSWRD Allows write-prohibited axis parameters to be changed.
12. “SYSTEM” mode
12.1.1
Robot parameters
On the MPB screen each robot parameter appears in the following format.
Main group parameters
MG=<value>
Main robot parameters
MR=<value>
Sub group parameters
SG=<value>
Sub robot parameters
SR=<value>
Fig. 4.12.4 Robot parameter setting (one-robot setting)
SYSTEM>PARAM>ROBOT
V8.01
1.Tip weight[kg]
MR=
4
5
Operation
[0-200] Enter>5
_
Fig. 4.12.5 Robot parameter setting (two-robot setting)
SYSTEM>PARAM>ROBOT
V8.01
1.Tip weight[kg]
MR=
5
SR=
4
5
[0-200] Enter>_
Valid keys and submenu descriptions for editing robot parameters are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
Function
Moves the cursor up and down.
Page key
>>
<<
Switches to other screens.
( / )
F1
EDIT
Edits the parameter.
F2
JUMP
Moves the cursor to the designated parameter.
4-147
12. “SYSTEM” mode
1. Tip weight [kg] /WEIGHT
This parameter sets the tip weight of robot (workpiece weight + tool weight) in kg
units.
The maximum value is set when the parameters are initialized.
The maximum allowable value is determined automatically according to the current
robot model.
[Procedure]
1) Select “1.Tip weight [kg]” in “SYSTEM>PARAM>ROBOT” mode.
2) Press the
Operation
4
n NOTE
• This parameter cannot be input if
the robot was set to MULTI.
• To set the auxiliary axis tip weight,
use the axis tip weight settings of
axis parameters.
F 1
(EDIT) key.
3) Select the parameter with the cursor (↑/↓) keys.
Fig. 4-12-6 Setting the “Tip weight [kg]”
SYSTEM>PARAM>ROBOT
V8.01
1.Tip weight[kg]
MR=
CAUTION
c Factors
such as optimal speed are set
automatically according to this
parameter value. Setting to a weight
lower than the actual axis tip weight
might adversely affect the robot body
so be sure to enter a suitable value.
4-148
5
5
[0-200] Enter>_
4) Enter the value with the
5) Press the
ESC
0
to
9
keys and then press the
key to quit the edit mode.
key.
12. “SYSTEM” mode
2. Origin sequence /ORIGIN
NOTE
n Perform
origin-return first for those
axes that might interfere with
surrounding equipment.
This parameter sets a sequence for performing absolute reset and return-to-origin on
each axis of the robot.
Enter axis numbers of the robot in the sequence for performing return-to-origin. For
example, when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed
in sequence from axis 1 to axis 6. The numbers 3 1 2 4 5 6 are set automatically when
the parameters are initialized.
If an axis number is not set, then return-to-origin for that axis number is performed
last in the return-to-origin sequence.
It is advisable to perform return-to-origin first for those axes that might interfere with
surrounding equipment.
[Procedure]
1) Select “2.Origin sequence” in “SYSTEM>PARAM>ROBOT” mode.
F 1
(EDIT) key.
Operation
2) Press the
4
3) Select the parameter with the cursor (↑/↓) keys.
NOTE
n Origin
sequence includes both the
Fig. 4-12-7 Setting the “Origin sequence”.
SYSTEM>PARAM>ROBOT
robot axes and auxiliary axes.
V8.01
2.Origin sequence
MG=
312456
c IfCAUTION
stroke-end return-to-origin is
simultaneously performed on two or
more axes, emergency stop might be
triggered and an error message
issued. This may harm the robot body
so do not perform stroke end returnto-origin simultaneously on more
than 1 axis.
312456
[0-654321] Enter>_
4) Enter the value with the
5) Press the
ESC
0
to
9
keys and then press the
key.
key to quit the edit mode.
4-149
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 (orientation) is automatically set when the parameters are initialized.
If the R-axis direction has been set (held) and the arm tip is moved in the X or Y
directions, the R-axis automatically rotates to maintain its direction.
This is effective only on SCARA robots.
NOTE
n This
parameter is valid only on SCARA
robots.
[Procedure]
1) Select “3.R axis orientation” in “SYSTEM>PARAM>ROBOT” mode.
2) Press the
4
F 1
(EDIT) key.
3) Select the parameter with the cursor (↑/↓) keys.
Operation
Fig. 4-12-8 Setting the “R axis orientation”
SYSTEM>PARAM>ROBOT
V8.01
3.R axis orientation
MR=
KEEP
NOTE
n This
function is invalid if there is no R-
KEEP
FREE
4) Press the
F 1
(KEEP) key or the
5) Press the
ESC
key to quit the edit mode.
F 2
axis or the R-axis is an auxiliary axis.
4-150
(FREE) key.
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 system is selected
when the parameters are initialized.
This is effective only on SCARA robots.
NOTE
n This
parameter is valid only on SCARA
[Procedure]
1) Select “4. Armtype at PGM reset” in “SYSTEM>PARAM>ROBOT” mode.
robots.
2) Press the
F 1
(EDIT) key.
3) Select the parameter with the cursor (↑/↓) keys.
4
Fig. 4-12-9 Setting the “Armtype at PGM reset”
Operation
SYSTEM>PARAM>ROBOT
V8.01
4. Armtype at PGM reset
MR= RIGHTY
RIGHTY
LEFTY
4) Press the
tem.
F 1
(RIGHTY) key or the
5) Press the
ESC
key to quit the edit mode.
F 2
(LEFTY) key to select the hand sys-
4-151
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
M?=<value>
Main auxiliary axis setting
m?=<value>
Sub robot axis setting
S?=<value>
Sub auxiliary axis setting
s?=<value>
Fig. 4-12-10 Axis parameter setting (one-robot setting)
SYSTEM>PARAM>AXIS
V8.01
1.Accel coefficient[%]
Operation
4
M1=
100
m4=
100
M2=
100
M3=
100
100
[1-100] Enter>_
Fig. 4-12-11 Axis parameter setting (two-robot setting)
SYSTEM>PARAM>AXIS
n ANOTE
description and method for setting
V8.01
1.Accel coefficient[%]
axis parameters No. 1 through No. 16
are listed in this manual.
Changing of parameters from No. 17
onward is basically prohibited. Please
consult with us beforehand if these
(parameter No. 17 onward) must be
changed.
M1=
100
M2=
100
S1=
100
S2=
100
.
[1-100] Enter>_
100
Valid keys and submenu descriptions for editing robot parameters are shown below.
Valid keys
Menu
Moves the cursor up and down.
Page key
Scrolls up and down the screen.
>>
<<
Cursor key
(↑/↓)
( / )
4-152
Function
F1
EDIT
Edits the parameter.
F2
JUMP
Moves the cursor to the designated parameter.
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 weight) is set
correctly, an actual acceleration is internally set in the control to be 100% at maximum performance.
[Procedure]
1) Select “1.Accel coefficient [%]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (↑/↓) keys.
4
Fig. 4-12-12 Setting the “Accel coefficient [%]”
Operation
SYSTEM>PARAM>AXIS
V8.01
1.Accel coefficient[%]
n IfNOTE
the robot arm tip shakes or sways
during acceleration, lower this value
to suppress the shaking.
CAUTION
c Lowering
the acceleration coefficient
lengthens the time needed to stop,
when the STOP key was pressed or an
interlock was triggered. Do not use a
drastically lowered acceleration
coefficient.
M1=
100
m4=
100
M2=
100
M3=
100
100
[1-100] Enter >_
4) Enter the value with the
0
to
9
keys and then press the
key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
4-153
12. “SYSTEM” mode
2. Decel. rate [%]/DECRAT
NOTE
n This
parameter value is a ratio to the
acceleration.
This parameter sets the deceleration rate in a range from 1 to 100% during movement
by robot movement command. This parameter value is a ratio to the acceleration. A
deceleration rate inherent to each axis is automatically set when the parameters are
initialized.
[Procedure]
1) Select “2. Decel. rate [%]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (↑/↓) keys.
4
Fig. 4-12-13 Setting the “Decel. rate [%]”
Operation
SYSTEM>PARAM>AXIS
V8.01
2.Decel. rate[%]
n IfNOTE
the robot arm tip shakes or sways
M1=
100
m4=
100
M2=
100
M3=
90
when the robot stops, lower this value
to suppress the shaking.
100
[1-100] Enter >_
CAUTION
c Lowering
the deceleration ratio
lengthens the time needed to stop,
when the STOP key was pressed or an
interlock was triggered. Do not use a
drastically lowered deceleration ratio.
4) Enter the value with the
to
9
keys and then press the
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
4-154
0
ESC
key to quit the edit mode.
key.
12. “SYSTEM” mode
3. +Soft limit [pulse] /PLMT+
4. -Soft limit [pulse] /PLMTThese parameters set the plus (+) soft limits and minus (-) soft limits that determine
the range the robot can move. Soft limits inherent to each axis are automatically set
when the parameters are initialized.
The robot controller checks whether or not the specified point data is within the soft
limit range during automatic operation or point teaching. The value set for the selected axis is displayed in converted units on the 3rd line of the MPB screen.
[Procedure]
1) Select “3. +Soft limit [pulse]” or “4. -Soft limit [pulse]” in “SYSTEM>
PARAM>AXIS” mode.
2) Press the
F 1
4
(EDIT) key.
Operation
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-14 Setting the “+Soft limit [pulse]”
SYSTEM>PARAM>AXIS
V8.01
3.+Soft limit[pulse]
M1= 100000
(112.50
M2= 100000
mm)
M3= 100000
m4= 100000
c CAUTION
• This is a critical parameter for
establishing the robot operating
range so set it to a correct value.
• On SCARA robots, make sure that
the total movement range of the
“+” and “-” software limits for Xaxis and Y-axis do not exceed 360
degrees. If the setting exceeds 360
degrees, errors might occur in the
coordinate conversion results.
• Software limits are disabled when
origin return is incomplete.
Use caution during jog movement.
[+/-6144000] Enter >_
100000
4) Enter the value with
0
to
9
, and
.
,
–
keys and then press the
key. If the value you input was a real number (number containing a decimal point),
then the soft limit setting is converted into “pulse” units.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
4-155
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 80 when initialized.
Positioning on an axis is judged to be complete when the robot axis enters within the
specified tolerance range. During consecutive PTP movement in a program, the larger
this value is made, the more the positioning time can be shortened.
The tolerance range set for the selected axis is displayed in converted units on the 3rd
line of the MPB screen.
Fig. 4-12-15
Current position
Target position
4
Operation
Tolerance range
[Procedure]
1) Select “5. Tolerance [pulse]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (↑/↓) keys..
Fig. 4-12-16 Setting the “Tolerance [pulse]”
SYSTEM>PARAM>AXIS
V8.01
4.Tolerance[pulse]
M1=
80
m4=
80
M2=
( 0. 09mm)
80
M3=
80
c CAUTION
• This is a critical parameter for
determining the robot movement
neat the target position so set it to
a correct value.
• If the tolerance range was
reduced to a drastically small
value then return-to-origin might
not end correctly. The time
needed for robot positioning
might also be irregular.
• The maximum tolerance value is
determined by the motor.
[1-
4) Enter the value with the
0
to
9
, and
.
keys and then press the
key. If the value you input was a real number (number containing a decimal point),
then the tolerance range is converted into “pulse” units.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
4-156
80
] Enter >_
ESC
key to quit the edit mode.
12. “SYSTEM” mode
6. Out position [pulse] /OUTPOS
In 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 2000.
When the robot enters the Out position range, the controller determines that the program line has been executed. (However, the robot continues moving to the target position.) When consecutive PTP movement commands are in a program, the larger the
value that is set, the more the time required to shift to the next command line can be
shortened.
The robot is verified to have entered the tolerance range before executing the movement command so the previous positioning operation will end, even when executing
consecutive PTP operations.
The value set for the selected axis is displayed in converted units on the 3rd line of the
MPB screen.
4
Fig. 4-12-17
Current position
Operation
Out position
range
Target position
Tolerance range
[Procedure]
1) Select “6. Out position [pulse]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with cursor (↑/↓) keys.
Fig. 4-12-18 Setting the “Out position [pulse]”
SYSTEM>PARAM>AXIS
V8.01
6.Out position[pulse]
M1=
2000
m4=
2000
M2=
2000
( 0. 56mm)
M3=
2000
2000
[1-6144000] Enter >_
4) Enter the value with the
0
to
9
, and
.
keys and then press the
key. If the value you input was a real number (number containing a decimal point),
then it is converted into pulse units.
CAUTION
c When
the tolerance range is larger
than the Out position range, PTP
operation is performed until the robot
is within the Out position range.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
4-157
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 2000 when initialized.
When the axis specified for arch movement starts PTP movement toward the specified
position and enters the arch position range, the other axes start to move. When those
axes enter the arch position range, the arch-specified axis moves by PTP toward the
target position. Movement time can be shortened by making this value larger since
there is a greater overlap for axis operation.
The value set for the selected axis is displayed in converted units on the 3rd line of the
MPB screen.
Fig. 4-12-19 Arch motion
4
Operation
Arch position range
of arch-specified axis
Arch position range
of other axes
Movement of other axes
Specified axis
movement
Specified axis
movement
Current position
Target position
[Procedure]
1) Select “7. Arch position [pulse]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with cursor (↑/↓) keys.
Fig. 4-12-20 Setting the “Arch position [pulse]”
SYSTEM>PARAM>AXIS
V8.01
7.Arch position[pulse]
M1=
2000
m4=
2000
M2=
2000
( 0. 56mm)
M3=
2000
2000
[1-6144000] Enter >_
c CAUTION
• The arch-specified axis may
sometimes reach the target
position faster than the other
axes if the arch position is large.
So set an accurate value for the
arch position.
• Movement may be along different
paths during arch operation due
to the movement speed. Check the
arch motion at a speed at which
the robot actually moves.
4-158
4) Enter the value with the
0
to
9
, and
.
keys and then press the
key. If the value you input was a real number (number containing a decimal point),
then it is converted into pulse units.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
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 20 when initialized.
[Procedure]
1) Select “8. Origin speed [pulse/ms]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-21 Setting the “Origin speed [pulse/10ms]”
SYSTEM>PARAM>AXIS
4
V8.01
8.Origin speed[pulse/ms]
20
m4=
20
M2=
20
M3=
Operation
M1=
20
20
[1- ] Enter >_
4) Enter the value with the
CAUTION
c The
maximum return-to-origin speed
0
to
9
keys and then press the
key.
5) Repeat the above steps 3) and 4) if necessary.
is determined by the motor.
6) Press the
ESC
key to quit the edit mode.
4-159
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 set correctly, then the actual
acceleration is automatically determined internally in the controller to obtain the
optimum performance at 100%
[Procedure]
1) Select “9. Manual accel [%]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
Operation
4
F 1
(EDIT) key.
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-22 Setting the “Manual accel [%]”
SYSTEM>PARAM>AXIS
n IfNOTE
the robot arm tip shakes or sways
V8.01
9.Manual accel[%]
during manual movement acceleration,
lower this value to suppress the
shaking.
M1=
100m4=
100 M2=
100
M3=
100
100
100
[1-100] Enter >_
CAUTION
c Lowering
the acceleration coefficient
lengthens the time needed to stop,
when the STOP key was pressed or an
interlock was triggered. Do not use a
drastically lowered acceleration
coefficient.
4-160
4) Input the value with the
0
to
9
keys and then press the
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
key.
12. “SYSTEM” mode
10.Origin shift [pulse] /SHIFT
This parameter is used to correct the origin position error when the motor has been
replaced for some reason or the robot origin position has shifted due to mechanical
shocks. This parameter is set to 0 when initialized.
To correct the origin position error, enter the number of pulses required to move the
origin back to the correct position.
For example, if the B pulses represents the origin position the robot arm moved to
after position error, and the A pulses are the origin position before position error, then
enter a value of “A - B”,
[Procedure]
1) Select “10. Origin shift [pulse]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
4
(EDIT) key.
Operation
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-23 Setting the “Manual accel [%]”
SYSTEM>PARAM>AXIS
V8.01
10.Origin shift[pulse]
M1=
0 M2=
m4=
0
0
M3=
0
[+/-6144000] Enter >_
0
c CAUTION
• Origin shift is a critical
parameter for determining the
robot position so set it to a correct
value. Change this parameter
only when necessary.
• Origin return will be incomplete
if this parameter is changed.
• This parameter is enabled after
absolute reset.
4) Enter the value with the
0
to
9
,
–
keys and then press the
key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
4-161
12. “SYSTEM” mode
11.Arm length [mm] /ARMLEN
This parameter sets the X, Y axis arm length on SCARA robots.
This is automatically determined according to the current robot type when initialized.
The arm length is also determined automatically when standard coordinates are set.
On XY robots and MULTI type robots, setting the axis length also automatically
determines the weight of each axis. This is set to 0 when initialized.
[Procedure]
1) Select “11. Arm length [mm]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
4
F 1
(EDIT) key.
3) Select the axis with the cursor (↑/↓) keys.
Operation
Fig. 4-12-24 Setting the “Arm length [mm]”
SYSTEM>PARAM>AXIS
V8.01
11.Arm length[mm]
M1= 200.00
m4=
M2= 200.00
M3=
0.00
0.00
200.00
[0-10000] Enter >_
c OnCAUTION
SCARA robots, the arm length
and offset pulses are used to change
coordinates to the Cartesian
coordinate system. Make sure the arm
length setting is accurate so the
Cartesian coordinates can be used
effectively and with high precision.
4) Enter the value with the
to
9
, and
key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
4-162
0
ESC
key to quit the edit mode.
.
keys and then press the
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. This is set to 0 when initialized.
• X-axis offset pulses ........... Angle formed by X axis arm and +X-axis on standard
coordinates (unit: pulses)
• Y-axis offset pulses ............ Angle formed by X axis arm and Y axis arm (unit: pulses)
• R-axis offset pulses ........... Angle formed by R axis origin and +X-axis on standard
coordinates (unit: pulses)
The offset is determined automatically when the standard coordinates are set.
[Procedure]
1) Select “12. Offset pulse” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
4
(EDIT) key.
Operation
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-25 Setting the “Offset pulse”
SYSTEM>PARAM>AXIS
V8.01
11.Offset pulse
c CAUTION
• On SCARA robots, the arm
length and offset pulses are used
to change coordinates to the
Cartesian coordinate system.
Make sure the arm length setting
is accurate so the Cartesian
coordinates can be used
effectively and with high
precision.
• When some value (including 0)
has been entered for this
parameter, it means the settings
are in standard coordinates.
M1=
10000
m4=
1000
M2=
20000
M3=
0
10000
[+/-6144000] Enter >_
4) Enter the value with the
0
to
9
keys and then press the
key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
4-163
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 automatically determined according to the currently used
axis type.
[Procedure]
1) Select “13. Axis tip weight [kg]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
(EDIT) key.
3) Select the axis with the cursor (↑/↓) keys.
4
Operation
F 1
Fig. 4-12-26 Setting the “Axis tip weight [kg]”
n NOTE
• This parameter can be entered
SYSTEM>PARAM>AXIS
only for MULTI type robots or
auxiliary axes.
• For robots other than MULTI type
robots, set the robot arm tip
weight.
V8.01
13.Axis tip weight[kg]
M1=
0
m4=
10
M2=
0
M3=
0
0
[0-200] Enter >_
CAUTION
c Optimal
acceleration and other items
are automatically set according to this
parameter value. The robot body may
therefore be adversely affected if set
to a lower value than the actual axis
tip weight, so be sure to enter a
correct value.
4) Enter the value with the
to
9
keys and then press the
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
4-164
0
ESC
key to quit the edit mode.
key.
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 detected by sensor input.
“torque” ....... : Origin is detected when the axis moves against the mechanical stroke
end.
“mark” ......... : Origin position is set by the user, such as with mating marks. (Axis
specified as the “mark” does not perform return-to-origin.)
[Procedure]
1) Select “14. Origin method” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
4
(EDIT) key.
Operation
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-27 Setting the “Origin method”
SYSTEM>PARAM>AXIS
V8.01
14.Origin method
M1=SENSOR
M2=SENSOR
M3=TORQUE
M4=MARK
c CAUTION
• YAMAHA can accept no liability
from problems arising due to
changing the return-to-origin
method without consulting
YAMAHA beforehand.
• Return-to-origin will be
incomplete if this parameter is
changed.
• Use the “sensor” method or
“mark” method for performing
return-to-origin on rotating axes.
SENSOR
4) Press one of the
F 1
TORQUE
MARK
(SENSOR),
F 2
(TORQUE) or
F 3
(MARK) keys.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
4-165
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.
“+++” ........... : Axis returns to origin in the manual movement plus (+) direction.
[Procedure]
1) Select “15. Origin direction” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the parameter with the cursor (↑/↓) keys.
4
Fig. 4-12-28 Setting the “Origin direction”
Operation
SYSTEM>PARAM>AXIS
V8.01
15.Origin direction
M1=–––
M2=–––
m4=–––
–––
c CAUTION
• YAMAHA can accept no liability
from problems arising due to
changing the return-to-origin
method without consulting
YAMAHA beforehand.
• Return-to-origin will be
incomplete if this parameter is
changed.
4-166
4) Press the
F 1
+++
(---) or
F 2
(+++) key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
M3=+++
12. “SYSTEM” mode
16.Motor direction /MOTDIR
NOTE
n This
parameter cannot be changed
while servo is on.
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.
“+++” ........... : Motor plus (+) direction is set as the + direction.
This parameter cannot be changed while the servo is on. To change the parameter,
make sure the servo is off.
[Procedure]
1) Select “16. Motor direction” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
c CAUTION
• YAMAHA can accept no liability
(EDIT) key.
4
3) Select the axis with the cursor (↑/↓) keys.
Fig. 4-12-29 Setting the “Motor direction”
SYSTEM>PARAM>AXIS
Operation
from problems arising due to
changing the return-to-origin
method without consulting
YAMAHA beforehand.
• Return-to-origin will be
incomplete if this parameter is
changed.
• On SCARA robots, changing the
initial setting for an axis will
cause problems during linear
movement on that axis, so do not
change the initial setting.
F 1
V8.01
16.Motor direction
M1=–––
M2=–––
M3=+++
m4=–––
–––
4) Press the
F 1
+++
(---) or
F 2
(+++) key.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
4-167
12. “SYSTEM” mode
12.1.3
Other parameters
When changing other parameters on the MPB, follow the descriptions in this section.
Fig. 4-12-30 Editing other parameters
SYSTEM>PARAM>OTHER
V8.01
1.Display language(JPN/ENG)
ENGLISH
2.Data display length
6char
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
EDIT
JUMP
4
VALID
Valid keys and submenu descriptions for editing other parameters are shown below.
Operation
Valid keys
Menu
Cursor key
(↑/↓)
Function
Moves the cursor up and down.
Page key
>>
<<
Switches to other screens.
( / )
F1
EDIT
Edits the parameter.
F2
JUMP
Moves the cursor to the designated parameter.
1. Display characters
This parameter sets the language for displaying messages on the MPB.
[Procedure]
1) Select “1. Display language (JPN/ENG)” in “SYSTEM>PARAM>OTHERS” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-31 Setting the display characters
SYSTEM>PARAM>OTHER
V8.01
1.Display language(JPN/ENG)
ENGLISH
2.Data display length
6char
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
JAPANES ENGLISH
NOTE
n This
parameter does not change even
3) Press the
display.
F 1
key (JAPANES) or
4) Press the
ESC
key to quit the edit mode.
F 2
if initialized.
4-168
VALID
key (ENGLISH) to set the language to
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” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-32 Setting the “Data display length”
SYSTEM>PARAM>OTHER
V8.01
ENGLISH
2.Data display length
6char
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
VALID
6char
4
Operation
1.Display language(JPN/ENG)
8char
3) Press the
F 1
(6char) or
4) Press the
ESC
key to quit the edit mode.
F 2
(8char) key.
3. Parameter display unit/PDUNIT
This parameter sets the units for showing axis parameters. This is automatically set to
“pulses” when the parameters are initialized.
[Procedure]
1) Select “3. Parameter display units” in “SYSTEM>PARAM>OTHERS” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-33 Setting the parameter display units
SYSTEM>PARAM>OTHER
V8.01
1.Display language(JPN/ENG)
ENGLISH
2.Data display length
6char
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
VALID
PULSE
MM/DEG
3) Press the
F 1
(PULSE) or
4) Press the
ESC
key to quit the edit mode.
F 2
(MM/DEG) key.
4-169
12. “SYSTEM” mode
4. DO cond. on EMG /EMGCDO
This parameter sets whether or not to hold the DO/MO/LO/TO/SO port outputs 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. DO cond. on EMG ” in “SYSTEM>PARAM>OTHERS” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-34 Setting “ DO cond. on EMG”
4
Operation
SYSTEM>PARAM>OTHER
1.Display language(JPN/ENG)
ENGLISH
2.Data display length
6char
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
VALID
RESET
CAUTION
c This
parameter is invalid if the
V8.01
HOLD
3) Press the
F 1
(RESET) or
4) Press the
ESC
key to quit the edit mode.
F 2
(HOLD) key.
sequence program starts up.
5. Watch on STD.DO DC24V /STDWCH
This parameter sets whether or not to enable the dedicated interlock signal input when
there is no STD.DIO DC24V power being supplied. This is automatically enabled
(valid) when the parameters are initialized.
[Procedure]
1) Select “5. Watch on STD.DO DC24V” in “SYSTEM>PARAM>OTHERS” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-35 Setting the “Watch on STD.DO DC24V”
SYSTEM>PARAM>OTHER
NOTE
n When
DC 24V is supplied, STD. DIO
becomes valid regardless of the
setting.
n NOTE
• Make sure this setting is enabled
(valid) when the robot will be in
normal operation.
• The interlock signal sends a stop
command such as for stopping
robot operation. If the interlock
setting is off (disabled) use
caution during robot operation.
4-170
V8.01
1.Display language(JPN/ENG)
ENGLISH
2.Data display length
6char
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
VALID
INVALID VALID
3) Press the
F 1
(INVALID) or
4) Press the
ESC
key to quit the edit mode.
F 2
(VALID) key.
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 control” in “SYSTEM>PARAM>OTHERS” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-36 Setting “Incremental Mode control”
n NOTE
• When this parameter is valid
SYSTEM>PARAM>OTHER
4
2.Data display length
6char
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
VALID
6.Incremental Mode control
INVALID
Operation
(enabled), return-to-origin will
always be incomplete each time
the controller power is turned on.
Absolute reset must therefore
always be performed.
• Enable this parameter if the
controller does not have an
absolute battery installed.
V8.01
INVALID VALID
CAUTION
c This
parameter must be disabled
(invalid) if the robot has an axis using
the mark method for origin detection.
3) Press the
F 1
(INVALID) or
4) Press the
ESC
key to quit the edit mode.
F 2
(VALID) key.
7. IO cmd (DI05) on STD.DIO/STDPRM
NOTE
n Command
functions using DI05 of the
STD.DIO connector utilize part of the
general-purpose input and output.
When you are utilizing a generalpurpose input and output, the value
may change so use caution when using
such commands.
This parameter sets whether to enable or disable the command function that uses DI05
of the STD.DIO connector. This is automatically set invalid when the parameters are
initialized.
[Procedure]
1) Select “7. IO cmd (DI05) on STD.DIO" in "SYSTEM>PARAM>OTHERS" mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-37
SYSTEM>PARAM>OTHER
V8.18
3.Parameter display unit
PULSE
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
VALID
6.Incremental Mode control
7.IO cmd (DI05) on STD.DIO
INVALID
VALID
INVALID
VALID
3) Press the
F 1
(INVALID) or
4) Press the
ESC
key to quit the edit mode.
F 2
(VALID) key.
4-171
12. “SYSTEM” mode
8. DI noise filter/SCANMD
CAUTION
c This
function is enabled from V8.23
or later.
This parameter cancels external input signals in the form of short pulses such as noise
pulses (misdetected as dedicated input signals or general-purpose input signals). This
is effective in preventing response to unnecessary input.
When this parameter is enabled, no response will be made to input signals with a
pulse width of less than 25 msec. Therefore, the ON or OFF signal width for dedicated
input signals and general-purpose input signals must be longer than 25 msec.
[Procedure]
1) Select “8. DI noise filter" in "SYSTEM>PARAM>OTHERS" mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
4
Fig. 4-12-38 Setting “DI noise filter"
Operation
SYSTEM>PARAM>OTHER
4.DO cond. on EMG
HOLD
5.Watch on STD.DO DC24V
VALID
6.Incremental Mode control
7.IO cmd (DI05) on STD.DIO
INVALID
INVALID
8.DI noise filter
VALID
INVALID
4-172
V8.23
VALID
3) Press the
F 1
(INVALID) or
4) Press the
ESC
key to quit the edit mode.
F 2
(VALID) key.
12. “SYSTEM” mode
c CAUTION
• When this parameter is enabled
(valid), the spelling difference
between parameters is not
detected, so do not use this
parameter except for cases where
you must load the new parameters to the controller using the
old parameters.
• This parameter function is
enabled only for the controller
software V8.27 or later version.
9. Skip undefined parameters
New parameters may be added along with upgrading the controller software version.
When the new version software including new parameters is loaded to a controller
using the old version software of old version, an error "10.14 Undefined parameters"
occurs.
Setting this parameter to "VALID" ignores the undefined parameters (newly added
parameters) when the parameter file is loaded.
This parameter is not contained in the parameter file and is always set to "INVALID"
when the controller is turned on.
[Procedure]
1) Select “9. Skip undefined parameters" in "SYSTEM>PARAM>OTHERS" mode.
2) Press the
F 1
4
(EDIT) key.
The function key menu changes.
Operation
Fig. 4-12-39 Setting "Skip undefined parameters"
SYSTEM>PARAM>OTHER
V8.27
5.Watch on STD.DO DC24V
VALID
6.Incremental Mode control
7.IO cmd (DI05) on STD.DIO
INVALID
INVALID
8.DI noise filter
VALID
9.Skip undefined parameters
INVALID
INVALID
VALID
3) Press the
F 1
(INVALID) or
4) Press the
ESC
key to quit the edit mode.
F 2
(VALID) key.
4-173
12. “SYSTEM” mode
12.1.4
CAUTION
c This
function is enabled from V8.18
or later.
Parameters for option boards
This section explains how to set parameters for option boards.
Option boards are roughly divided into two types: option DIO boards and serial I/O boards.
For option DIO boards, you can set a parameter to enable or disable monitoring of the DC
24V supply input. For serial I/O boards, you can set three parameters including the
parameter used to enable or disable the boards (CC_Link/DeviceNet/ProfiBUS).
[Procedure]
1) Press the F 5 (OP. BRD) key in "SYSTEM>PARAM” mode to enter the option
board parameter setting mode.
The option boards installed in the controller are displayed in order on the MPB
screen.
Fig. 4-12-40
4
Operation
SYSTEM>PARAM>OP.BRD
V8.18
1.D_Net(M4/500K)
VALID
2.DIO_N(1)
VALID
3. --4. --SELECT
Option boards installed into the option slots are displayed on the MPB screen.
Type
Display
DIO_N(n)
Meaning
An option DIO board of NPN specifications is installed. The
number in parentheses is an ID number.
Option DIO
DIO_P(n)
CCLNK(n/m)
Serial I/O
D_Net(n/m)
Profi(n/m)
An option DIO board of PNP specifications is installed. The
number in parentheses is an ID number.
A CC-Link unit is installed. Letters in parentheses indicate a station
number "n" and a communication speed "m".
A DeviceNet unit is installed. Letters in parentheses indicate a
MAC ID number "n" and communication speed "m".
A ProfiBUS unit is installed. Letters in parentheses indicate a
Station address "n" and communication speed "m".
When editing the parameters for option boards, the following keys and submenu are valid.
Valid keys
Menu
Cursor key
(↑/↓)
F1
4-174
Function
Moves the cursor up and down.
SELECT
Selects the option board for parameter setting.
12. “SYSTEM” mode
NOTE
n Setting
to "VALID" is recommended
so that the 24V supply for the option
board is monitored during operation.
Set to "INVALID" only when option
boards that are not to be used are
installed.
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.
Parameter
1.
CAUTION
c The
robot controller itself operates
Meaning
Board status
Enables or disables monitoring of the 24V supply input. When set
to "VALID", an error message will be issued as a warning and
recorded in the error history if the DC 24V supply is shut off.
When set to "INVALID", no error message will be issued and
recorded in the error history even if the DC 24V supply is shut off.
[Procedure]
Fig. 4-12-41
even if DC 24V is not supplied to the
option board. However, the option
board where no DC 24V is supplied
does not perform input/output
operations correctly.
SYSTEM>PARAM>OP.BRD
4
V8.18
VALID
2.DIO_N(1)
VALID
Operation
1.D_Net
3. --4. --SELECT
1) In “SYSTEM>PARAM>OP. BRD” mode, select the option DIO board with the
cursor keys and press the
F 1
(SELECT) key.
Fig. 4-12-42
SYSTEM>PARAM>OP.BRD>SELECT
1.Board condition
EDIT
2) Press the
F 1
V8.18
VALID
JUMP
(EDIT) key.
Fig. 4-12-43
SYSTEM>PARAM>OP.BRD>SELECT
1.Board condition
INVALID
ESC
VALID
VALID
3) Press the F 1 (INVALID) or
the DC 24V supply input.
4) Press the
V8.18
F 2
(VALID) key to select whether to monitor
key to quit the edit mode.
4-175
12. “SYSTEM” mode
n NOTE
• Set the Board status parameter to
Operation
4
"INVALID" when not using serial
I/O boards.
• When the Board status parameter
is set to "INVALID", the dedicated
input/output of the STD.DIO
connector becomes enabled. When
the Board status parameter is set
to "VALID", the dedicated input
(except DI1) of the STD.DIO
connector becomes disabled.
• For remote commands and I/O
commands, refer to the command
reference manual.
• For a description of codes issued
from the message output function
for SOW(1), refer to "1. Error
message" in chapter 9.
• When the Remote command & I/O
command parameter is set to
"VALID", the Output MSG to
SOW(1) parameter cannot be set
to "VALID". Likewise, when the
Output MSG to SOW(1) parameter
is set to "VALID", the Remote
command & I/O command
parameter cannot be set to
"VALID".
12.1.4.2 Serial I/O setting
For serial I/O boards, you can set the following 3 parameters including the parameter
used to enable or disable the serial I/O boards (CC_Link/DeviceNet/ProfiBUS).
Parameter
Meaning
1.
Board condition
Enables or disables the serial I/O board. When set to "VALID" the
serial I/O can be used. When set to "INVALID" the serial I/O
cannot be used.
2.
Remote cmd / IO cmd
(SI05)
Enables or disables the functions of remote commands and I/O
commands using word information and bit information. When set
to "VALID" the remote commands and I/O commands can be used.
When set to "INVALID" the remote commands and I/O commands
cannot be used.
This parameter cannot be set to "VALID" simultaneously with
parameter 3.
3.
Output MSG to SOW(1)
Enables or disables the function to send an message number, which
is displayed on the MPB, to word information SOW(1). When set
to "VALID" the message number to be displayed on the MPB will
be output. When set to "INVALID" the message number to be
displayed on the MPB will not be output. This parameter cannot be
set to "VALID" simultaneously with parameter 2.
[Procedure]
Fig. 4-12-44
SYSTEM>PARAM>OP.BRD
V8.18
1.D_Net
VALID
2.DIO_N(1)
VALID
3. --4. --SELECT
1) In “SYSTEM>PARAM>OP. BRD” mode, select the serial I/O board with the cursor
keys and press the
F 1
(SELECT) key.
Fig. 4-12-45
SYSTEM>PARAM>OP.BRD>SELECT
1.board condition
VALID
2.remote cmd / IO cmd(SI05)
VALID
3.Output MSG to SOW(1)
INVALID
EDIT
4-176
V8.18
JUMP
12. “SYSTEM” mode
2) Select the parameter with the cursor (↑/↓) keys.
Fig. 4-12-46
SYSTEM>PARAM>OP.BRD>SELECT
1.board condition
VALID
2.remote cmd / IO cmd(SI05)
VALID
3.Output MSG to SOW(1)
INVALID
EDIT
3) Press the
V8.18
F 1
JUMP
(EDIT) key.
4
Fig. 4-12-47
V8.18
1.board condition
VALID
2.remote cmd / IO cmd(SI05)
VALID
3.Output MSG to SOW(1)
INVALID
INVALID
Operation
SYSTEM>PARAM>OP.BRD>SELECT
VALID
4) Press the
F 1
(INVALID) or
5) Press the
ESC
key to quit the edit mode.
F 2
(VALID) key.
4-177
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.
5.
6.
7.
8.
4
Stop bit
Parity
Termination code
XON/XOFF control
RTS/CTS control
Operation
For detailed information, refer to Chapter 7, “RS-232C interface”.
[Procedure]
1) Press the F 2 (CMU) key in “SYSTEM” mode.
The communication parameter screen appears.
Fig. 4-12-48 Communication parameter screen
SYSTEM>CMU
V8.01
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
EDIT
JUMP
2) Select the parameter with the cursor (↑/↓) keys.
(JUMP) key and enter a parameter number to jump to that
parameter item. Page keys (
3) Press the
F 1
,
<<
F 2
>>
Or press the
) can be also used.
(EDIT) key to enter the edit mode.
The edit mode stays open until the ESC key is pressed, allowing you to set
multiple parameters one after the other.
4) Set the parameter with the function keys.
The selectable values or items appear as function key menus on the guideline.
5) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-178
12. “SYSTEM” mode
Valid keys and submenu descriptions in “SYSTEM>CMU” mode are shown below.
Menu
Valid keys
Cursor key
(↑/↓)
Function
Moves the cursor up and down.
Page key
>>
<<
Switches to other screens.
( / )
F1
EDIT
Edits the parameter.
F2
JUMP
Moves the cursor to the designated parameter.
1. CMU (communication) mode
This parameter sets the communication mode on the computer.
4
[Procedure]
1) Select “1. CMU mode” in “SYSTEM>CMU” mode.
Operation
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-49 Setting the “CMU mode”
SYSTEM >CMU
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
OFFLINE
n NOTE
• Online commands can be
executed only in “ONLINE”
mode.
• The CMU (communication)
mode can be changed with either
ONLINE or OFFLINE
statements in robot language.
V8.01
ONLINE
3) Select the communication mode with the
key.
F 1
(OFFLINE) or
F 2
(ONLINE)
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-179
12. “SYSTEM” mode
2. Data bits
This parameter sets the data bit length.
[Procedure]
NOTE
n Katakana
letters (Japanese phonetic)
cannot be sent if data bit length was
set to 7 bits.
1) Select “2. Data bits” in “SYSTEM>CMU” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-50 Setting the “Data bits”
SYSTEM>CMU
Operation
4
V8.01
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
7
8
3) Select the data bits with the
F 1
(7) or
F 2
(8) key.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
3. Baud rate
This parameter sets the communication speed.
[Procedure]
1) Select “3. Baud rate” in “SYSTEM>CMU” mode.
NOTE
n Communication
errors are more
prone to occur at high
communication speeds. If
communication errors frequently
occur, set a low communication speed.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-51 Setting the “Baud rate”
SYSTEM>CMU
V8.01
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
4800
ODD
9600
3) Select the baud rate with the
19200
F 1
38400
(4800) through
F 5
57600
(57600) keys.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-180
12. “SYSTEM” mode
4. Stop bit
This parameter sets the stop bit length.
[Procedure]
n SetNOTE
to 2 bits if communication errors
1) Select “4. Stop bit” in “SYSTEM>CMU” mode.
frequently occur.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-52 Setting the “Stop bit”
SYSTEM>CMU
V8.01
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
1
ODD
1
Operation
4.Stop bit
5.Parity
4
2
3) Select the stop bit length with the
(1) or
F 1
F 2
(2) key.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
5. Parity
This parameter sets the parity check.
[Procedure]
NOTE
n Use
the parity check as much as
possible.
1) Select “5. Parity” in “SYSTEM>CMU” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-53 Setting the “Parity”
SYSTEM>CMU
V8.01
1.CMU mode
ONLINE
2.Data bits
8
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
NON
ODD
3) Select the parity check with the
key.
EVEN
F 1
(NON),
F 2
(ODD) or
F 3
(EVEN)
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-181
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. 4-12-54 Setting the “Termination code”
SYSTEM>CMU
4
V8.01
Operation
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
6.Termination code
CR
7.XON/XOFF control
YES
CR
CRLF
3) Select the line feed with the
F 1
(CR) or
F 2
(CRLF) key.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
7. XON/XOFF control
This parameter sets whether to control the data flow using XON/XOFF control.
[Procedure]
NOTE
n Data
omissions may occur if data
flow control is not performed. Make
use of data flow control as much as
possible.
1) Select “7. XON/XOFF control” in “SYSTEM>CMU” mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-55 Setting the “XON/XOFF control”
SYSTEM>CMU
V8.01
3.Baud rate
9600
4.Stop bit
1
5.Parity
ODD
6.Termination code
CR
7.XON/XOFF control
YES
YES
NO
3) Select XON/XOFF control with the
F 1
(YES) or
F 2
(NO) key.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-182
12. “SYSTEM” mode
8. RTS/CTS control
This parameter sets whether to control the data flow using RTS/CTS signal.
[Procedure]
NOTE
n Data
omissions may occur if data
flow control is not performed. Make
use of data flow control as much as
possible.
1) Select “8. RTS/CTS CONTROL> in “SYSTEM>CMU “ mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-56 “RTS/CTS CONTROL” setting
SYSTEM>CMU
4.Stop bit
1
5.Parity
ODD
6.Termination code
CRLF
YES
YES
4) Press the
F 1
ESC
4
Operation
7.XON/XOFF control
8.DTR/DSR control
YES
3) Select the
V8.01
NO
(YES) or
F 2
(NO) key.
key to quit the edit mode.
4-183
12. “SYSTEM” mode
12.3 OPTION parameters
The OPTION parameters are used to set expanded controller functions. These parameters
consist of 3 types: parameters for area check output, parameters relating to SAFE mode,
and parameters relating to the serial I/O.
[Procedure]
1) In “SYSTEM” mode, press the
“SYSTEM>OPTION” mode.
2) Press the F 1 (POS.OUT),
parameter items.
F 3
F 2
(OPTION) key to enter
(SERVICE) or
F 3
(SIO) key to show the
Fig. 4-12-57 OPTION parameter setting
4
V8.01
Operation
SYSTEM>OPTION
POS.OUT
SERVICE
SIO
Parameters can be edited by entering data with the number keys or by selecting the
function keys. Refer to each parameter item for detailed information.
3) Press the
4-184
ESC
key to quit the parameter edit mode.
12. “SYSTEM” mode
12.3.1
n NOTE
• Output results might be incorrect
•
•
•
•
•
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. The
current robot position is output when the robot is within the specified area and the output
is cleared when outside the area.
The area check output includes the following 4 parameters.
1.Area check on/off
Selects the robot for the area check.
2.Area check output port No.
Selects the port to output the area check results to.
This is on when within the area and off when outside the area.
3.Comparison point No. 1
4.Comparison point No. 2
Sets the points for determining the area.
The area is applied to all set axes.
If the R axis is set, always make sure that the comparison point's R axis data is set.
When the comparison points are set as shown below, and the robot axis tip is moved
between the marks, the output is off at
and the output is on at
.
Fig. 4-12-58 When points are designated in Cartesian coordinates ("mm" unit system)
Comparison point 2
+Z
Comparison point 1
+Y
+X
4-185
4
Operation
•
if the specified port is the same as
the port used by the program.
If the same port is designated for
a different area check output, OR
will be output.
The units of the two comparison
points must be the same to
perform correct operation.
The comparison points must be
point-defined to perform correct
operation.
Area check output will not
function if return-to-origin is
incomplete.
The area check is carried out on
all set axes. Take care when
setting the R axis point if using
the system with four axes.
Always provide a margin when
setting the comparison point data.
Setting the area check output
12. “SYSTEM” mode
[Procedure]
1) Press F 1 (POS.OUT) in “SYSTEM>OPTION” mode to enter the area check
output mode.
Fig. 4-12-59 Selecting the area check output number
SYSTEM>OPTION>POS.OUT
4
V8.01
1.Output of area 1
NO
2.Output of area 2
NO
3.Output of area 3
NO
4.Output of area 4
NO
SELECT
Operation
2) Select an area check output number with the cursor (↑/↓) keys and press the
(SELECT) key.
3) Select the parameter items with the cursor (↑/↓) keys.
Fig. 4-12-60 Selecting the area check output parameters
SYSTEM>OPTION>POS.OUT>SELECT
V8.01
1.Output of area 1
NO
2.Port number of output 1
DO (20)
3.Compare point number 11
PO
4.Compare point number 12
PO
EDIT
JUMP
Valid keys and submenu descriptions in this mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
4-186
Function
Selects the area check output parameter.
F1
EDIT
Edits the area check output parameter.
F2
JUMP
Moves to the specified area check output parameter.
F 1
12. “SYSTEM” mode
1. Area check output on/off
This parameter sets whether or not to use the area check output function.
[Procedure]
n NOTE
• Select the robot for the area
check.
• “SUB” cannot be selected if there
is no sub robot.
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. 4-12-61 Selecting the area check output target robots
SYSTEM>OPTION>POS.OUT>SELECT
NO
2.Port number of output 1
DO (20)
3.Compare point number 11
PO
4.Compare point number 12
PO
MAIN
SUB
3) Select the robot for the area check with the
changed if the same output port
was used by the program. So do
not use the same output port.
• If a serial board such as CC-Link
was added to the option board
slot, then this is also output to the
SO of the same number.
• Area check output is on when the
current position is within the
specified area, and off when
outside the area.
F 1
(NO),
F 2
(MAIN) or
(SUB) key.
Details
Robot
n NOTE
• Output data might sometimes be
4
Operation
1.Output of area 1
NO
F 3
V8.01
NO
The area check output is not executed.
MAIN
The area check output is executed for the main robot.
SUB
The area check output is executed for the sub robot.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
2. Area check output port No.
This parameter specifies the port to output the area check results to.
[Procedure]
1) Select “2. Port number of output n” in “SYSTEM>OPTION>POS.OUT>SELECT”
mode.
2) Press the F 1 (EDIT) key.
The function key menu changes.
Fig. 4-12-62 Selecting the area check output port
SYSTEM>OPTION>POS.OUT>SELECT
1.Output of area 1
V8.01
MAIN
2.Port number of output 1
DO (20)
3.Compare point number 11
PO
4.Compare point number 12
PO
DO (20)
DO (21) DO (22) DO (23) DO (24)
4-187
12. “SYSTEM” mode
3) Select the output port with the
F 1
(DO(20)) through
F 8
(DO(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
NOTE
n The
units of comparison points 1 and
2 must be the same to perform correct
operation.
Set the point numbers for determining the area to perform area check.
[Procedure]
1) Select “3. Compare point number n” in
“SYSTEM>OPTION>POS.OUT>SELECT” mode.
Operation
4
2) Press the F 1 (edit) key.
The function key menu changes.
n NOTE
• The area check is carried out on
all set axes. Take care when setting
the R axis point if using the system
with four axes.
• Always provide a margin when
setting the comparison point data.
Fig. 4-12-63 Entering the comparison point numbers for area check output
SYSTEM>OPTION>POS.OUT>SELECT
V8.01
1.Output of area 1
MAIN
2.Port number of output 1
DO (20)
3.Compare point number 11
PO
4.Compare point number 12
PO
[0-4000] Enter point number>_
0
3) Enter the point number with the
0
to
9
keys and press the
key.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
NOTE
n Area
check output is on when the
current position is within the specified
area, and off when outside the area.
Example: When the comparison points are set as shown below, and the robot axis tip
is moved between the marks, the output is off at
and the output is on at
.
Fig. 4-12-58 When points are designated in Cartesian coordinates ("mm" unit system)
Comparison point 2
+Z
Comparison point 1
+Y
+X
4-188
12. “SYSTEM” mode
12.3.2
NOTE
n The
“SERVICE” mode functions can
only be utilized when the necessary
settings were made by YAMAHA prior
to shipping.
w InWARNING
“SERVICE” mode, changing
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 until the controller power is turned off, unless
those settings are saved.
“SERVICE” mode is enabled or disabled by input through the SAFETY interface.
There are 3 parameters for “SERVICE” mode.
1. “SERVICE” mode level
Select the mode level by referring to the table below.
4
Description
*
Hold to Run function
AUTO mode operation
Level 0
Disabled
Allowed
Level 1
Enabled
Allowed
Level 2
Disabled
Prohibited
Level 3
Enabled
Prohibited
Operation
the settings from their default
values is likely to increase
hazards to the robot operator
during maintenance or
operation. Customers can
change these settings based on
their own responsibility, but
adequate consideration should
first be given to safety.
Setting the “SERVICE” mode
* The Hold to Run function indicates that the robot operation (including program
execution) is executed only when the keys are held down on the MPB.
2. Operating speed limits in “SERVICE” mode
Specify the maximum robot operating speed.
Description
*
<3%
<100%
Sets robot operation within 3 % of maximum operating speed.
Sets no limit on robot operating speed.
3. Operating device during “SERVICE” mode
Specify the operating device to use.
CAUTION
c The
dedicated input is SI when the
Description
serial board is connected.
*
MPB
MPB/DI
MPB/COM
ALL
Only MPB operation is allowed.
Allows MPB and dedicated input.
Allows MPB and online commands.
Allows MPB, dedicated input and online command operation devices.
* : These are default settings.
4-189
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. 4-12-64 Entering the "SERVICE" mode setting password
SYSTEM>OPTION
V8.01
4
Operation
Enter password >_
2) The following screen appears when the correct password is entered.
Fig. 4-12-65 "SERVICE" mode initial screen
SYSTEM>OPTION>SERVICE
V8.01
1.Service level
LEVEL 3
2.Movement Vel
<3%
3.Operating device
MPB
EDIT
JUMP
SAVE
HELP
Valid keys and submenu descriptions in this mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
4-190
Function
Selects the “SERVICE” mode parameters.
F1
EDIT
Edits the “SERVICE” mode parameters.
F2
JUMP
Moves to the designated “SERVICE” mode parameter.
F4
SAVE
Saves the designated “SERVICE” mode parameter.
F5
HELP
Displays the help message for each setting.
12. “SYSTEM” mode
1. “SERVICE” mode level
Set the service mode level by referring to the table below.
Description
NOTE
n The
settings made here are only valid
until the controller power is turned
off. Save these settings if you want to
use them again after power is turned
off.
Hold to Run function
AUTO mode operation
Level 0
Disabled
Allowed
Level 1
Enabled
Allowed
Level 2
Disabled
Prohibited
Level 3
Enabled
Prohibited
[Procedure]
WARNING
w Settings
may be changed but the
2) Press the
F 1
Operation
customer must bear
responsibility for them. The
customer should keep safety in
mind when making changes.
4
1) Select “1. Service level” in “SYSTEM>OPTION>SERVICE” mode.
(EDIT) key.
Fig. 4-12-66 Editing the "SERVICE" mode level
SYSTEM>OPTION>SERVICE
V8.01
1.Service level
LEVEL 3
2.Movement Vel
<3%
3.Operating device
MPB
LEVEL 0 LEVEL 1 LEVEL 2 LEVEL 3
3) Select the “SERVICE” mode level with the
3) keys.
F 1
(LEVEL 0) to
F 4
(LEVEL
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-191
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.
<3%
NOTE
n The
settings made here are only valid
until the controller power is turned
off. Save these settings if you want to
use them again after power is turned
off.
[Procedure]
1) Select “2. Movement Vel” in “SYSTEM>OPTION>SERVICE” mode.
2) Press the
Operation
4
w Settings may be changed but the
Sets no limit on robot operating speed.
<100%
F 1
(EDIT) key.
Fig. 4-12-67 Editing the "SERVICE" mode operating speed
WARNING
customer must bear
responsibility for them. The
customer should keep safety in
mind when making changes.
SYSTEM>OPTION>SERVICE
V8.01
1.Service level
LEVEL 3
2.Movement Vel
<3%
3.Operating device
MPB
<100%
<3%
3) Select the maximum robot operating speed with the
(<3%) key.
F 1
(<100%) or
F 2
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-192
12. “SYSTEM” mode
3. Operating device in “SERVICE” mode
Specify the operating device to use.
Description
NOTE
n The
settings made here are only valid
until the controller power is turned
off. Save these settings if you want to
use them again after power is turned
off.
w Settings may be changed but the
WARNING
customer must bear
responsibility for them. The
customer should keep safety in
mind when making changes.
MPB
Only MPB operation is allowed.
MPB/DI
MPB/COM
Allows MPB and dedicated input.
Allows MPB and online commands.
Allows operation by all devices.
ALL
[Procedure]
1) Select “3. Operating device” in “SYSTEM>OPTION>SERVICE” mode.
2) Press the
F 1
4
(EDIT) key.
SYSTEM>OPTION>SERVICE
V8.01
1.Service level
LEVEL 3
2.Movement Vel
<3%
3.Operating device
MPB
MPB
MPB/DI
Operation
Fig. 4-12-68 Editing the "SERVICE" mode devices
MPB/COM ALL
3) Select the operating device with the
F 1
(MPB) to
F 4
(ALL) keys.
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-193
12. “SYSTEM” mode
w InWARNING
“SERVICE” mode, changing
the settings from their default
values is likely to increase
hazards to the robot operator
during maintenance or
operation. Customers can
change these settings based on
their own responsibility, but
adequate consideration should
first be given to safety.
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) Press the F 4 (SAVE) key in “SYSTEM>OPTION>SERVICE” mode.
When you have made changes to the parameters, a message appears on the
guideline asking if you want to save the setting.
Fig. 4-12-69 Saving the "SERVICE" mode parameters
SYSTEM>OPTION>SERVICE
Operation
4
V8.01
1.Service level
LEVEL 3
2.Movement Vel
<3%
3.Operating device
MPB
Change OK?
YES
NO
2) Press the
F 4
(YES) key to save the setting.
Press the
F 5
(NO) key if you want to cancel the settings.
12.3.2.2 Help display in “SERVICE” mode
To display the help messages for “SERVICE” mode parameters, proceed as follows.
[Procedure]
1) Press the
F 5
(HELP) key in “SYSTEM>OPTION>SERVICE” mode.
Fig. 4-12-70 Help display in “SERVICE” mode
SYSTEM>OPTION>SERVICE>HELP
V8.01
Security level of serv. mode
LEVEL0 : No limit
LEVEL1 : Hold to Run
LEVEL2 : Prohibit operation in AUTO
LEVEL3 : LEVEL2 + Hold to Run
NEXT P. PREV.P.
4-194
2) Press the
F 1
(NEXT P.) key to display the next message page.
Press the
F 2
(PREV. P.) key to display the previous message page.
3) Press the
ESC
key to quit this mode.
12. “SYSTEM” mode
n NOTE
• Output results might be incorrect
if the SIO specified port is the
same as the port used by the
program.
• These settings are only valid when
the serial I/O unit is connected.
12.3.3
SIO settings
The serial I/O unit allows the master station sequencer (PLC) to send and receive parallel
port ON/OFF data in the robot controller I/O unit, regardless of the robot program. This
function allows using I/O devices such as sensors and relays as serial-connected devices.
Fig. 4-12-71 SIO overview
Master station
PLC
I/O device
(sensors, relays. etc.)
CC-Link
Remote device station
robot controller
Parallel I/O connection
The relation between the parallel and serial ports that can be set are shown below.
DI port → SO port
Operation
Input devices such as sensors
Output devices such as valves
DO port ← SI port
DI2()
SO2()
DO2()
SI2()
DI3()
SO3()
DO3()
SI3()
DI4()
SO4()
DO4()
SI4()
DI5()
SO5()
DO5()
SI5()
[Procedure]
1) Press the
F 3
(SIO) key in "SYSTEM>OPTION” mode.
Fig. 4-12-72 SIO setting initial screen
SYSTEM>OPTION>SIO
V8.01
1.Direct SI2()->DO2()
NO
2.Direct SI3()->DO3()
NO
3.Direct SI4()->DO4()
NO
4.Direct SI5()->DO5()
NO
5.Direct SO2()<-DI2()
NO
EDIT
JUMP
Valid keys and submenu descriptions in this mode are shown below.
Valid keys
Menu
Cursor key
(↑/↓)
Function
Selects the SIO parameter.
F1
EDIT
Changes the SIO parameter.
F2
JUMP
Moves the cursor to the designated SIO parameter.
4
4-195
12. “SYSTEM” mode
NOTE
n Output
results might be incorrect if the
SIO specified port is the same as the
port used by the program.
1. Direct connection from SI n ( ) to DO n ( )
Serial port input can be directly connected to parallel port output. The relation between
the parallel and serial ports that can be set is as follows.
Output devices such as valves
DO port ← SI port
DO2()
SI2()
DO3()
SI3()
DO4()
SI4()
DO5()
SI5()
[Procedure]
1) Select from 1 to 4 in "SYSTEM>OPTION>SIO" mode.
4
Operation
2) Press the
F 1
(EDIT) key.
Fig. 4-12-73 Editing the SIO settings (1)
SYSTEM>OPTION>SIO
1.Direct SI2()->DO2()
V8.01
NO
2.Direct SI3()->DO3()
NO
3.Direct SI4()->DO4()
NO
4.Direct SI5()->DO5()
NO
5.Direct SO2()<-DI2()
NO
EDIT
JUMP
3) Press the F 1 (SET) key to set the direct connection or press the
key not to set it.
F 2
(NO)
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-196
12. “SYSTEM” mode
NOTE
n Output
results might be incorrect if the
SIO specified port is the same as the
port used by the program.
2. Direct connection from DI n ( ) to SO n ( )
Parallel port input can be directly connected to serial port output. The relation between
the serial and parallel ports that can be set is as follows.
Input devices such as sensors
DI port → SO port
DI2()
SO2()
DI3()
SO3()
DI4()
SO4()
DI5()
SO5()
[Procedure]
1) Select from 5 to 8 in "SYSTEM>OPTION>SIO" mode.
2) Press the
F 1
4
(EDIT) key.
Operation
Fig. 4-12-74 Editing the SIO settings (2)
SYSTEM>OPTION>SIO
4.Direct SI5()->DO5()
V8.01
NO
5.Direct SO2()<-DI2()
NO
6.Direct SO3()<-DI3()
NO
7.Direct SO4()<-DI4()
NO
8.Direct SO5()<-DI5()
NO
SET
NO
3) Press the F 1 (SET) key to set the direct connection or press the
key not to set it.
F 2
(NO)
4) Press the ESC key to quit the setting. To continue selecting other items, use the
cursor (↑/↓) keys.
4-197
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. 4-12-75 Initialization screen
SYSTEM>INIT
V8.01
Operation
4
PARAM
MEMORY
CMU
2) Select the item to initialize with the
F 1
CLOCK
(PARAM) to
F 4
(CLOCK) keys.
Valid keys and submenu descriptions in “SYSTEM>INT” mode are shown below.
Valid keys
4-198
Menu
Function
Initializes the parameter settings.
F1
PARAM
F2
MEMORY Deletes the user memory.
F3
CMU
Sets the communication parameters to the initial values.
F4
CLOCK
Sets the clock.
F6
GENERAT
Sets the robot model. (Normally invalid)
F10
PASSWRD
Enables the
F 6
setting.
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 is not changed by initialization.
[Procedure]
n NOTE
• Entire parameter is initialized.
(Except for display letters.)
• Return-to-origin will be
incomplete if this parameter is
changed.
1) Press the F 1 (PARAM) key in “SYSTEM>INIT” mode.
A message “Enter password” appears on the guideline.
Enter “INI” and press the
key.
Fig. 4-12-76 Initializing the parameters (1)
SYSTEM>INIT
V8.01
4
2) When the correct password was entered, a check message appears on the guideline.
Fig. 4-12-77 Initializing the parameter (2)
SYSTEM>INIT>PARAM
ROBOT
V8.01
= YK400X
D1=M1: aYK400X
D5=M5: no axis
D2=M2: aYK400X
D6=M6: no axis
D3=M3: aYK400X
D4=M4: aYK400X
Initialize OK?
3) Press the
F 4
YES
NO
(YES) key to initialize the parameters.
If not initializing, press the
F 5
(NO) key.
4-199
Operation
Enter password>_
12. “SYSTEM” mode
12.4.2
Initializing the memory
This initializes the program, point data, shift coordinates, hand definitions and pallet
definitions.
Before initializing, make sure that the currently input data is no longer needed.
[Procedure]
1) Press the
F 2
(MEMORY) key in “SYSTEM>INIT” mode.
Fig. 4-12-78 Initializing the memory
n NOTE
• External data must be input to
restore the memory after it has
been initialized.
• The memory must be initialized if
damaged due to some kind of
problem.
Operation
4
SYSTEM>INIT>MEMORY
V8.01
Source(use/sum)
=
1316/196608 bytes
Object(use/sum)
=
528/ 98304 bytes
Sequence(use/sum)=
0/
Number of program =
5
Number of points =
124
PROGRAM
POINT
SHIFT
4096 bytes
HAND
ALL
2) Select the item to initialize with the F 1 (PROGRAM) to
keys.
A check message appears on the guideline.
F 7
Fig. 4-12-79 Initializing the memory (program)
SYSTEM>INIT>MEMORY>PROGRAM
Source(use/sum)
=
1316/196608 bytes
Object(use/sum)
=
528/ 98304 bytes
Sequence(use/sum)=
0/
Number of program=
5
Number of points =
124
Initialize OK?
3) Press the
F 4
4096 bytes
YES
(YES) key to initialize the memory.
If not initializing, press the
4-200
V8.01
F 5
(NO) key.
NO
(COMMENT)
12. “SYSTEM” mode
Valid keys and submenu descriptions in “SYSTEM>INIT>MEMORY” mode are shown
below.
Valid keys
Menu
Function
F1
PROGRAM Deletes the program data.
F2
POINT
Deletes the point data.
F3
SHIFT
Initializes the shift coordinate data.
F4
HAND
Initializes the hand definition data.
F5
ALL
Deletes/initializes all data (program, point, shift coordinates, hand definition,
pallet definition, point comment).
F6
PALLET
Deletes the pallet definition data.
F7
COMMENT Deletes the point comment data.
12.4.3
4
Initializing the communication parameters
Operation
To initialize the communication parameters, proceed as follows.
[Procedure]
1) Press the F 3 (CMU) key in “SYSTEM>INIT” mode.
A check message appears on the guideline
Fig. 4-12-80 Initializing the communication parameters
SYSTEM>INIT>CMU
MODE
V8.01
,DATA,RATE,STOP,PARI,TERM,XON,RTS
ONLINE,
8,9600,
1 ,ODD ,CRLF,YES,NO
Initialize OK?
2) Press the
F 4
YES
NO
(YES) key to initialize the parameter.
If not initializing, press the
Values to be set are as follows.
1. Communication mode
2. Data bit
3. Baud rate
4. Stop bit
5. Parity
6. Termination code
7. XON/XOFF control
8. RTS/CTS control
F 5
(NO) key.
= ONLINE
= 8 bits
= 9600bps
= 1 bit
= ODD
=CRLF
=YES
=NO
4-201
12. “SYSTEM” mode
12.4.4
Clock setting
A clock function is provided in the controller for setting the date and time.
CAUTION
c The
clock used in the controller might
differ from the correct time.
If this happens, correct the time.
[Procedure]
1) Press the F 4 (CLOCK) key in “SYSTEM>INIT” mode.
The present date and time are displayed.
Fig. 4-12-81 Initializing the clock
SYSTEM>INIT>CLOCK
V8.01
DATE,TIME :01/08/21,10:13:35
4
Operation
DATE
TIME
2) Select the item with the F 1 (DATE) or
A check message appears on the guideline.
F 2
(TIME) key.
3) Enter the date or time in the specified format and then press the
Enter this data using the
Valid keys
4-202
0
to
9
,
Menu
/
and
Function
F1
DATE
Sets the year/month/date.
F2
TIME
Sets the hours/minutes/seconds.
:
key.
keys.
12. “SYSTEM” mode
12.4.5
System generation
In system generation in the robot controller, the specifications for the robot being connected
and the axis configurations are set prior to shipment. The user does not normally need to
set the system generation with the
c CAUTION
• If you change the system
generation by mistake, this may
adversely effect robot operation
or create operator hazards.
Always consult YAMAHA if
changes have been made.
• Please note that YAMAHA cannot
be held liable for problems
resulting from changing the
system generation settings
without first consulting
YAMAHA.
F 6
(GENERAT) key in “SYSTEM>INIT” mode.
Should the memory for the system generation be destroyed by some serious problems,
the user must make the correct system generation settings. To provide against such
accidents, save the initial parameter data when shipped from YAMAHA and the parameter
data from system upgrades onto an external PC storage device by way of the RS-232C.
Refer to the maintenance manual for system generation operating methods.
4
Operation
4-203
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
“SYSTEM>DIAGNOS” mode
F 5
(DIAGNOS) key to enter
Fig. 4-12-82 Self diagnosis
SYSTEM>DIAGNOS
V8.01
Operation
4
CHECK
HISTRY
BATTERY
Valid keys and submenu descriptions in “SYSTEM>DIAGNOS” mode are shown below.
Valid keys
Menu
Function
Makes a check of the controller.
F1
CHECK
F2
HISTORY Displays the past error history.
F3
BATTERY Displays the voltage of the absolute battery.
12.5.1
Controller check
This makes a self-diagnosis check of the controller.
[Procedure]
1) Press the
F 1
(CHECK) key to enter “SYSTEM>DIAGNOS>CHECK” mode.
Fig. 4-12-83 System check
n
SYSTEM>DIAGNOS>CHECK
V8.01
NOTE
• An error message will always
appear if DC 24V is not supplied
to STD.DIO.
• An error message will always
appear if DC 24V is not supplied
to the option DIO.
System check OK !!
NEXT P. PREV.P.
An error message appears if an error is detected.
2) Check the error message if displayed.
Pressing the cursor (↑/↓) keys changes the display one line at a time.
Pressing the F 1
screen at a time.
3) Press the
4-204
ESC
(NEXT P.) or
F 2
(PREV. P.) key changes the display one
key to return to “SYSTEM>DIAGNOS” mode.
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. 4-12-84 Error history
SYSTEM>DIAGNOS>HISTRY
V8.08
1:02/05/01,10:15:00 12.1:Emg.stop on
2:02/05/01,10:14:54 22.1:AC power low
3:02/05/01,09:59:34 17.4:D1,Over load
4
4:02/04/28,14:00:02 12.1:Emg.stop on
5:02/03/31,08:40:10 22.1:AC power low
CLEAR
Operation
NEXT P. PREV.P.
One screen displays the past 5 errors in order from the most recent error.
Error information is displayed in the following format.
<Date>, <Time> <Error No.>:<Error message>
* The hour, minute and second are displayed for the time.
c CAUTION
• Errors are not recorded when
identical to a preceding error that
just occurred.
• The error category “0” is not
recorded.
• The error history is initialized
when the F 5 (CLEAR) key is
used. Do not initialize if you want
to keep the error history.
2) Check the error history.
Pressing the cursor (↑/↓) keys changes the display one line at a time.
Pressing the F 1
screen at a time.
(NEXT P.) or
F 2
(PREV. P.) key changes the display one
3) Press the
F 5
key if you want to clear the error history.
4) Press the
ESC
key to return to “SYSTEM>DIAGNOSIS” mode.
4-205
12. “SYSTEM” mode
12.5.3
Absolute battery voltage display
To check the absolute battery voltage, proceed as follows.
n NOTE
• The battery voltage appearing on
Operation
4
the display is the voltage when the
controller power is turned on
prior to charging.
• Correct battery voltage is from
3.50 to 4.3V. If the voltage is
outside this range, an error
message, “17.94: ABS. battery low
voltage” may appear.
• Charge the battery if below 3.50V.
The battery charges automatically
when the controller is turned on. It
will take 48 hours to fully charge
the B3 battery, and 96 hours to
fully charge the B4 battery.
• If the battery will not charge
(voltage will not rise), then the
battery is dead and must be
replaced.
[Procedure]
1) Press the
F 3
(BATTERY) key.
Fig. 4-12-85 Absolute battery voltage display
SYSTEM>DIAGNOS>BATTERY
V8.01
ABS battery voltage[V]
M1=
4.15
M5=no axis
M2=
4.10
M6=no axis
M3=
4.16
M4=
4.14
Displays the absolute battery voltage of each axis connected to the absolute motor.
12.5.4
System error details display
Details of important software errors that have occurred in the past are displayed.
[Procedure]
1) Press the
F 15
(SYS. CHK) key.
Fig. 4-12-86 Error details
SYSTEM>DIAGNOS>SYS.CHK
V8.08
Exception error Information
n AllNOTE
error information will be initialized
Type
when the error history is initialized.
= -16
(02/03/30,13:42:38)
ErCode= 000000E0
Inf1
= 841081E6
Inf2
= 40000030
"No system error code" will appear if no error has occurred.
2) Press the
4-206
ESC
key to return to the "SYSTEM>DIAGNOS" mode.
12. “SYSTEM” mode
12.6 Backup processes
The various data in the controller's internal memory is saved on the internal flash ROM.
[Procedure]
1) Press the
(BACKUP) key in the "SYSTEM" mode.
F 9
Fig. 4-12-87 Backup
SYSTEM>BACKUP
V8.08
4
RAM CARD
FROM
Valid keys
Function
Menu
F4
RAM CARD Does not function.
F5
FROM
12.6.1
Saves and recovers data with the internal flash ROM.
Internal flash ROM
Various data can be saved on the flash ROM provided in the controller. The various data
on the flash ROM can be restored to the controller.
[Procedure]
1) Press the
NOTE
n The
data saved on the internal flash
(FROM) key in the "SYSTEM" mode.
F 5
Fig. 4-12-88 Backing up FROM
ROM can be restored if the internal
memory is damaged for any reason.
The data should be saved before
starting the robot controller as the
system.
SYSTEM>BACKUP>FROM
No File
1
FROM
LOAD
c CAUTION
• The data saved on the internal
flash ROM cannot be restored if
any hardware trouble occurs.
Always save the data onto an
external PC storage device.
• If an abnormal process occurs,
such as if the power is turned
OFF while saving the data, the
data cannot be guaranteed.
Ext
.ALL
SAVE
Size
V8.08
Data
Time
311800 02/04/22 17:32
INIT
Valid keys and submenu descriptions in "SYSTEM>BACKUP>FROM" mode are
shown below.
Valid keys
Menu
Function
F1
LOAD
The data on the internal flash ROM is restored (loaded) into the controller's
internal memory.
F2
SAVE
The memory data in the controller is saved on the internal flash ROM.
F4
INIT
The internal flash ROM data is initialized.
All data is erased.
4-207
Operation
Valid keys and submenu descriptions in "SYSTEM>BACKUP" mode are shown
below.
12. “SYSTEM” mode
12.6.1.1 Loading files
NOTE
n The
data saved on the internal flash
ROM can be restored if the internal
memory is damaged for any reason.
The data should be saved before
starting the robot controller as the
system.
The various data saved on the controller's internal flash ROM is restored 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 guideline.
2) Select the type of file to be loaded with the
(.ALL) to
F 1
F 9
(.PCM) keys.
Fig. 4-12-89 Loading FROM
SYSTEM>BACKUP>FROM>LOAD
4
No File
Operation
1
c CAUTION
• When reading data with ALL files
or as parameter files, the servo
must be off. After the files are
read in, the return-to-origin
incomplete state will be set.
• The data saved on the internal
flash ROM cannot be restored if
any hardware trouble occurs.
Always save the data onto an
external PC storage device.
• If an abnormal process occurs,
such as if the power is turned
OFF while saving the data, the
data cannot be guaranteed.
FROM
Ext
.ALL
.PGM
.ALL
Size
V8.08
Data
Time
311800 02/04/22 17:32
.PNT
.SFT
.HND
Valid keys and submenu descriptions in "SYSTEM>BACKUP>FROM>LOAD"
mode are shown below.
Valid keys
Menu
Function
F1
.ALL
Files are loaded as ALL files.
F2
.PGM
Only program files are loaded.
F3
.PNT
Only point files are loaded.
F4
.SFT
Only shift files are loaded.
F5
.HND
Only hand files are loaded.
F6
.PRM
Only parameter files are loaded.
F8
.PLT
Only pallet files are loaded.
F9
.PCM
Only point comment files are loaded.
3) A check message appears on the guidelines.
Press the
F 4
(YES) key to load the data.
Press the
F 5
(NO) key to cancel the procedure.
Fig. 4-12-90 Check of FROM loading
SYSTEM>BACKUP>FROM>LOAD>.PGM
No File
1
FROM
Ext
.ALL
Size
Data
V8.08
Time
311800 02/04/22 17:32
Load from FROM OK?
YES
NO
4) The message "0.5: Accessing" will appear during the procedure.
4-208
12. “SYSTEM” mode
NOTE
n The
data saved on the internal flash
ROM can be restored if the internal
memory is damaged for any reason.
The data should be saved before
starting the robot controller as the
system.
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 in the various units. If data is already saved, the new data cannot be
saved until the files are initialized once.
[Procedure]
1) Press the
F 2
(SAVE) key in the "SYSTEM>BACKUP>FROM" mode.
2) A check message appears on the guidelines.
c CAUTION
• If data has already been written
F 4
(YES) to save the data.
Press
F 5
(NO) to cancel the procedure.
Fig. 4-12-91 Check of saving on FROM
SYSTEM>BACKUP>FROM>SAVE
No File
1
Ext
Size
4
V8.08
Data
Operation
in, it cannot be overwritten and
saved.
If data has already been written
in, initialize the memory, and
then save the new data.
• The data saved on the internal
flash ROM cannot be restored if
any hardware trouble occurs.
Always save the data onto an
external PC storage device.
• If an abnormal process occurs,
such as if the power is turned
OFF while saving the data, the
data cannot be guaranteed.
Press
Time
No data
Save on FROM OK?
YES
NO
3) The message "0.5: Accessing" will appear during the procedure.
n The data saved on the internal flash
NOTE
ROM can be restored if the internal
memory is damaged for any reason.
The data should be saved before
starting the robot controller as the
system.
12.6.1.3 Initializing the files
The data saved on the controller's flash ROM is initialized.
[Procedure]
1) Press the
F 4
(INIT) key in the "SYSTEM>BACKUP>FROM" mode.
2) A check message appears on the guidelines.
c CAUTION
• If data is already written in, the
data must be saved after the
initialization process.
• The data saved on the internal
flash ROM cannot be restored if
any hardware trouble occurs.
Always save the data onto an
external PC storage device.
• If an abnormal process occurs,
such as if the power is turned
OFF while initializing the data,
the data cannot be guaranteed.
Press
F 4
(YES) to initialize the data.
Press
F 5
(NO) to cancel the procedure.
Fig. 4-12-92 Check of FROM initialization
SYSTEM>BACKUP>FROM>INIT
No File
1
FROM
Ext
.ALL
Initialize OK?
Size
V8.08
Data
Time
311800 02/04/22 17:32
YES
NO
3) The message "0.5: Accessing" will appear during the procedure.
4-209
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.
[Procedure]
1) Press the
DISPLAY
key.
Input status is displayed in the data area (3rd to 7th lines) as shown below.
Fig. 4-13-1 Input status display (1)
n I/ONOTE
ports that don not actually exist
MANUAL>POINT
50% [MG][S0H0J]
________________ x ________ y ________ z _________ r ___
DI monitor
are also displayed.
4
DI0()=&B00000101
DI4()=&B00000000
DI1()=&B00000010
DI5()=&B00000000
DI2()=&B00000000
DI6()=&B00000000
Operation
DI3()=&B00000000
EDIT
TEACH
DI7()=&B00000000
JUMP
VEL+
VEL-
Display format:
<Port No.> = &B<bit 7><bit 6> to <bit 0>
2) Press the
DISPLAY
key again.
Input status is displayed in the data area (3rd to 7th lines) as shown below.
Fig. 4-13-2 Input status display (2)
MANUAL>POINT
50% [MG][S0H0J]
________________ x ________ y ________ z _________ r ___
DI monitor
DI10()=&B00000101
DI14()=&B00000000
DI11()=&B00000010
DI15()=&B00000000
DI12()=&B00000000
DI16()=&B00000000
DI13()=&B00000000
DI17()=&B00000000
EDIT
4-210
TEACH
JUMP
VEL+
VEL-
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 monitor → Task monitor →
Normal screen display
NOTE
n The
screen display is updated at
periodic intervals.
4) To view the previous screen, press the
Pressing the
shown in 3).
5) Press the
LOWER
ESC
LOWER
+ DISPLAY key.
+ DISPLAY key changes the screen in the reverse of the sequence
key to return to the normal screen display.
4
Fig. 4-13-3 Example of bit information display
Operation
MANUAL>POINT
50% [MG][S0H0J]
________________ x ________ y ________ z _________ r ___
DI monitor
DI0()=&B00000101
DI4()=&B00000000
DI1()=&B00000001
DI5()=&B00000000
DI2()=&B00000000
DI6()=&B00000000
DI3()=&B00000000
EDIT
TEACH
DI7()=&B00000000
JUMP
VEL+
VEL-
The information is displayed with the following format:
<Port No.> = &B <7th bit> <6th bit> to <0th bit>
Fig. 4-13-4 Example of word information display
MANUAL>POINT
50% [MG][S0H0J]
________________ x ________ y ________ z _________ r ___
SIW monitor
SIW(0)=&H0000
SIW(4)=&H0000
SIW(1)=&H0000
SIW(5)=&H0000
SIW(2)=&H0000
SIW(6)=&H0000
SIW(3)=&H0000
EDIT
TEACH
SIW(7)=&H0000
JUMP
VEL+
VEL-
The information is displayed with the following format:
<Register No.> = &H<hexadecimal>
Fig. 4-13-5 Example of task information display
MANUAL>POINT
50% [MG][S0H0J]
________________ x ________ y ________ z _________ r ___
Task monitor:Line(Status),Pri
T1 =
6(RUN),32 T5 =
T2 =
10(SUS),32 T6 =
T3 =
T7 =
T4 =
EDIT
T8 =
TEACH
JUMP
12(RUN),35
VEL+
VEL-
The information is displayed with the following format:
<Task No.> = <Execution line> (<Execution state>), <Task priority> <Execution
state> : RUN (execute)/SUS (forced standby)/STP (stop)
4-211
14.“UTILITY” mode
The “UTILITY” mode can be entered from any other mode regardless of the mode level.
[Procedure]
NOTE
n The
current internal controller
temperature is displayed on the right
end of the 3rd line.
1) Press the
UTILITY
( LOWER +
ESC
) key.
The “UTILITY” mode screen is displayed.
Fig. 4-14-1 “UTILITY” mode
UTILITY
Date,Time
: 01/07/20,18:59:37
(36°)
Motor power : On
4
Sequence
: DISABLE
Armtype
: RIGHTY
Operation
MOTOR
2) Press the
UTILITY
SEQUENC ARMTYPE
( LOWER +
ESC
RST.DO
) key again.
The following screen appears.
Fig. 4-14-2 “UTILITY” mode
UTILITY
Date,Time
: 01/07/20,18:59:40
(36°)
Execut level: LEVEL0
Access level: LEVEL0
EXECUTE ACCESS
RST.DO
Valid keys and submenu descriptions in “UTILITY” mode are shown below.
Valid keys
Menu
Function
F1
MOTOR
Turns the motor power and servo on and off.
F2
SEQUENC Prohibit or permits executing the sequence program.
F3
ARMTYPE Sets the arm hand type. (Valid only on SCARA robots)
F5
RST.DO
Valid keys
4-212
Clears the output port.
Menu
Function
F1
EXECUTE Sets the execution level.
F2
ACCESS
Sets the access level.
F5
RST.DO
Clears the output port.
14. “UTILITY” mode
14.1 Canceling emergency stop; Motor power and servo on/off
14.1.1
Canceling emergency stop
Emergency stop must be cancelled to turn the servo on and operate the robot again in the
following cases.
(1) When the emergency stop button was released after pressing the emergency stop
button.
(2) When the contact was closed after triggering emergency stop by opening the
contact of emergency stop input.
[Procedure]
4
Operation
1) Press the UTILITY ( LOWER + ESC ) key to enter “UTILITY” mode.
(You can switch to “UTILITY” mode from any other mode.)
The “UTILITY” mode screen appears with a check message shown on the
guideline.
Fig. 4-14-3 Canceling emergency stop
UTILITY
Date,Time
: 01/07/20,18:59:37
(36°)
Motor power: On
Sequence
: DISABLE
Armtype
: RIGHTY
Cancel emergency flag?
YES
NO
2) Press the F 4 (YES) key to cancel the internal emergency stop flag.
The internal emergency stop flag is cancelled and the screen moves to the “14.1.2
Motor power and servo on/off” operation.
If not canceling the internal emergency stop flag, press the
F 5
(NO) key.
4-213
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]
4
1) Press the
F 1
(MOTOR) key in “UTILITY” mode.
2) Press the
F 1
(ON) key to turn on the motor power supply and servo.
Press the
F 2
(OFF) key to turn off the motor power supply and servo.
Press the
F 6
(POWER) key to turn on the motor power supply only.
Fig. 4-14-4 Servo on/off
Operation
UTILITY>MOTOR
Motor power: Off
D1=M1: Brake
D5=M5: no axis
D2=M2: Brake
D6=M6: no axis
D3=M3: Brake
D4=M4: Brake
ON
3) Press the
mode.
ESC
OFF
key to return to the mode selected just previous to “UTILITY”
4) To set the servo of each axis to “ON”, “OFF” or “FREE”, select the axis with the
cursor (↑/↓) keys.
When setting the servo to “ON”, the servo power for the axis must be turned on
beforehand by the operation in step 2.
Fig. 4-14-5 Setting the servo of each axis
UTILITY>MOTOR
Motor power: ON
D1=M1: Free
D5=M5: no axis
D2=M2: Servo
D6=M6: no axis
D3=M3: Servo
c On axes having a brake, the brake
CAUTION
can be released with the F 3
(FREE) key. Use caution during up
and down movement of vertical axes
that are especially heavy since
releasing the brake may cause the
axis to drop.
4-214
D4=M4: Servo
SERVO
BRAKE
5) Set the servo status with the
key.
F 1
FREE
(SERVO),
F 2
(BRAKE) or
F 3
(FREE)
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 disable execution of sequence programs, press the
F 2
(DISABLE) key.
To enable DO reset during sequence program execution, press the
key.
NOTE
n The
following conditions must be
satisfied before executing a sequence
program.
2. Sequence execution must be
enabled.
(RST.DO)
Fig. 4-14-6 Enabling/disabling the sequence program
4
UTILITY>SEQUENC
Scan Time
: 10msec
Sequence
: ENABLE
Operation
1. An object program must be made
for sequence execution.
F 6
3. DI10 contact point must be closed.
4. Operation must be in “AUTO”
mode or “MANUAL” mode.
ENABLE
DISABLE
4-215
14. “UTILITY” mode
14.3 Changing the arm type
To set the hand type of SCARA robots that move by the data on Cartesian coordinates,
follow the procedure below. The right-handed system is selected when the parameters are
initialized.
(Arm type can be changed only for SCARA robots.)
[Procedure]
1) Press the
F 3
(ARMTYPE) key in “UTILITY” mode.
Fig. 4-14-7 Main/sub robot specifications
UTILITY>ARMTYPE
4
Arm type
:
at Present
:Main robot : RIGHTY
Operation
Sub robot
RIGHTY
: LEFTY
LEFTY
2) Select the parameter item with the cursor (↑/↓) keys.
3) Press the F 1 (RIGHTY) or
handed system.
4) Press the
4-216
ESC
F 2
(LEFTY) key to set the right-handed or left-
key to exit "UTILITY" mode.
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 check message appears on the guideline.
Fig. 4-14-8 Resetting the output ports
UTILITY >REST.DO
DATE, TIME
: 01/07/20,18:59:37
(36°)
4
Execut level: LEVEL0
Access level: LEVEL0
2) Press the
F 4
(YES) key to reset.
Press the
F 5
(NO) key if not resetting.
YES
Operation
Reset output ports OK?
NO
4-217
14. “UTILITY” mode
14.5 Changing the execution level
NOTE
n Execution
level is automatically set to
“LEVEL 0” in the following cases.
1. When parameter data was
damaged.
2. When system generation data was
damaged.
Program execution levels can be set as shown in the table below. However, the following
commands are usable only when return-to-origin is complete.
Movement commands
: MOVE, MOVE2, MOVEI, MOVEI2, DRIVE,
DRIVE2, DRIVEI, DRIVEI2, PMOVE, PMOVE2
Position acquisition command : WHERE, WHERE2, WHRXY, WHRXY2
Description
Level
Operation
4
Program
execution at
origin incomplete
When power is turned on
Mode
Program reset
Program reset Return-to-origin
at program start signal in AUTO
mode
LEVEL0
Disabled
MANUAL mode
NO
NO
Invalid
LEVEL1
Enabled
MANUAL mode
NO
NO
Invalid
LEVEL2
Enabled
MANUAL mode
YES
NO
Invalid
LEVEL3
Enabled
AUTO mode
NO
NO
Invalid
LEVEL4
Enabled
AUTO mode
YES
NO
Invalid
LEVEL5
Enabled
MANUAL mode
YES
YES
Invalid
LEVEL6
Enabled
AUTO mode
YES
YES
Invalid
LEVEL7
Enabled
AUTO mode
NO
NO
Valid (Note 1)
LEVEL8
Enabled
AUTO mode
YES
YES
Valid (Note 1)
Note 1: When the absolute reset input (DI17) is valid in “AUTO” mode, the operation 2
(DO13) signal turns on during processing by the absolute reset input (DI17).
4-218
14. “UTILITY” mode
14.5.1
Changing the execution level
To change the execution level, proceed as follows.
[Procedure]
1) Press the
the
F 1
UTILITY
( LOWER +
ESC
) key twice to enter “UTILITY” mode, then press
(EXECUTE) key.
Fig.4-14-9
UTILITY
Date,Time
: 01/07/23,12:36:37
(36°)
Execut level: LEVEL7
4
Access level: LEVEL0
2) Select the execution level with the
RST.DO
F 1
(LEVEL0) to
F 9
(LEVEL8) keys.
Fig.4-14-10
UTILITY>EXECUTE
Execut level: LEVEL7
LEVEL0
3) Press the
ESC
LEVEL1
LEVEL2
LEVEL3
LEVEL4
key to exit "UTILITY" mode.
4-219
Operation
EXECUTE ACCESS
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
the
(PREV. P.) or cursor (↓) key to refer to the previous page.
F 2
(NEXT P.) key or cursor (↑) key to refer to the next page or press
Fig.4-14-11
UTILITY>EXECUTE>HELP
4
LEVEL0:Program cannot execute if arm
:has not returned to ORIGIN.
Operation
:Power-on mode is MANUAL.
:Power-on without program reset.
NEXT P.
PREV. P.
Fig.4-14-12
UTILITY>EXECUTE>HELP
LEVEL1:Program can execute if arm has
:not returned to ORIGIN.
:Power-on mode is MANUAL.
:Power-on without program reset.
NEXT P.
2) Press the
4-220
ESC
PREV. P.
key to return to the setup screen.
14. “UTILITY” mode
n Access level is automatically set to
NOTE
“LEVEL 0” in the following cases.
1. When “ALL” was executed during
memory initialization setting
(Refer to “12.4.2 Initializing the
memory”.)
2. When the memory was destroyed
(when “9.3: Memory destroyed”
message was displayed)
3. When a program was destroyed
(when“9.1: Program destroyed”
message was displayed)
4. When point data was destroyed
(when “9.2: Point data destroyed”
message was displayed)
6. When hand data was destroyed
(when “9.7: Hand data destroyed”
message was displayed)
Once the robot system is installed, anyone can change its program and point data. However,
unauthorized changing of such data can be a source of trouble.
To prevent such problems, the robot controller can be set to operating levels that permit or
prohibit changing program and point data.
The operation level can be set to any of the following levels.
Description
Level
LEVEL0
All operations are allowed.
LEVEL1
All data changes are prohibited. (Program changes, teaching, data deletion, data
initializing, etc are prohibited.)
LEVEL2
In addition to level 1, mode selection is restricted to MANUAL and AUTO
modes.
LEVEL3
In addition to level 2, mode speed changes and display of program list in AUTO
mode are prohibited.
14.6.1
Entering the password
7. When a parameter was destroyed
(when “9.4: Parameter destroyed”
message was displayed)
The password must be entered in order to change the access level.
8. When generation data was
destroyed (when “9.33: Sys.
generation destroyed” message
was displayed)
1) Press the F 2 (ACCESS) key in “UTILITY” mode.
A message “Enter password” appears on the guideline. Enter with "LVL" here and
[Procedure]
press the
key.
Fig. 4-14-13 Setting the access level (1)
UTILITY
Date,Time
: 01/07/20,18:59:37
(36°)
Execut level: LEVEL7
Access level: LEVEL0
Enter password>LVL_
2) If the correct password was entered, the following screen appears.
Fig. 4-14-14 Setting the access level (2)
UTILITY>ACCESS
Access level: LEVELO
LEVEL0
LEVEL1
LEVEL2
LEVEL3
4
Operation
5. When shift data was destroyed
(when “9.6: Shift data destroyed”
message was displayed)
14.6 Changing the access level (operation level)
HELP
4-221
14. “UTILITY” mode
14.6.2
NOTE
n The
online command (@ACCESS)
from the RS-232C allows changes to
the access level regardless of the
password setting.
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
4
Operation
LEVEL0
14.6.3
LEVEL1
LEVEL2
LEVEL3
HELP
Displaying the Help message
See the help message as needed.
[Procedure]
1) Press the F 5 (HELP) key.
The first page of the Help screen appears.
Press the
F 1
the
(PREV. P.) or cursor (↓) key to refer to the previous page.
F 2
(NEXT P.) key or cursor (↑) key to refer to the next page or press
Fig. 4-14-16 Access level Help screen (first page)
UTILITY>ACCESS>HELP
LEVEL0:All data access available
LEVEL1:Data change invalid
NEXT P.
PREV. P.
Fig. 4-14-17 Access level Help screen (second page)
UTILITY>
>ACCESS>HELP
LEVEL2:LEVEL1 + SYSTEM & PROGRAM mode
change invalid
LEVEL3:LEVEL2 + Program list display &
speed change invalid
NEXT P.
4-222
PREV. P.
Chapter 5 I/O interface
Contents
1. I/O interface overview ..................................................................... 5-1
1.1
Power supply ........................................................................................ 5-1
1.2
Connector I/O signals ........................................................................... 5-2
1.3
Connector pin numbers ........................................................................ 5-3
1.4
Typical I/O signal connection ............................................................... 5-4
1.5
Typical output signal connection .......................................................... 5-5
1.5.1
Dedicated outputs .................................................................................. 5-5
1.5.2
General-purpose outputs ........................................................................ 5-6
1.6
Dedicated input signals ......................................................................... 5-7
1.7
Dedicated output signals ....................................................................... 5-9
1.8
1.9
Dedicated I/O signal timing chart ....................................................... 5-11
1.8.1
Controller power ON, servo ON and emergency stop .......................... 5-11
1.8.2
Absolute reset ...................................................................................... 5-12
1.8.3
Switching to AUTO mode, program reset and execution ...................... 5-13
1.8.4
Stopping due to program interlocks ...................................................... 5-14
General-purpose I/O signals ................................................................ 5-15
1.9.1
General-purpose input signals .............................................................. 5-15
1.9.2
General-purpose output signal ............................................................. 5-15
1.9.3
General-purpose output signal reset (off) .............................................. 5-15
2. Option I/O interface overview ....................................................... 5-16
2.1
ID settings ........................................................................................... 5-17
2.2
Power supply ...................................................................................... 5-17
2.3
Connector I/O signals ......................................................................... 5-18
2.4
Connector pin numbers ...................................................................... 5-19
2.5
Typical input signal connection .......................................................... 5-20
2.6
Typical output signal connection ........................................................ 5-20
2.7
General-purpose I/O signals ................................................................ 5-20
2.7.1
General-purpose input signals .............................................................. 5-20
2.7.2
General-purpose output signals ............................................................ 5-20
2.7.3
General-purpose output signal reset (off) .............................................. 5-21
3. Ratings ........................................................................................... 5-22
4. Caution items ................................................................................. 5-23
MEMO
1. I/O interface overview
CAUTION
c See
"7. I/O connections" in Chapter
3 for a definition of NPN and PNP
specifications.
n OnNOTE
the robot controller with “SAFE”
mode enabled, dedicated inputs may
not be used in “SERVICE” mode
depending on the operating device
setting in “SERVICE” mode.
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 interface contains 10 dedicated inputs and 11 outputs, and 16 generalpurpose inputs and 8 outputs. The type of standard I/O interface (NPN or PNP
specifications) is set prior to shipment.
Inputs are referred to here as DI (Digital Inputs) and outputs as DO (Digital Outputs).
If serial IO (CC-Link, DeviceNet, etc.) is selected with the option board, the standard I/O
interface's dedicated inputs other than DI (11) (Interlock signal) will all be invalid.
Specifications
Connector name Connector type No. Conductor wire
Dedicated : 10
Input
MR-50LM
General-purpose : 16
or equivalent
(Honda Tsushin
STD. DIO
Standard
0.3 sq larger
Dedicated : 11
Kogyo)
Output
General-purpose : 8
1.1
Power supply
The standard I/O interface uses an external 24V power supply. Connect the 24V and
ground terminals of the external power supply to pins 47 to 50 of the STD. DIO connector
on the controller.
I/O interface
n NOTE
• When supply an external 24VDC
5
power supply to the standard I/O
interface, invalidate the "Watch on
STD. DIO DC24V" setting under
"PARAM>OTHERS".
• When using the general-purpose
input/output of the standard I/O
interface, connect DI (11)
(interlock signal).
5-1
1. I/O interface overview
1.2
c CAUTION
• See "7. I/O connections" in
Chapter 3 for a definition of NPN
and PNP specifications.
• Do not make user connections to
spare I/O signal wires and I/O
signal wires that are not to be
used.
I/O interface
5
Connector I/O signals
PIN
I/O command execution trigger input
2
DI01
3
DI10
4
DI11
Servo ON
Sequence control
Interlock
5
DI12
Program start
6
DI13
AUTO mode
7
DI14
Spare
8
DI15
9
DI16
10
DI17
11
DI20
12
DI21
13
DI22
14
DI23
15
DI24
16
DI25
17
DI26
18
DI27
19
DI30
20
DI31
21
DI32
22
DI33
23
DI34
24
DI35
25
DI36
26
DI37
27
COMMON
Program reset
MANUAL mode
Absolute reset
General-purpose input 20
General-purpose input 21
General-purpose input 22
General-purpose input 23
General-purpose input 24
General-purpose input 25
General-purpose input 26
General-purpose input 27
General-purpose input 30
General-purpose input 31
General-purpose input 32
General-purpose input 33
General-purpose input 34
General-purpose input 35
General-purpose input 36
General-purpose input 37
Relay common
28
DO01b
CPU_OK (B contact)
29
DO01a
CPU_OK (A contact)
30
DO02b
31
DO02a
32
DO03b
33
DO03a
Servo ON (B contact)
Servo ON (A contact)
Alarm (B contact)
Alarm (A contact)
34
DO10
AUTO mode
35
DO11
Return-to-origin complete
36
DO12
Sequence program in-progress
37
DO13
Robot program in-progress
38
DO14
39
DO20
40
DO21
41
DO22
42
DO23
43
DO24
44
DO25
45
DO26
46
DO27
Program reset status
General-purpose output 20
General-purpose output 21
General-purpose output 22
General-purpose output 23
General-purpose output 24
General-purpose output 25
General-purpose output 26
General-purpose output 27
DC24V
DC+24V (P.COMDI)
GND
GND
48
49
50
Remarks
Signal name
DI05
47
5-2
I/O No.
1
(N.COMDI)
Common terminals
P. COM DI
N. COM DI
Photocoupler input
NPN specifications : source type
PNP specifications : sink type
Relay output
Maximum capacity of each terminal
(resistance load)
: DC 24V, 0.5A
Common terminal : COMMON
Transistor output
NPN or PNP specifications
Maximum capacity of each terminal
(resistance load)
: 0.1A
+ common terminal : DC +24V
- common terminal : GND
External power supply input
1. I/O interface overview
1.3
Connector pin numbers
STD. DIO
33 19 1
32
50
18
Connection side
5
I/O interface
Solder side
1
33
19
Connector type: MR-50LM
An STD. DIO connector is supplied with the
controller.
32
18
50
5-3
1. I/O interface overview
1.4
CAUTION
c See
"7. I/O connections" in Chapter
Typical I/O signal connection
NPN specifications
DC24V (P.COM DI)
3 for a definition of NPN and PNP
specifications.
DI 01
DI 10
DI 11
DI 12
to
DI 17
DI 20
DI 21
5
Protective
circuit
DI 22
NPN
I/O interface
DI 23
to
DI 36
External
power
supply
DI 37
GND (N.COM DI)
Controller side
PNP specifications
DC24V (P.COM DI)
Protective
circuit
DI 01
DI 10
DI 11
DI 12
to
DI 36
DI 37
PNP
External
power
supply
GND (N.COM DI)
Controller side
5-4
1. I/O interface overview
c See "7. I/O connections" in Chapter
1.5
Typical output signal connection
1.5.1
Dedicated outputs
CAUTION
3 for a definition of NPN and PNP
specifications.
NPN specifications
COMMON
DO 01a
DO 01b
DO 02a
DO 02b
DO 03a
DO 03b
5
I/O interface
DO 10
to
DO 14
Controller side
PNP specifications
COMMON
DO 01a
DO 01b
DO 02a
DO 02b
DO 03a
DO 03b
DO 10
to
DO 14
Controller side
5-5
1. I/O interface overview
1.5.2
c CAUTION
• When an inductive load
(solenoid, relay, etc.) is used,
always connect a diode in
parallel as a surge killer.
• Never short the DO output to DC
24V, since this will damage the
internal circuitry.
• See "7. I/O connections" in
Chapter 3 for a definition of
NPN and PNP specifications.
General-purpose outputs
NPN specifications
DC24V
DO 20 to DO27
Photocoupler
(PS2801 or equivalent)
External power
supply DC 24V
GND
NPN Darlington transistor
(2SD2195 or equivalent)
Controller side
PNP specifications
5
DC24V
I/O interface
External power
supply DC 24V
DO 20 to DO27
PNP Darlington transistor
(2SB1580 or equivalent)
Photocoupler
(PS2801 or equivalent)
Controller side
5-6
GND
1. I/O interface overview
n If two or more custom inputs are
1.6
Dedicated input signals
NOTE
supplied simultaneously or the pulse
width of input signals is too short, the
input signals might not be recognized.
Be sure to provide an interval of about
100ms between input pulses when two
or more custom inputs are used.
c CAUTION
• If a rise of the DI05 signal is
recognized, the robot might begin
to move. In this case, the output
signals of DO(26) and DO(27)
will also change.
• When no I/O commands are used,
set the I/O command parameter
to "INVAID" by referring to
"12.1.3 Other parameters".
NOTE
n Interlock
is always engaged if DC 24V
NOTE
n The
rise of DI12 has the same function
as the
START
key.
CAUTION
c When
the program execution is
stopped by a signal such as DI11
(Interlock input), the program reexecutes the command that has
stopped.
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), the servo power turns on at the rising edge of
the signal pulse. If an alarm has been issued it is cleared.
• Input signal pulse width: 100ms minimum
2. DI05
I/O command execution trigger input
DI05 is used to execute an I/O command.
When the command code to be executed is assigned to DI2() and command data to
DI3() and DI4(), and the DI05 contact is closed (ON), the I/O command will be executed
at the rise of the signal. Upon receiving the I/O command, the controller executes the
required task. The progress information during the command execution and decision
results after the command execution are output.
• Input signal pulse width: 100ms minimum
3. DI10
Sequence control input
DI10 is used to execute a sequence program.
When the DI10 contact is closed (ON), a sequence program is executed.
When the sequence program is executed, DO12 (sequence program in-progress) is
output.
4. DI11
Interlock input
DI11 is used to temporarily stop robot movement during execution of a program or
manual operation of a robot. When the DI11 contact is opened (OFF), the message
“Interlock on” appears and robot operation stops. The program cannot be executed
and robot manual operation is disabled when the DI11 contact is open
5. DI12
Program start input
DI12 is used to start the program.
When the DI12 contact is closed (ON) in “AUTO” mode, the robot program starts at
the rising edge of the signal pulse. DO13 (Robot program in-progress) is issued when
the robot program is executed.
• Input signal pulse width: 100ms minimum
6. DI13
AUTO mode input
DI13 is used to switch to “AUTO” mode.
When the DI13 contact is closed (ON), operation switches to “AUTO” mode at the
rising edge of the signal pulse.
• Input signal pulse width: 100ms minimum
7. DI14
Spare
5-7
5
I/O interface
is not being supplied to the STD. DIO
connector. A parameter is available to
cancel this status using the software.
1. DI01
1. I/O interface overview
8. 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. However, the general-purpose outputs are not cleared when a sequence program
is being executed without enabling the DO to reset in the sequence execution flag
setting.
DO14 (program reset status) is output when the program is correctly reset.
• Input signal pulse width: 100ms minimum
NOTE
n The
absolute reset input will not work
on axes using the mark method for
return-to-origin.
9. DI16
DI16 is used to switch to “MANUAL” mode.
• Input signal pulse width: 100ms minimum
10. DI17
I/O interface
5
CAUTION
c DI01,
DI12, DI13, DI15, DI16 and
DI17 are inoperative while the
program is being executed. Input
these signals only after the program
is halted.
5-8
MANUAL mode input
Absolute reset input
DI17 is used to perform absolute reset.
This input is only valid when using an absolute motor.
When the DI17 contact is closed (ON) in “MANUAL” mode, absolute reset starts at
the rising edge of the signal pulse.
Absolute reset can only be performed on axes using the stroke-end or sensor method
for return-to-origin.
Absolute reset is not performed on axes which use the mark method for return-toorigin. Absolute reset cannot be performed by dedicated input when return-to-origin is
incomplete.
• Input signal pulse width: 100ms minimum
1. I/O interface overview
1.7
Dedicated output signals
1. DO01a CPU_OK (A contact) output
This is always on during normal controller operation.
In the following cases this output turns off and CPU operation stops.
• Serious malfunction
• When the power supply voltage has dropped to lower than the specified value.
Normal operation cannot resume if this signal is turned off once, without turning the
power supply again.
2. DO01b CPU_OK (B contact) output
This is a complementary (inverted) logic output of the CPU_OK (A contact).
3. DO02a Servo ON (A contact) output
4. DO02b Servo ON (B contact) output
This is a complementary (inverted) logic output of the servo ON (A contact) signal.
5. DO03a Alarm (A contact) output
This output turns on in the following cases.
(1) When contacts on the emergency stop switch open.
(2) When a driver unit detects a serious malfunction such as an overload.
(However does not include abnormalities from when the power is turned on.)
(3) When the host CPU has stopped due to a major abnormality or other causes.
(4) When battery voltage for retaining the memory is low or the battery is
disconnected.
However, even if an alarm is turned on due to a low battery, this does not
affect other conditions or execution of programs.
The ALARM LED on the controller monitor panel lights up simultaneously when an
alarm is triggered.
The alarm can be turned under the following conditions for each of the above cases.
In case (1)
After the emergency stop switch contacts have been closed, alarm turns off when
the emergency stop flag is canceled in “UTILITY” mode or the servo ON input
(DI01) of the I/O interface is turned on.
(This alarm can also be cancelled after the power is turned on again.)
In case (2)
Alarm turns off when the emergency stop flag is cancelled in “UTILITY” mode.
However, the alarm condition is maintained while the driver unit still has power so
the power must be turned off and then on again in order to turn on the servos and
restart the program.
5-9
5
I/O interface
This output is on when the motor power supply inside the controller is on. However
this signal turns off when a serious malfunction occurs or the emergency stop input
contacts are open. After the emergency stop input contacts close, when the servo turns
on in “UTILITY” mode or when the servo ON input (DI01) of the I/O interface are
turned on, then DO02a turns on at the same time.
The servo will not turn on if a serious malfunction occurs or the emergency stop input
contacts are open.
1. 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 power
supply is turned on again.
If the alarm is still on even after the power has been turned on again, then the battery
connections must be checked or the battery replaced.
6. DO03b Alarm (B contact) output
This is a complementary (inverted) logic output of the alarm (A contact) signal.
7. DO10 AUTO mode output
DO10 is always on when “AUTO” mode is selected.
5
8. DO11 Return-to-origin completion output
I/O interface
DO11 is always on when return-to-origin on all axes is complete. If this output is off,
absolute reset must be performed.
9. DO12 Sequence program in-progress output
DO12 is always on when the sequence program is being executed.
10.DO13 Robot program in-progress output
DO13 is always on when the robot program is being executed in “AUTO” mode, or
when executed individually.
11.DO14 Program reset status output
DO14 is always on when the robot program is reset and turns off when the program
starts.
5-10
1. I/O interface overview
c ItCAUTION
will take about 3 seconds for the
controller to issue the CPU_OK
output after the power is turned on.
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(01)
off
a)
b)
c )d)
e) f)
g)
h) i )
j) k)
Initial servo-on processing when power is turned on.
Shifting to emergency stop
e) Emergency stop input turns off.
f) Alarm output turns on and servo-ON output turns off.
Shifting from emergency stop to servo-ON
g) Emergency stop input turns on.
h) Servo-ON input turns on.
i) Alarm output turns off.
j) Servo-ON output turns on.
k) Servo-ON input turns off after checking for servo-ON output.
* When the emergency stop input contacts are open or a major error (malfunction) occurs
while the controller power is turned on, the servo turns off.
* When processing with dedicated inputs, use I/O signals to perform handshake
processing. If handshake processing is impossible, hold signal for a minimum of 100ms.
5-11
I/O interface
a) CPU_OK output turns on.
b) Servo-ON input turns on.
c) When not in emergency stop, servo-ON output turns on after servo-ON processing.
d) Servo-ON input turns off after checking for servo-ON output.
5
1. 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
off
output: DO(11)
on
Interlock input: DI(11) off
on
Absolute reset input: DI(17) off
Move
Robot axis status
Stop
a)b) c)
5
d)e)
f)g)
h) i) j)k)
Absolute reset processing
I/O interface
a) Absolute reset input turns on.
b) Robot axis starts moving to origin position.
c) Absolute reset input turns off.
d) Robot axis reaches origin position and stops moving.
e) Return-to-origin complete output turns on.
Interlocks during absolute reset
f) Absolute reset input turns on and return-to-origin complete output turns off.
g) Robot axis starts moving to origin position.
h) Absolute reset input turns off.
i) Interlock input turns off.
j) On-going robot axis movement stops.
k) Interlock input turns on.
* When the return-to-origin complete output is on, absolute reset does not have to be
performed.
* Return-to-origin complete output is on until absolute reset is required.
* Absolute reset cannot be performed unless the servo is on.
* When the absolute reset input is on, the return-to-origin output is off.
* Return-to-origin complete output automatically turns on when the controller is turned
on, unless there are errors in the origin position information.
5-12
1. 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 output: DO(14)
off
on
Interlock input: DI(11)
off
Program start input: DI(12) on
AUTO mode input: DI(13)
off
on
5
off
Program reset input: DI(15) on
a)
b) c)
d)
100ms or more
e)
f)
g) h)
I/O interface
off
i)
100ms or more
Switching to AUTO mode
a) AUTO mode input turns on.
b) AUTO mode output turns on.
c) AUTO mode input turns off after checking AUTO mode output is turned on.
Program reset
d) Program reset input turns on.
e) Program reset status output turns on.
f) Program reset input turns off after checking program reset status output is turned on.
Program execution
g) Program start input turns on.
h) Program reset status input turns off, and robot program in-progress output turns on.
i) Program start input turns off after checking robot program in-progress output is turned
on.
* Program cannot be executed when the emergency stop input and interlock input are
off.
* If the return-to-origin complete output is off, the program may not be executed,
depending on the execution level setting.
5-13
1. 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
a)
b)
c)
d)e)
f) g)
h)
i)
100ms or more
5
Program execution
I/O interface
a) Program start input turns on.
b) Robot program in-progress output turns on.
c) Program start input turns off after checking robot program in-progress output is turned
on.
Program stop processing due to interlock
d) Interlock input turns off.
e) Robot program in-progress output turns off.
c CAUTION
• When the program stops during
execution by input of DI11 signal
(Interlock input) or other reason,
the program re-executes the
command that has stopped. Keep
this point in mind when reexecuting the program with DI12
signal (Program start).
Program execution after stopping program due to interlock input
f) Interlock input turns on.
g) Program start input turns on.
h) Robot program in-progress output turns on.
i) Program start input turns off after checking robot program in-progress output is turned
on.
* Program will stop if switching to emergency stop. An alarm is output at this time and
the servo-ON output turns off. The servo must be turned on to execute the program
again.
5-14
1. I/O interface overview
CAUTION
c When
the "8. DI noise filter"
parameter explained in section 12.1.3,
"Other parameters", is enabled
(valid), the ON or OFF signal width
for general-purpose input signals
must be longer than 25 msec. (The
"8. DI noise filter" parameter
function is enabled for the controller
software V8.23 or later version.)
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
such as pushbutton switches and sensors. The user can specify these components on the
robot program or sequence program.
1.9.2
General-purpose output signal
These are a total of 8 signals consisting of DO20 to DO27.
All signals are Darlington transistor open-collector outputs.
Maximum output current of each transistor is 100mA.
The general-purpose outputs are all available to the user, and can be specified on the robot
program or sequence program.
All output signals are initialized when the controller power is turned on.
1.9.3
5
General-purpose output signal reset (off)
1) When the
F 5
(RST.DO) key was pressed in “UTILITY” mode.
2) When any of the following operations is performed without executing a sequence
program or the sequencer execution flag was reset.
■ When compiling was done in “PROGRAM” mode.
■ When a program was compiled in “AUTO” mode.
■ When a program was reset in “AUTO” mode.
■ When the dedicated input signal DI15 (Program reset input) was turned on in
“AUTO” mode while the program was stopped.
(Refer to section 1.6, “Dedicated input signals”.)
■ When either of the following was initialized in “SYSTEM>INIT” mode.
1. Program memory (SYSTEM>INIT>MEMORY>PROGRAM)
2. Entire memory (SYSTEM>INIT>MEMORY>ALL)
■ When the SWI command was executed in “AUTO” mode.
■ When the online commands @RESET, @INIT PGM, @INIT MEM, @INIT ALL,
@SWI were executed.
■ When the SWI statement was executed in the program.
■ When the HALT statement was executed in the program.
5-15
I/O interface
All general-purpose output signals are reset (off) in the following cases.
2. Option I/O interface overview
The option I/O interface of the controller is expandable to a maximum of 4 units 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.
CAUTION
c See
"7. I/O connections" in Chapter
This option I/O interface contains 24 general-purpose inputs and 16 outputs. The type of
option I/O interface (NPN or PNP specifications) is set prior to shipment.
Inputs are referred to here as DI (Digital Inputs) and outputs as DO (Digital Outputs).
3 for a definition of NPN and PNP
specifications.
Specifications
ID
I/O interface
5
Number of I/O points
1
General-purpose input : 24
General-purpose output : 16
2
General-purpose input : 24
General-purpose output : 16
3
General-purpose input : 24
General-purpose output : 16
4
General-purpose input : 24
General-purpose output : 16
Connector
name
Connector type Conductor wire
No.
MR-50LM
OPT. DIO
(Honda Tsushin
or equivalent
0.3 sq larger
Kogyo)
The ID in the above table are set by the DIP switch on the option I/O interface unit.
5-16
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. 5-2-1
DIP switch
OPT. DIO connector
1
2
The DI/DO ports are assigned based on these ID. ( ■ : switch lever)
DIP switch
1
1
1
2.2
DI40 to DI47
DI50 to DI57
DI60 to DI67
DO30 to DO37
DO40 to DO47
2
DI70 to DI77
DI100 to DI107
DI110 to DI117
DO50 to DO57
DO60 to DO67
3
DI120 to DI127
DI130 to DI137
DI140 to DI147
DO70 to DO77
DO100 to DO107
4
DI150 to DI157
DI160 to DI167
DI170 to DI177
DO110 to DO117
DO120 to DO127
2
2
2
Output port No.
5
I/O interface
1
Input port No.
1
2
CAUTION
c Always
use different ID when two or
more option I/O interface units are
used. If different units have the same
ID, an option setting error is issued
and correct operation cannot be
guaranteed.
ID
Power supply
The option I/O interface uses an external 24V power supply. Be sure to always connect
the 24V and ground terminals of the external power supply to pins P.COMxx and N.COMxx
of the OPT. DIO connector on the controller.
An error is issued when the controller power is turned on if the external 24V power supply
is not connected.
5-17
2. Option I/O interface overview
2.3
CAUTION
c See
"7. I/O connections" in Chapter
3 for a definition of NPN and PNP
specifications.
I/O interface
5
Connector I/O signals
I/O No.
PIN
ID=1
ID=2
ID=3
Signal name
ID=4
ID=1
ID=2
ID=3
Remarks
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
DI151
Input 41 Input 71
Input 121 Input 151
5
DI42
DI72
DI122
DI152
Input 42 Input 72
Input 122 Input 152
6
DI43
DI73
DI123
DI153
Input 43 Input 73
Input 123 Input 153
7
DI44
DI74
DI124
DI154
Input 44 Input 74
Input 124 Input 154
8
DI45
DI75
DI125
DI155
Input 45 Input 75
Input 125 Input 155
9
DI46
DI76
DI126
DI156
Input 46 Input 76
Input 126 Input 156
10
DI47
DI77
DI127
DI157
Input 47 Input 77
Input 127 Input 157
11
DI50
DI100
DI130
DI160
Input 50 Input 100 Input 130 Input 160
12
DI51
DI101
DI131
DI161
Input 51 Input 101 Input 131 Input 161 Common terminals:
13
DI52
DI102
DI132
DI162
Input 52 Input 102 Input 132 Input 162 +common: P. COM DI
14
DI53
DI103
DI133
DI163
Input 53 Input 103 Input 133 Input 163 - common: N. COM DI
15
DI54
DI104
DI134
DI164
Input 54 Input 104 Input 134 Input 164 Photocoupler input
16
DI55
DI105
DI135
DI165
Input 55 Input 105 Input 135 Input 165 NPN specifications: source type
17
DI56
DI106
DI136
DI166
Input 56 Input 106 Input 136 Input 166 PNP specifications: sink type
18
DI57
DI107
DI137
DI167
Input 57 Input 107 Input 137 Input 167
19
DI60
DI110
DI140
DI170
Input 60 Input 110 Input 140 Input 170
20
DI61
DI111
DI141
DI171
Input 61 Input 111 Input 141 Input 171
21
DI62
DI112
DI142
DI172
Input 62 Input 112 Input 142 Input 172
22
DI63
DI113
DI143
DI173
Input 63 Input 113 Input 143 Input 173
23
DI64
DI114
DI144
DI174
Input 64 Input 114 Input 144 Input 174
24
DI65
DI115
DI145
DI175
Input 65 Input 115 Input 145 Input 175
25
DI66
DI116
DI146
DI176
Input 66 Input 116 Input 146 Input 176
26
DI67
DI117
DI147
DI177
Input 67 Input 117 Input 147 Input 177
27
P.COM A
P.COM A
+ common
28
DO30
DO50
DO70
DO110
Output 30 Output 50 Output 70 Output 110 Transistor output
29
DO31
DO51
DO71
DO111
Output 31 Output 51 Output 71 Output 111 NPN or PNP specifications
30
DO32
DO52
DO72
DO112
Output 32 Output 52 Output 72 Output 112 Maximum capacity of each
31
DO33
DO53
DO73
DO113
Output 33 Output 53 Output 73 Output 113 output terminal
32
DO34
DO54
DO74
DO114
Output 34 Output 54 Output 74 Output 114 (resistance load): 100mA
33
DO35
DO55
DO75
DO115
Output 35 Output 55 Output 75 Output 115 Common terminals:
34
DO36
DO56
DO76
DO116
Output 36 Output 56 Output 76 Output 116 + common terminal: P. COM A
35
DO37
DO57
DO77
DO117
Output 37 Output 57 Output 77 Output 117 - common terminal: N. COM A
36
N.COM A
N.COM A
- common
37
P.COM B
P.COM B
+common
38
DO40
DO60
DO100
DO120
Output 40 Output 60 Output 100 Output 120 Transistor output
39
DO41
DO61
DO101
DO121
Output 41 Output 61 Output 101 Output 121 NPN or PNP specifications
40
DO42
DO62
DO102
DO122
Output 42 Output 62 Output 102 Output 122 Maximum capacity of each
41
DO43
DO63
DO103
DO123
Output 43 Output 63 Output 103 Output 123 output terminal
42
DO44
DO64
DO104
DO124
Output 44 Output 64 Output 104 Output 124 (resistance load): 100mA
43
DO45
DO65
DO105
DO125
Output 45 Output 65 Output 105 Output 125 Common terminals:
44
DO46
DO66
DO106
DO126
Output 46 Output 66 Output 106 Output 126 + common terminal: P. COM B
45
DO47
DO67
DO107
DO127
Output 47 Output 67 Output 107 Output 127 - common terminal: N. COM B
46
N.COM B
N.COM B
- common
47
48
NC
Not used
NC
Not used
49
50
* Input signals are determined by means of the ID.
5-18
2. Option I/O interface overview
2.4
Connector pin numbers
OPT. DIO
33 19 1
32
50
18
Connection side
5
I/O interface
Solder side
1
33
19
Connector type: MR-50LM
An OPT. DIO connector is supplied with the
controller.
32
18
50
5-19
2. Option I/O interface overview
2.5
CAUTION
c See
"7. I/O connections" in Chapter
Typical input signal connection
NPN specifications
3 for a definition of NPN and PNP
specifications.
External power
supply is used.
P.COM DI
DI
External
power
supply
DI
N.COM DI
2.6
5
Typical output signal connection
I/O interface
NPN specifications
External power
supply is used.
P.COM A,B
DO YYY
to
DO YYY
(PS2801 or equivalent)
2SD2195
N.COM A,B
CAUTION
c When
the "8. DI noise filter"
parameter explained in section
12.1.3, "Other parameters", is
enabled (valid), the ON or OFF
signal width for general-purpose
input signals must be longer than 25
msec. (The "8. DI noise filter"
parameter function is enabled for the
controller software V8.23 or later
version.)
5-20
2.7
General-purpose I/O signals
2.7.1
General-purpose input signals
External
power
supply
The general-purpose inputs on the option I/O interface are all available to the user. These
are connectable to pushbutton switches or sensors and can be specified for use as needed
in the robot program or sequence program.
2.7.2
General-purpose output signals
All signals are Darlington transistor open-collector outputs. The general-purpose outputs
on the option I/O interface are all available to the user. These are connectable to pushbutton
switches or sensors and can be specified for use as needed in the robot program or sequence
program.
All inputs are initialized (cleared) when the controller power is turned on.
2. Option I/O interface overview
2.7.3
General-purpose output signal reset (off)
All general-purpose output signals are reset (off) in the following cases.
1) When the
F 5
(RST.DO) key was pressed in “UTILITY” mode.
2) When any of the following operations is performed without executing a sequence
program or the sequencer execution flag was reset.
5-21
5
I/O interface
■ When compiling was done in “PROGRAM” mode.
■ When a program was compiled in “AUTO” mode.
■ When a program was reset in “AUTO” mode.
■ When the dedicated input signal DI15 (Program reset input) was turned on in
“AUTO” mode while the program was stopped.
(Refer to section 1.6, “Dedicated input signals”.)
■ When either of the following was initialized in “SYSTEM>INIT” mode.
1. Program memory (SYSTEM>INIT>MEMORY>PROGRAM)
2. Entire memory
(SYSTEM>INIT>MEMORY>ALL)
■ When the SWI command was executed in “AUTO” mode.
■ When the online commands @RESET, @INIT PGM, @INIT MEM, @INIT ALL,
@SWI were executed.
■ When the SWI statement was executed in the program.
■ When the HALT statement was executed in the program.
3. Ratings
1. Input
CAUTION
c See
"7. I/O connections" in Chapter
3 for a definition of NPN and PNP
specifications.
NPN specifications
Method
DC input (plus common type)
Photocoupler insulation method
Input power
DC 24V, 10mA
Response time
20ms Min. (during on/off)
PNP specifications
Method
DC input (minus common type)
Photocoupler insulation method
Input power
DC 24V, 10mA
Response time
20ms Min. (during on/off)
2. Output
(1) Transistor output
5
I/O interface
NPN specifications
Method
NPN open-collector (minus common type)
Photocoupler insulation method
Load
DC 24V, 10mA (resistance load) Max.
Response time
10ms Max.
PNP specifications
Method
PNP open-collector (plus common type)
Photocoupler insulation method
Load
DC 24V, 100mA (resistance load) Max.
Response time
10ms Max.
(2) Relay contact output
Method
A contact (partly C contact) common ground
DC 24V, 0.5A Max.
Load
DC 24V, 1mA Min.
5-22
Contact service life
Electrical open/close 100,000 times (DC 24V with resistance load)
Response time
10ms Max.
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 measures when using an inductive load such as a
solenoid valve as an output load. For example, connect a diode (high-speed
type) in parallel at both ends of a load, as a surge killer to protect against
noise.
3. An excessive current load may cause the internal circuit to generate heat
and cause equipment breakdowns so draw current only within the rated
load.
4. As a noise prevention, keep the machine power cables separate and make
sure wires are well shielded.
5
I/O interface
5-23
MEMO
5-24
Chapter 6 SAFETY I/O interface
Contents
1. SAFETY I/O interface overview ........................................................ 6-1
1.1
Power ................................................................................................... 6-1
1.2
Connector I/O signal chart .................................................................... 6-1
1.3
Connector terminal numbers ................................................................. 6-2
1.4
Emergency stop input signal connections .............................................. 6-3
1.5
Dedicated input signal connections ...................................................... 6-6
1.6
Input signal description ......................................................................... 6-7
MEMO
1. SAFETY I/O interface overview
The robot controller is provided with standard (I/O) input/output interfaces for compatibility
with the system used by the customer. A description of the I/O terminals and connection
methods are explained below.
Connect the I/O terminals correctly for effective operation.
The SAFETY I/O interface contains an emergency stop input and one dedicated input
point.
The input signal is from hereon referred to as DI and the output signal as DO.
Specifications
Connector name Connector model No.
Wire material
D-SUB15 (male)
0.3 sq or more
SAFETY Emergency stop input : 1 point
Dedicated input
: 1 point
1.1
SAFETY
Power
The emergency stop input utilizes internal power for emergency stop.
The dedicated input utilizes external 24V power connected via the standard I/O interface.
1.2
Connector I/O signal chart
PIN
supplied with the controller, pin 3
is shorted to pin 13, and pin 4 is
shorted to pin 14. Use these pins
to make an interlock circuit to
ensure the system including the
robot controller operates safely.
• Do not connect an external DC
24V to EMG 24.
• NPN and PNP specifications are
each defined in " 7. I/O
connections" in Chapter 3.
• Do not connect any external
signals to the NC terminals.
Name
Remarks
DI02
2
NC
3
EMGIN1
Emergency stop input 1
4
EMGIN2
Emergency stop input 2
5
EMGIN3
Emergency stop input 3
6
EMGIN4
Emergency stop input 4
7
LCKIN1
Enable switch input 1
8
LCKIN2
Enable switch input 2
9
LCKIN3
Enable switch input 3
10
LCKIN4
Enable switch input 4
11
P.COM
DC+24V (P.COMDI)
Internally connected with P. COMDI terminal of STD. DIO.
12
N.COM
GND
Internally connected with N. COMDI terminal of STD. DIO.
13
EMG 24V
Emergency stop input power
14
EMG RDY
Emergency stop READY signal
15
NC
SERVICE mode
NPN/PNP specs conform to STD. DIO settings.
Common terminal: P. COM / N. COM
(N.COMDI)
6
SAFETY I/O interface
c CAUTION
• On the SAFETY connector
I/O No.
1
Usable only when enable switch
compatible programming unit is used.
(MPB-E2)
6-1
1. SAFETY I/O interface overview
1.3
Connector terminal numbers
8
15
1
9
Connection side
SAFETY I/O interface
6
Solder side
6-2
15
8
9
1
1. SAFETY I/O interface overview
1.4
c External emergency stop and the
CAUTION
Emergency stop input signal connections
Connections using the standard MPB programming unit with external emergency
stop circuit
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.
Emergency stop switch
MPB connector
13
14
MPB
Emergency stop switch
SAFETY
connector
EMG IN1
3 EMG IN2
4
24V
EMG 24V
13 EMG RDY
14
External emergency stop circuit
Motor power
relay coil
GND
GND
Motor power
supply circuit
6
AC 200V power supply
c CAUTION
• EMG RDY requires at least
100mA for the relay and
photocoupler drive current.
• Do not use EMG 24V for
anything other than emergency
stop.
• The MPB emergency stop switch and external emergency stop switch are connected
in series.
a. In normal operation, EMG 24V is connected to EMG RDY via the MPB emergency
stop switch and SAFETY connector, and turns on the controller internal motor power
relay.
b. When emergency stop is triggered, power to EMG RDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
MPB and SAFETY connector are removed.
• Pins 13 and 14 on the MPB connector are shorted in the MPB terminator that comes
with the robot controller.
• Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector that
comes with the robot controller.
6-3
SAFETY I/O interface
Operation description:
1. SAFETY I/O interface overview
Connections using the MPB-E2 enable switch compatible programming unit with
external emergency stop circuit (PNP specifications)
Emergency
stop switch
CAUTION
c External
emergency stop and the
Enable
switch
MPB connector
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
14
15
16
17
18
19
20
MPB-E2
Service key
switch
Emergency
stop switch
SAFETY
connector
3
4
5
6
7
8
9
10
13
14
1
11
24V
SAFETY I/O interface
6
GND
Motor power
supply circuit
EMGIN1
EMGIN2
EMGIN3
EMGIN4
LCKIN1
LCKIN2
LCKIN3
LCKIN4
EMG24V
EMGRDY
DI02
P.COM
External emergency stop circuit
Motor power
relay coil
GND
AC 200V power supply
Operation description:
• The MPB-E2 emergency stop switch and external emergency stop switch are connected
in series. The enable switch is also connected in series to the MPB-E2 emergency stop
switch, but can be bypassed with the service key switch.
1. When the service key switch contact is close:
c CAUTION
• EMG RDY requires at least
100mA for the relay and
photocoupler drive current.
• Do not use EMG 24V for
anything other than emergency
stop.
6-4
The enable switch is inoperable at this point.
a. In normal operation, EMG 24V is connected to EMG RDY via the MPB-E2
emergency stop switch and SAFETY connector, and turns on the controller internal
motor power relay.
b. When emergency stop is triggered, power to EMG RDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
MPB-E2 and SAFETY connector are removed.
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
emergency stop switch, enable switch and SAFETY connector, and turns on the
controller internal motor power relay.
b. When emergency stop is triggered, power to EMG RDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
MPB-E2 and SAFETY connector are removed.
• Pins 13 and 14, pins 15 and 16, pins 17 and 18, and pins 19 and 20 on the MPB
connector are shorted in the MPB terminator that comes with the robot controller.
• Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector that
comes with the robot controller.
6
SAFETY I/O interface
6-5
1. SAFETY I/O interface overview
CAUTION
1.5
c See
"7. I/O connections" in Chapter
3 for a definition of NPN and PNP
specifications.
Dedicated input signal connections
NPN specifications
P.COMDI for STD.DIO
DI02
NOTE
n Connect
DC 24V and ground for STD.
Protective
circuit
DIO.
N.COM
PNP specifications
SAFETY I/O interface
6
P.COMDI for STD.DIO
NOTE
n Connect
DC 24V and ground for STD.
DIO.
6-6
P.COMDI
Protective
circuit
DI02
1. SAFETY I/O interface overview
CAUTION
1.6
c See
"7. I/O connections" in Chapter
Input signal description
3 for a definition of NPN and PNP
specifications.
1. DI02 SERVICE mode input
n NOTE
• NPN and PNP specifications are
determined by the STD. DIO
setting.
• Robot controllers with SAFE mode
enabled will always be in service
mode when an external 24V is not
supplied to STD. DIO. This can be
cancelled using a software
parameter.
• A 10mA input current is required.
Service mode input can only be used on robot controllers with SAFE mode enabled.
When the DI02 contact is open (OFF), the robot controller service mode is set for
exclusive control for operating levels, operating speed limits and operating devices
conforming to the service mode parameter settings. Normal mode is enabled when the
DI02 contacts are closed (ON). When a serial I/O option board is installed, the service
mode is controlled by a logic AND comprised of SI02 and DI02.
If the service mode input is changed, the program being executed will pause or ongoing
robot jog movement will pause.
2. DI00 Emergency stop inputs 1, 2, 3, 4
Emergency stop signal inputs are used when making the interlock circuit to ensure the
system including the robot controller will operate safely. Contacts must be closed for
the system to function normally. Refer to the connection examples in this chapter
when making actual connections.
Closing the emergency stop contact points (ON) allows turning on the servo power
supply. The servo power supply cannot be turned on when the emergency stop contact
points are open (OFF).
Emergency stop signal inputs 3 and 4 are valid only when an MPB-E2 enable switch
compatible programming unit is used.
Enable switch inputs are used when making the interlock circuit to ensure the system
including the robot controller will operate safely. Refer to the connection examples in
this chapter when making actual connections.
Enable switch inputs are valid only when an MPB-E2 enable switch compatible
programming unit is used.
6-7
SAFETY I/O interface
3. Enable switch inputs 1, 2, 3, 4
6
MEMO
6-8
Chapter 7 RS-232C interface
Contents
1. Communication overview ................................................................ 7-1
2. Communication function overview .................................................. 7-2
3. Communication specifications ......................................................... 7-3
3.1
Connector ............................................................................................. 7-3
3.2
Transmission mode and communication parameters ............................. 7-4
3.3
Communication flow control ................................................................ 7-5
3.3.1
Flow control during transmit .................................................................. 7-5
3.3.2
Flow control during receive ................................................................... 7-5
3.4
Other caution items .............................................................................. 7-6
3.5
Character code table ............................................................................. 7-7
MEMO
1. Communication overview
The robot controller can communicate with external devices in the following 2 modes using the RS232C interface.
These modes can be used individually or jointly in a variety of applications.
(1) Data communication is done by communication commands in robot language
(SEND command).
n On robot controllers with “SAFE”
NOTE
mode enabled, online commands
through the RS-232C interface may not
be used in “SERVICE” mode
depending on the operating device
setting in “SERVICE” mode.
Example: SEND A TO CMU
Variable A is transmitted to the external device.
SEND CMU TO P100
Point data P100 is received from the external device.
SEND CMU TO ALL
All system memories are received.
The robot controller communicates in accordance with the these commands.
(2) Various commands are transmitted directly through a communication port from the
external devices. These commands are called online commands.
If this function is used, some operation can be performed from an external device just
by turning on power to the robot controller.
Example: @AUTO
Switches to “AUTO” mode.
@RUN
Executes a program.
@READ PNT
All point data are read out.
@MOVE P,P123,SPEED=30
Moves to point 123 at 30% of maximum speed.
7
RS-232C interface
7-1
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 (robot → external unit)
SEND <source file> TO CMU
• SEND command (external unit → robot)
SEND CMU TO <destination file>
(2) “ONLINE” mode
In “ONLINE” mode, a variety of commands can be sent directly from the external
unit to the robot.
Commands sent directly from the external unit are called online commands. The
SEND command in a program is also valid in even “ONLINE” mode.
To set “ONLINE” mode, select “ONLINE” as a communication parameter in
“SYSTEM” mode. The ONLINE statement in the program can also be used to set
“ONLINE” mode.
• ONLINE command format
7
RS-232C interface
@ [_] <online command> [<_command option>] <termination code>
* The <termination code> is a CR(=0DH) code or CRLF (=0Dh+0Ah).
For detailed information on ONLINE commands, refer to the programming manual.
The flow of communication data is shown below.
7-2
3. Communication specifications
3.1
Connector
The RS-232C interface connector is located on the front panel of the robot controller as
shown below.
MOTOR
OP.1
PWR
OP.3
MPB
RCX40
SRV
XM
ERR
ROB
I/O
XY
YM
BATT
COM
X
ROB
I/O
Y
5
R
OP.2
9
Z
ZR
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
1
ACIN
RM
6
N
L
N
• Specifications of the RS-232C interface connector installed on the robot controller
are shown below.
1.A D-SUB 9-pin female connector is installed on the robot controller, so use a
connection cable with a D-SUB 9-pin male connector.
2.Pin arrangement of D-SUB 9-pin connector is as follows.
Name
Description
1
NC
2
RXD
Receive data
3
TXD
Send data
4
NC
Not used
5
GND
6
NC
Not used
7
RTS
Request to send
8
CTS
Permission to send
9
NC
Not used
RS-232C interface
Pin No.
7
Input/output
Not used
Input
Output
Ground
Output
Input
7-3
3. Communication specifications
3.Connection cable examples
a. Cable capable of hardware busy control
Controller
NC
RXD
TXD
NC
GND
NC
RTS
CTS
NC
External device
DCD
RXD
TXD
DTR
GND
DSR
RTS
CTS
1
2
3
4
5
6
7
8
9
b. Cable not using control wires
Controller
NC
RXD
TXD
NC
GND
NC
RTS
CTS
NC
n NOTE
1) Termination code
• CR (carriage return)
Robot transmission:
Adds a CR code (0DH) to the end
of a line.
Robot receive:
Up to a CR code is handled as 1
line.
• CRLF (carriage return + line
feed)
Robot transmit:
Adds a CR code and LF code
(0AH) to the end of a line.
Robot receive:
Up to a CR code is handled as 1
line and LF code is ignored.
RS-232C interface
7
2) Refer to “Timing chart” for XON/
XOFF control.
7-4
External device
DCD
RXD
TXD
DTR
GND
DSR
RTS
CTS
1
2
3
4
5
6
7
8
9
* For signal wire layout on the external device, refer to the instruction manual for that
device.
3.2
Transmission mode and communication parameters
Transmission mode
Full duplex
Synchronous system
Start-stop synchronization
Baud rate [bps]
4800, 9600, 19200, 38400, 57600
Character length [bit]
7, 8
Stop bit [bit]
1, 2
Parity
None, even, odd
RTS/CTS control
Yes/No
Termination code
CR, CRLF
XON/XOFF control
Yes/No
Receive buffer
1024 bytes
Transmit buffer
1024 bytes
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.
n NOTE
1) Transmission stops when
transmission is disabled in either
of XON/XOFF or RTS/CTS flow
control.
2) CTS must be on during
transmission regardless of flow
setting. When RTS/CTS is set to
“No”, CTS should always be set
on. However, if CTS is connected
to RTS of the other party, CTS may
not always be on causing the
transmission to halt, depending on
the other party specifications.
3.3.1
Flow control during transmit
XON/XOFF, DSR and CTS indicate whether the other party can receive data.
Flow Control
Yes
XON/XOFF
Temporarily stops transmission when
XOFF is sent from the other party.
Resumes transmission when XON is
sent.
XON (11H) and XOFF (13H) do not affect
transmission even when they are received.
Stops transmission while CTS is OFF. Stops transmission while CTS is OFF.
RTS/CTS
3.3.2
No
Flow control during receive
To prevent overflow when receiving data, XOFF, DTR and RST are used to notify the
other party that this end is busy.
Flow Control
NOTE
n The
flow controls function separately.
For instance, when all flow controls
are set to “Yes” and the receive buffer
capacity is low, an XOFF is
transmitted, and RTS is turned off.
Later, when the receive buffer capacity
is restored, an XON is transmitted, and
RTS is turned on.
XON/XOFF
RTS/CTS
Yes
No
Transmits XOFF when available space
in receive buffer falls below a certain
XON and XOFF are not transmitted.
capacity.
XON and XOFF are ignored if received.
Transmits XON when receive buffer is
empty.
Turns RTS off when available space in
receive buffer falls below a certain
capacity.
RTS is always on.
Turns RTS on when receive buffer is
empty.
7
RS-232C interface
7-5
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 reset.
• When an ONLINE statement or OFFLINE statement was executed according to the
robot language.
• When the communication parameter was changed in “SYSTEM” mode or when
initialization was executed.
2) When an external device is turned on, it might send incorrect data to the robot
controller. While the robot controller becomes ready to receive data as soon as the
power is turned on, so the incorrect data may be stored in the receive buffer if the
controller is turned on prior to the external device, causing a communication error.
In such a case,
• Reset the program before program execution.
• Clear the receive buffer by placing an ONLINE statement or OFFLINE statement at
the top of the program.
• Turn the external device on before turning the controller on.
3) When the external device does not support handshake protocols (BUSY control,
XON/XOFF control), the data processing speed becomes slower than the
communication speed, causing a communication error. In this case, take
countermeasures such as by reducing the communication speed (baud rate).
7
RS-232C interface
4) When the communication speed is set at a high rate, communication errors may
occur due to external noise or other factors. In this case, take countermeasures such
as by reducing the communication speed.
5) There is no response to external transmission during direct command execution or
point trace execution in “AUTO” mode. A response occurs after execution.
7-6
3. Communication specifications
3.5
HEX.
Character code table
2-
3-
4-
5-
SP
0
@
P
!
1
A
Q
a
q
"
2
B
R
b
r
#
3
C
S
c
s
-4
$
4
D
T
d
t
-5
%
5
E
U
e
u
-6
&
6
F
V
f
v
-7
'
7
G
W
g
w
0-
1-
-0
-1
XON
-2
-3
STOP XOFF
6-
7-
(
8
H
X
h
x
-9
TAB
)
9
I
Y
i
y
-A
LF
*
:
J
Z
j
z
-B
+
;
K
[
k
{
-C
,
<
L
\
l
-
=
M
]
m
}
-E
.
>
N
^
n
~
-F
/
?
O
CR
A-
B-
C-
D-
E-
F-
7
o
Note 1: The above character codes are written in hexadecimal.
Note 2: SP indicates a space.
Note 3: Only capital letters can be used for robot language. Small letters are used
for program comments and so on. However, these cannot be entered on the
MPB.
Note 4: BS deletes the preceding character in the receive buffer.
Note 5: TAB is replaced with one space.
7-7
RS-232C interface
BS
-D
9-
p
-8
EOF
8-
MEMO
7-8
Chapter 8 Specifications
Contents
1. Controller basic specifications ......................................................... 8-1
2. Controller basic specifications ......................................................... 8-2
3. Robot controller external view ......................................................... 8-3
3.1
RXC40 external view ............................................................................ 8-3
4. MPB basic specifications and external view ..................................... 8-4
MEMO
1. Controller basic specifications
c CAUTION
• Specifications and appearance
are subject to change without
prior notice.
• See "7. I/O connections" in
Chapter 3 for a definition of NPN
and PNP specifications.
Item
Applicable robots
Maximum power consumption
Basic
specifications Dimensions
Weight
Power supply voltage
No. of axes
Drive method
Position detection method
Specifications
YAMAHA Cartesian robots, SCARA robots, single-axis
robots, P&P robots
2500VA
W180 × H250 × D235 (main unit)
6.5kg (main unit)
Single phase AC 200 to 230V ±10%, 50/60Hz
4 axes maximum (simultaneous control: 4 axes)
AC full digital servo
Resolver
Control method
PTP motion (point to point), ARCH motion, linear
interpolation, circular interpolation
Coordinate system
Polar coordinate (pulse units), Cartesian coordinate (mm
units)
Shift coordinate system
Axis control
Speed setting
1-100%, 1% increments (setting possible during program
execution)
Acceleration/deceleration
setting
Automatic acceleration setting by robot model and tip
weight parameter
Setting by acceleration/deceleration coefficient (1% steps)
(Only acceleration can be changed by programming.)
Zone control
(Optimum speed setting matching SCARA robot arm
position)
Program language
YAMAHA BASIC conforming to JIS B8439 (SLIM
language)
Multitask
Sequence program
8 tasks maximum
1 program
Memory size
196KB (Total of program and point data) (Available size for
program when maximum number of points is used: 84KB)
Program
100 programs (maximum number of programs)
9999 lines (maximum lines per program)
98KB (maximum capacity per program, maximum
capacity per object program)
Point
4000 points (maximum number of points)
Teaching
MDI (coordinate data input), direct teaching, teaching
playback, offline teaching (data input from external unit)
Memory backup
Lithium battery (service life about 4 years at 0 to 40°C)
Programming
I/O input
General-purpose 16 points, dedicated 9 points (NPN/PNP
specifications selectable)
General-purpose 8 points, dedicated 11 points
I/O output
Emergency stop input Relay contact
External I/O
SAFETY
1 point (NPN/PNP specifications conform to STD.DIO
Service mode input setting.)
Break output
Origin sensor input
Relay contact
External communications
RS-232C : 1 channel (D-SUB 9-pin female connector)
RS-422 : 1 channel (for MPB only)
Operating temperature
Storage temperature
General
specifications Operating humidity
Noise resistance
Parallel DIO board
Options
0 to 40°C
-10 to 65°C
35 to 85% RH (no condensation)
General-purpose input 24 points/board, output 16
points/board (4 boards maximum, compatible with
NPN/PNP specifications)
CC-Link board
Dedicated input 10 points, dedicated output 13 points
General-purpose input 96 points, general-purpose output 96 points
DeviceNet board
Dedicated input 10 points, dedicated output 13 points
General-purpose input 96 points, general-purpose output 96 points
Programming unit
Absolute battery
PC software
MPB, MPB-E2
B3 (2000mAh), B4 (4000mAh) (replacement guideline: approx. 1.5 years)
VIP
8-1
Specifications
STD. DIO
8
2. Controller basic specifications
Description
Function
AUTO mode (Major functions: program execution, step execution, etc.)
PROGRAM mode (Major functions: program creation and editing, etc.)
Operation modes
MANUAL mode (Major functions: jog movement, point data teaching, etc.)
SYSTEM mode (Major functions: parameter editing, data initializing, etc.)
UTILITY mode (Major functions: motor power supply control, etc.)
Array declaration commands (DIM statement)
Assignment commands (Numeric assignment statement, character string
assignment statement, point definition, etc.)
Movement commands (MOVE, DRIVE, PMOVE statements, etc.)
Commands
Conditional branching commands (IF, FOR, WHILE statements, etc.)
External output commands (DO, MO, LO, TO, SO statements)
Parameter commands (ACCEL, OUTPOS, TOLE statements, etc.)
Condition wait command (WAIT statement)
Task related commands (START, SUSPEND, CUT statements, etc.)
etc.
Arithmetic functions (SIN, COS, TAN functions, etc.)
Character string functions (STR$, LEFT$, MID$, RIGHT$ functions, etc.)
Functions
Point functions (WHERE, JTOXY, XYTOJ functions, etc.)
Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.)
etc.
Simple variables (integer variables, real variables, character variables)
Array variables (integer variables, real variables, character variables)
Point variables
Variables
Shift variables
Element variables (point element variables, shift element variables)
Input/output variables
etc.
Arithmetic operators (+, -, *, /, MOD)
Arithmetic operation
Logic operators (AND, OR, XOR)
Relational operators (=, <, >, <>, <=, =>)
Monitor
8
Input/output status monitor (200ms intervals)
Key operation commands (AUTO, RUN, RESET, STEP, etc.)
Specifications
Online commands
Utility commands (COPY, ERA, INT, etc.)
Data handling commands (READ, WRITE, ?VER, ?CONFIG, etc.)
Robot language commands (independent-executable commands)
Data files
8-2
Program, point, parameter, shift, hand, all, error history
etc.
Internal timer
10ms intervals
Program break points
4 points maximum
3. Robot controller external view
3.1
RXC40 external view
17
139.5
5.5
180
MOTOR
OP.1
PWR
15.5
15.5
80.5
204
235
15.5
Fig. 8-3-1-1 Standard RCX40
30
RCX40
OP.3
MPB
SRV
XM
ERR
ROB
I/O
XY
YM
BATT
COM
X
250
ROB
I/O
Y
Z
ZR
R
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
N
ACIN
RM
L
10
N
44.8
100
27.6
180
Fig. 8-3-1-1 RCX40 with RGU option installed
17
139.5
5.5
15.5
180
MOTOR
OP.1
PWR
15.5
204
Specifications
235
15.5
8
8 40
OP.3
MPB
RCX40
RGU-2
SRV
XM
ERR
ROB
I/O
XY
YM
RGEN
COM
250
ROB
I/O
BATT
N
X
P
Y
Z
ZR
R
OP.2
OP.4
RGEN
ZM
STD.DIO
P
SAFETY
N
ACIN
RM
L
N
10
YAMAHA MOTOR CO.,LTD.
44.8
100
27.6
180
8-3
4. MPB basic specifications and external view
MPB basic specifications and external view
Model
MPB
Display screen
Liquid crystal display (40 characters × 8 lines)
Power
DC ±12V
Noise resistance
1500V × 1 microsecond
Operating
environment
Ambient temperature: 0 to 40°C, humidity: 35 to 85%
(no condensation), storage temperature: -10 to 65°C
Dimensions (mm)
W189 × H241 × D28.6
Cable length
5m
Weight
700g (excluding cable)
MPB external view
F7
F 1
F8
F 2
F11
MODE
F9
F 3
F12
USER
INS
ROBOT
ROBOT
F10
F 4
F13
DEL
L.INS
L.INS
L.DEL
L.DEL
<<
<<
F6
<<
<<
F 5
F14
F15
ESC
UTILITY
UTILITY
B
B
(
FF
)
%
>
<
P
P
7
;
U
U
V
V
ZZ
''
1
Specifications
0
UPPER
UPPER
X
#1-
#2+
Y
#2-
6
#3+
Z
#3-
3
#4+
R
#4-
#5+
A
#5-
#6+
B
#6-
Y
Y
2
{{
""
#1+
9
TT
5
X
X
W
W
STOP
STOP
START
START
O
O
8
4
/
!
JJ
S
S
R
R
Q
Q
:
$
N
N
M
M
]
<<<<
E
E
II
&
LL
[
D
D
H
H
G
G
K
K
8
C
C
--
A
A
241
<<<<
DISPLAY
DISPLAY
##
,
.
??
}}
LOWER
LOWER
SPACE
SPACE
28.6
101
189
8-4
Chapter 9 Troubleshooting
Contents
1. Error Messages ................................................................................. 9-1
1.1
Robot controller error messages ............................................................ 9-1
[ 0] Warnings and messages ............................................................................... 9-3
[ 1] Warnings (Error history entry) ...................................................................... 9-5
[ 2] Robot operating area errors ......................................................................... 9-5
[ 3] Program file operating errors ....................................................................... 9-8
[ 4] Data entry and edit errors .......................................................................... 9-10
[ 5] Robot language syntax (compiling) errors .................................................. 9-11
[ 6] Robot programming execution errors ........................................................ 9-18
[ 9] Memory errors ........................................................................................... 9-22
[10] System setting or hardware errors. ............................................................. 9-24
[12] I/O and option board errors ....................................................................... 9-26
[13] MPB errors ................................................................................................ 9-29
[14] RS-232C communication errors ................................................................. 9-30
[15] Memory card errors ................................................................................... 9-31
[17] Motor control errors .................................................................................. 9-34
[21] Major software errors ................................................................................ 9-40
[22] Major hardware errors ............................................................................... 9-42
1.2
MPB Error Messages ............................................................................ 9-45
2. Troubleshooting.............................................................................. 9-47
2.1
2.2
2.3
When trouble occurs .......................................................................... 9-47
Acquiring error information ................................................................ 9-48
2.2.1
Acquiring information from the MPB ................................................... 9-48
2.2.2
Acquiring information from the RS-232C ............................................. 9-48
Troubleshooting checkpoints ............................................................... 9-49
MEMO
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.
(1) Error group number
Error messages are classified by content into groups [0] to [22]. Contents of each
error group are shown below.
Group No.
NOTE
n Messages
for group No. 0 are not
stored in the error history.
Contents
Warnings and messages
[ 1]
Warnings (error history entry)
[ 2]
Robot operating area errors
[ 3]
Program file operating errors
[ 4]
Data entry and edit errors
[ 5]
Robot language syntax (compiling) errors
[ 6]
Robot language execution errors
[ 7]
(Not used)
[ 8]
(Not used)
[ 9]
Memory errors
[10]
System setting or hardware errors
[11]
(Not used)
[12]
I/O information and option board errors
[13]
MPB errors
[14]
RS-232C communication errors
[15]
Memory card errors
[16]
(Not used)
[17]
Motor control errors
[18]
(Not used)
[19]
(Not used)
[20]
(Not used)
[21]
Major software errors
[22]
Major hardware errors
9
Troubleshooting
[ 0]
9-1
1. Error Messages
[Format]
Error No.
: [<location where error occurred>,] 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 eliminate
or avoid error status.
Dedicated output : … Refer to “(2) Dedicated output status”.
* The beginning of the error message may sometimes include information on the
location (axis, option unit, etc.) where the error occurred. An "M" in this
information indicates the main group axis No., an "S" indicates the sub group axis
No., a "D" indicates the driver axis No., and "OP" indicates the option unit slot No.
For example, a message "2.1:M1, Soft limit over" indicates that the preset soft limit
values have been exceeded on axis 1 of the main group robot. Likewise, the
message, "17.4:D2, Overload" indicates that an overload has occurred in axis 2 of
the driver unit. The axes viewed by the robot and the axes viewed by the driver are
normally a one-to-one match with each other, but when dual-drive axes are used,
one axis viewed by the robot may sometimes be treated as 2 axes by the driver.
(2) Dedicated output status
Dedicated output status items described below in *1 to *4 show the following contents.
*1 … CPU stop
• Turn the power ON again to reset.
DO 01a (CPU OK)
= OFF
DO 02a (SERVO ON)
= OFF
DO 03a (ALARM)
= ON
*2 … Driver stop
• Turn the power ON again to reset.
DO 02a (SERVO ON)
= OFF
DO 03a (ALARM)
= ON
Troubleshooting
9
*3 … Servo stop
• Turn the power ON again in “UTILITY” mode to reset.
DO 02a (SERVO ON)
= OFF
DO 03a (ALARM)
= ON
CAUTION
c When
an error cannot be cancelled,
contact your YAMAHA sales dealer.
9-2
*4 … System backup battery defect
• Replace battery to reset.
DO 03a (ALARM)
= ON
1. Error Messages
[ 0] Warnings and messages
0.0
: Undefined system 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 parentheses at the end.
Code
: &H0001
Meaning/Cause : a. Return-to-origin is incomplete because absolute reset has not
been performed. So you …
• cannot execute programs and commands.
• cannot perform point teaching.
• cannot perform manual Cartesian movement (mm units).
b. Absolute battery was removed from controller or robot position data becomes undefined due to battery voltage drop.
c. Robot I/O cable was removed or disconnected.
d. Absolute reset was interrupted.
e. System generation was changed or parameters initialized. Or
parameters for specifying the origin position such as for the
return-to-origin direction or axis polarity were changed.
(Equivalent to writing ALL or PRM file on controller.)
Action
: Perform absolute reset and complete return-to-origin.
0.2
: Running
Code
: &H0002
Meaning/Cause : Program or command is running.
Action
: ---
0.3
: Program terminated by “HALT”
Code
: &H0003
Meaning/Cause : Program execution was terminated by a HALT command.
Action
: ---
0.4
: Compiling
Code
: &H0004
Meaning/Cause : Robot language compiling (making an object program) is in
progress.
Action
: ---
0.5
: Busy
Code
: &H0005
Meaning/Cause : Data is being saved on a memory card or internal ROM.
Action
: ---
9
Troubleshooting
9-3
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
: &H0007
Meaning/Cause : a. System generation was performed due to a robot change, etc.
b. Parameter was changed by data transfer.
c. System generation data was destroyed.
d. Error occurred when servo was turned ON.
Action
: Turn the controller on again.
0.8
: Try again
Code
: &H0008
Meaning/Cause : Operation failed.
Action
: Try again.
0.9
: Arrived at break point
Code
: &H0009
Meaning/Cause : Break point was reached during program execution.
Action
: ---
0.10 : INC. motor disconnected
Code
: &H000A
Meaning/Cause : Return-to-origin command was attempted with the incremental
motor disconnected.
Action
: Perform absolute reset.
0.11 : ABS. motor disconnected
Code
: &H000B
Meaning/Cause : ABS reset command was attempted on non-existent axis.
Action
: 1. Specify the correct axis.
2. Check the system generation data.
Troubleshooting
9
0.14 : Stop executed
Code
: &H000E
Meaning/Cause : Stop was commanded while executing a direct command so operation was stopped.
Action
: --0.15 : Can't execute while servo on
Code
: &H000F
Meaning/Cause : Writing in "ALL" or "PRM" files was attempted during servo-on.
"ALL" or "PRM" files cannot be written in servo-on.
Action
: Turn off the servo before writing files.
9-4
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 STD.DIO
was attempted even though DC 24V was being supplied at
STD.DIO connector.
(Monitor function cannot be disabled while DC 24V is being
supplied to STD.DIO.)
Action
: To disable the monitor function, change the parameter after first
stopping the DC 24V supply.
[ 1] Warnings (Error history entry)
1.31
CPU Reset start
Code
: &H011F
Meaning/Cause : Power was turned on and CPU operation commenced.
Action
: ---
1.32
CPU Normal start
Code
: &H0120
Meaning/Cause : Start-up checks and initialization ended and controller operation
started.
Action
: ---
1.33
ABS.Backup start
Code
: &H0121
Meaning/Cause : Power was cut off so backup of robot position data commenced.
Action
: --ABS.Backup fin
Code
: &H0122
Meaning/Cause : Finished making backup of robot position data during power cutoff.
Action
: ---
[ 2] Robot operating area errors
2.1
: Over soft limit
Code
: &H0201
Meaning/Cause : Soft limit value preset in the parameter for operation position was
exceeded.
Action
: 1. Change the operating position to within the soft limits.
2. Change the soft limit value.
9-5
Troubleshooting
1.34
9
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/Cause : a. Preset calculation for setting standard coordinates is not
functioning.
b. Operating position exceeded the operating area range.
Action
: 1. Set the standard coordinates correctly.
2. Change operating position to within operating area.
2.5
: Shift cal. failed
Code
: &H0205
Meaning/Cause : Calculating for setting shift coordinates failed.
Action
: Set shift coordinates correctly.
2.6
: Hand cal. failed
Code
: &H0206
Meaning/Cause : Calculation for setting hand definition failed.
Action
: Set hand definition correctly.
2.7
: Illegal Pallet parameter
Code
: &H0207
Meaning/Cause : Calculation for setting pallet definition failed.
Action
: Set pallet definition correctly.
2.8
: Movable range cal. failed
Code
: &H0208
Meaning/Cause : a. Calculation of movement path failed.
b. Current position is not within movement range.
Action
: 1. Change to a correct movement point.
2. Change current position to within movement range.
2.9
: Overlap soft limit
Code
: &H0209
Meaning/Cause : On SCARA robots, the sum of the absolute values for the X-axis
(or Y-axis) minus soft limit and the X-axis (or Y-axis) plus soft
limit is making the arm move 1 rotation or more.
Action
: 1. Set the soft limit values correctly.
2. Set the soft limit values so that the movement range of the
arm is less than 1 rotation.
Troubleshooting
9
9-6
1. Error Messages
2.10 : Exceeded movable range
Code
: &H020A
Meaning/Cause : Area is present 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
: &H020B
Meaning/Cause : Shift coordinate range ? value was exceeded.
Action
: 1. Change the operating position of ? value to within the shift
coordinates range.
2. Change shift coordinates range ? value.
2.17 : Arch condition bad
Code
: &H0211
Meaning/Cause : When target point and arch position data are in mm units, arch
motion is not used on X and Y axes.
Action
: Change to correct arch motion command.
2.18 : RIGHTY now selected
Code
: &H0212
Meaning/Cause : On SCARA type robots, the arm will use the right-handed system
for starting Cartesian movement.
Action
: --2.19 : LEFTY now selected
Code
: &H0213
Meaning/Cause : On SCARA type robots, arm will use the left-handed system for
starting Cartesian movement.
Action
: ---
2.22 : Arm length is 0
Code
: &H0216
Meaning/Cause : When arm length setting is 0 on SCARA type robots, movement
on Cartesian coordinates was attempted.
Action
: 1. Set standard coordinates.
2. Set the arm length parameter.
9-7
9
Troubleshooting
2.20 : Illegal hand type
Code
: &H0214
Meaning/Cause : An R-axis hand definition was attempted on a robot not having an
R-axis.
Action
: 1. Change to Y-axis hand definition.
2. Do not use a hand definition.
1. Error Messages
2.23 : Cannot move (RIGHTY to LEFTY)
Code
: &H02017
Meaning/Cause : a. Interpolation movement shifting from the right-handed system to the left-handed system was executed with a SCARA
robot.
Action
: 1. Check the current hand system and point data's hand system
flag.
2.24 : Cannot move (LEFTY to RIGHTY)
Code
: &H02018
Meaning/Cause : a. Interpolation movement shifting from the left-handed system
to the right-handed system was executed with a SCARA
robot.
Action
: 1. Check the current hand system and point data's hand system
flag.
[ 3] Program file operating errors
3.1
: Too many programs
Code
: &H0301
Meaning/Cause : Making of a new program was attempted after number of programs exceeded 100.
Action
: Make a new program after deleting an unnecessary program. (Make
a backup if necessary.)
3.2
: Program already exists
Code
: &H0302
Meaning/Cause : An attempt to make/copy/transmit (by using SEND command) a
new program with a name already registered was attempted.
Action
: Making a new program/copy/transmission (by using SEND command) using a new (unregistered) program name.
3.3
: Program doesn’t exist
Code
: &H0303
Meaning/Cause : A registered program of the specified name does not exist.
Action
: Correctly enter a registered program name.
3.4
: Writing prohibited
Code
: &H0304
Meaning/Cause : The specified program is write protected.
Action
: Use a program that is not write protected.
3.5
: File type error
Code
: &H0305
Meaning/Cause : Software error occurred.
Action
: Contact our company with relevant information.
Troubleshooting
9
9-8
1. Error Messages
3.6
: Too many breakpoints
Code
: &H0306
Meaning/Cause : Setting of break point exceeding 4 points was attempted.
Action
: After deleting unnecessary break points, set the new break point.
(Up to 4 break points can be set in one program.)
3.7
: Breakpoint doesn’t exist
Code
: &H0307
Meaning/Cause : Break point was not found during search.
Action
: Set a break point if needed.
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 object program name is not registered.
Action
: Make an object program.
3.11 : Cannot use function
Code
: &H030B
Meaning/Cause : Unable to execute or unneeded hierarchy was selected.
Action
: --3.12 : Cannot overwrite
Code
: &H030C
Meaning/Cause : In AUTO mode or PROGRAM mode, overwrite of a program being selected cannot be made by communication with a program of
the same name.
Action
: 1. Change the mode.
2. Change the program name.
3.14 : Cannot use mode
Code
: &H030E
Meaning/Cause : Specified mode cannot be changed because access level is set to
level 2 or level 3.
Action
: Change the access level to 0 or 1.
9-9
Troubleshooting
3.13 : Changing data prohibited
Code
: &H030D
Meaning/Cause : Data cannot be changed because access level is not at 0.
Action
: Set the access level to 0.
9
1. Error Messages
3.15 : Illegal password
Code
: &H030F
Meaning/Cause : There is a mistake in the password entry.
Action
: Enter the correct password.
3.16 : Cannot reset ABS
Code
: &H0310
Meaning/Cause : Absolute reset was not performed correctly.
Action
: 1. Perform absolute reset again.
2. Replace the robot cable.
3. Replace the driver.
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 breakpoint was attempted on line already set with breakpoints.
Action
: To set the breakpoint, specify a line where breakpoints have not
yet been set.
[ 4] Data entry and edit errors
4.1
: Point number error
Code
: &H0401
Meaning/Cause : A point number was entered exceeding P4000.
Action
: Input a correct point number.
4.2
: Input format error
Code
: &H0402
Meaning/Cause : Wrong format was used to enter the data.
Action
: Use the correct data format.
4.3
: Undefined pallet
Code
: &H0403
Meaning/Cause : Specified pallet is undefined.
Action
: 1. Change the specified pallet.
2. Define the pallet.
4.4
: Undefined robot number
Code
: &H0404
Meaning/Cause : Specified robot number does not exist.
Action
: Enter a correct robot number.
Troubleshooting
9
9-10
1. Error Messages
4.5
: Undefined axis number
Code
: &H0405
Meaning/Cause : Specified axis number does not exist.
Action
: Enter a correct axis number.
[ 5] Robot language syntax (compiling) errors
: Syntax error
Code
: &H0501
Meaning/Cause : Syntax error found in program.
Action
: Change to the correct syntax.
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 to the correct number.
2. Change to the correct value.
5.4
: Bit number error
Code
: &H0504
Meaning/Cause : Specified bit number is not within 0 to 7.
Action
: Change to the correct bit number.
5.5
: Port number error
Code
: &H0505
Meaning/Cause : a. Port number specified for DO, DI, MO, SI, SO ports is outside the range 0 to 7, 10 to 17, or 20 to 27.
b. Specified port number for LO, TO is not 0.
c. An output to port 0 or port 1 was set for ports DO, MO, SO.
Action
: 1. Change to the correct port number.
2. Change output for ports DO, MO, SO to a port other than
port 0 or port 1.
5.6
: Digit number error
Code
: &H0506
Meaning/Cause : a. Binary number has exceeded 8 digits (places).
b. Octal number has exceeded 6 digits (places).
c. Decimal number has exceeded 7 digits (places).
d. Hexadecimal number has exceeded 4 digits (places).
Action
: Change to the correct number of digits (places).
9-11
9
Troubleshooting
5.1
1. Error Messages
5.7
: Illegal axis name
Code
: &H0507
Meaning/Cause : Robot axis name is wrong.
Action
: Change to the correct axis name.
5.8
: Illegal order
Code
: &H0508
Meaning/Cause : Wrong bit specified for input/output port.
Action
: Change to ascending order starting from right.
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. Change additions to the character string to a total of 75
characters or less.
5.12 : Stack overflow
Code
: &H050C
Meaning/Cause : a. Parenthesis was used 6 times or continuously in an expression.
b. Overflow in stack area for compiling/execution..
Action
: 1. Reduce parentheses in the expression to 5 times or less.
2. Reduce program size.
3. Reduce nesting of GOSUB statement, CALL statement and
FOR to NEXT statement.
4. Reduce argument of CALL statement. (especially character
variables)
5.13 : Illegal variable
Code
: &H050D
Meaning/Cause : A variable other than a global variable was used in SEND/@READ/
@WRITE commands.
Action
: Change to a global variable.
Troubleshooting
9
5.14 : Type mismatch
Code
: &H050E
Meaning/Cause : a. Expression does not match on both sides.
b. Prohibited type constant/variable/expression was used.
Action
: 1. Change so that both sides of expression match.
2. Use a correct type of constant/variable/expression.
9-12
1. Error Messages
5.15 : FOR variable error
Code
: &H050F
Meaning/Cause : Variable names for NEXT statement and corresponding FOR statement do not match.
Action
: Change so that FOR statement variable names match with NEXT
statement variable names.
5.16 : WEND without WHILE
Code
: &H0510
Meaning/Cause : There is no WHILE statement corresponding to the WEND statement.
Action
: 1. Delete the WEND statement.
2. Add a WHILE statement corresponding to the WEND statement.
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 statement.
5.18 : NEXT without FOR
Code
: &H0512
Meaning/Cause : a. There is no FOR statement corresponding to NEXT statement.
b. NEXT command was executed without executing FOR
command.
Action
: 1. Delete the NEXT statement.
2. Add a FOR statement corresponding to the NEXT statement.
3. Confirm execution of FOR command.
5.20 : ENDIF without IF
Code
: &H0514
Meaning/Cause : There is no IF statement corresponding to ENDIF statement.
Action
: 1. Delete the ENDIF statement.
2. Add an IF statement corresponding to the ENDIF statement.
9-13
9
Troubleshooting
5.19 : FOR without NEXT
Code
: &H0513
Meaning/Cause : There is no NEXT statement corresponding to FOR statement.
Action
: 1. Delete the FOR statement.
2. Add a NEXT statement corresponding to the FOR statement.
1. Error Messages
5.21 : ELSE without IF
Code
: &H0515
Meaning/Cause : There is no IF statement corresponding to ELSE statement.
Action
: 1. Delete the ELSE statement.
2. Add an IF statement corresponding to the ELSE statement.
5.22 : IF without ENDIF
Code
: &H0516
Meaning/Cause : There is no ENDIF statement corresponding to IF statement.
Action
: 1. Delete the IF statement.
2. Add an ENDIF statement corresponding to the IF statement.
5.23 : ELSE without ENDIF
Code
: &H0517
Meaning/Cause : There is no ENDIF statement corresponding to ELSE statement.
Action
: 1. Delete the ELSE statement.
2. Add an ENDIF statement corresponding to the ELSE statement.
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 to the END SUB statement.
3. Confirm execution of SUB command.
5.25 : SUB without END SUB
Code
: &H0519
Meaning/Cause : There is no END SUB statement corresponding to SUB statement.
Action
: 1. Delete the SUB statement.
2. Add an END SUB statement corresponding to the SUB
statement.
Troubleshooting
9
5.26 : Duplicated variable
Code
: &H051A
Meaning/Cause : Two or more array variables were defined for the same name.
Action
: Delete a definition statement for the array variables with the same
name.
5.27 : Duplicated identifier
Code
: &H051B
Meaning/Cause : Two or more identifiers were defined for the same name.
Action
: Define another identifier.
9-14
1. Error Messages
5.28 : Duplicated label
Code
: &H051C
Meaning/Cause : Two or more of the same labels were defined.
Action
: Define another label.
5.29 : Undefined array
Code
: &H051D
Meaning/Cause : Assignment/reference was made for undefined array.
Action
: Define the undefined array.
5.30 : Undefined identifier
Code
: &H051E
Meaning/Cause : An undefined identifier was used.
Action
: Define an identifier for undefined identifier.
5.31 : Undefined label
Code
: &H051F
Meaning/Cause : Reference made to undefined label.
Action
: Set definition for undefined label.
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
: Change array to within 3 dimensions.
5.36 : Argument mismatch
Code
: &H0524
Meaning/Cause : The number of SUB statement arguments does not correspond with
the CALL statement.
Action
: Make the number of SUB statements correspond with the CALL
statement.
9-15
9
Troubleshooting
5.35 : Dimension mismatch
Code
: &H0523
Meaning/Cause : The number of array dimensions does not match that defined by
the DIM statement.
Action
: 1. Make the number of array dimensions match that defined by
the DIM statement.
2. Make the number of array dimensions match the DIM statement.
1. Error Messages
5.37 : Specification mismatch
Code
: &H0525
Meaning/Cause : Cannot execute command under present robot specifications.
Action
: Change command for execution.
5.38 : Illegal option
Code
: &H0526
Meaning/Cause : Error is present in command option.
Action
: Change to a correct option.
5.39 : Illegal identifier
Code
: &H0527
Meaning/Cause : Reserved word was used as an identifier.
Action
: Change to an identifier not used as a reserved word. Refer to the
Reserved Word List.
5.40 : Illegal command in procedure
Code
: &H0528
Meaning/Cause : Cannot execute command within procedure (from SUB to END
SUB statements).
Action
: Delete command that cannot be executed within procedure.
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
Code
: &H052A
Meaning/Cause : Cannot execute command between IF to ENDIF
statements.(Command can be executed for one IF statement
line.)
Action
: Delete command that cannot be executed between IF to ENDIF
statements.
Troubleshooting
9
5.43 : Illegal direct
Code
: &H052B
Meaning/Cause : Independent execution of command is impossible.
Action
: 1. Change execution according to program.
2. Change it to a command that can be executed independently.
5.44 : Cannot use external label
Code
: &H052C
Meaning/Cause : Command cannot use an external label.
Action
: 1. Change to an internal label.
2. Change execution command.
9-16
1. Error Messages
5.45 : Illegal program name
Code
: &H052D
Meaning/Cause : a. When transmitting a program file by SEND command, the
NAME statement was not defined on beginning line of the
program data.
b. Characters other than alphanumeric and underscore ( _ ) were
used in the program name.
c. Program name has exceeded 8 characters.
Action
: 1. Define NAME statement on beginning line of program data.
2. Use only alphanumeric and underscore ( _ ) characters in the
program name.
3. Use 8 characters or less in the program name.
5.46 : Too many identifiers
Code
: &H052E
Meaning/Cause : Number of identifiers exceeded 500.
Action
: Ensure the number of identifiers is within 500 items.
5.47 : CASE without SELECT
Code
: &H052F
Meaning/Cause : There is no SELECT statement corresponding to CASE statement.
Action
: 1. Delete the CASE statement.
2. Add a SELECT statement corresponding to the CASE statement.
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 SELECT statement.
5.50 : CASE without END SELECT
Code
: &H0532
Meaning/Cause : There is no END SELECT statement corresponding to CASE statement.
Action
: 1. Delete the CASE statement.
2. Add an END SELECT statement corresponding to the CASE
statement.
9-17
Troubleshooting
5.49 : SELECT without END SELECT
Code
: &H0531
Meaning/Cause : There is no END SELECT statement corresponding to SELECT
statement.
Action
: 1. Delete the SELECT statement.
2. Add an END SELECT statement corresponding to the SELECT statement.
9
1. Error Messages
5.51 : Illegal command line
Code
: &H0533
Meaning/Cause : Cannot execute command statement between SELECT and CASE
statements.
Action
: Delete the command statement between SELECT and CASE statements.
5.52 : Command doesn’t exist
Code
: &H0534
Meaning/Cause : Line does not have a command statement.
Action
: 1. Add a command statement.
2. Delete the line that does not have a command statement.
5.53 : Compile failure
Code
: &H0535
Meaning/Cause : Error occurred in software
Action
: Report details of error to our company.
5.54 : ELSEIF without IF
Code
: &H0536
Meaning/Cause : There is no IF statement corresponding to ELSEIF statement.
Action
: 1. Delete the ELSEIF statement.
2. Add an IF statement corresponding to the ELSEIF statement.
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.
9
Troubleshooting
[ 6] Robot programming execution errors
9-18
6.1
: Illegal command
Code
: &H0601
Meaning/Cause : Execution of a non-supported or non-executable command was
attempted.
Action
: Change to a command that can be executed.
6.2
: Illegal function call
Code
: &H0602
Meaning/Cause : The expression “ON <expression> GOTO”/”ON <expression>
GOSUB” command was a negative value.
Action
: Change <expression> to a positive value.
1. Error Messages
: Divided by 0
Code
: &H0603
Meaning/Cause : A command to divide by 0 (÷ 0) was attempted.
Action
: Change from the divide by 0 command.
6.4
: Point doesn’t exist
Code
: &H0604
Meaning/Cause : Assignment/movement/reference to an undefined point was attempted.
Action
: Define the point.
6.5
: Coordinate type error
Code
: &H0605
Meaning/Cause : a. Arithmetic operations of joint coordinate point data and
Cartesian coordinate point data were attempted.
b. Joint coordinate system and Cartesian coordinate system
were mixed together within the MOVE C, command point
data.
c. Point data in PMOVE command was not specified in Cartesian coordinates.
Action
: 1. Change to same coordinate system.
2. Change to Cartesian coordinate system.
6.6
: Subscript out of range
Code
: &H0606
Meaning/Cause : A subscript of an array variable has exceeded the range defined in
DIM statement.
Action
: Change the subscript of array variable to within the defined range.
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 without executing CALL command.
Action
: Confirm execution of SUB command.
6.9
: EXIT SUB without CALL
Code
: &H0609
Meaning/Cause : EXIT SUB command was executed without executing CALL command.
Action
: Confirm execution of SUB command.
9-19
9
Troubleshooting
6.3
1. Error Messages
6.10 : SUSPEND without START
Code
: &H060A
Meaning/Cause : SUSPEND command was executed for a task not executed by
START command.
Action
: Confirm execution of START command.
6.11 : CUT without START
Code
: &H060B
Meaning/Cause : CUT command was executed for a task not executed by START
command.
Action
: Confirm execution of START command.
6.12 : RESTART without START
Code
: &H060C
Meaning/Cause : RESTART command was executed for a task not executed by
START command.
Action
: Confirm execution of START command.
6.13 : RESTART without SUSPEND
Code
: &H060D
Meaning/Cause : RESTART command was executed for a task not executed by
SUSPEND command.
Action
: Confirm execution of SUSPEND command.
6.14 : Task number error
Code
: &H060E
Meaning/Cause : a. Task number is outside the range 2 to 8.
b. START, CUT, SUSPEND or RESTART command was executed for task 1 (main task).
c. START, CUT, SUSPEND or RESTART command was executed for its own task.
Action
: 1. Change to a correct task number.
2. Delete task command for task 1.
3. Delete command for its own task.
Troubleshooting
9
6.15 : Task running
Code
: &H060F
Meaning/Cause : START command was executed for a task currently in operation.
Action
: Delete START command.
6.16 : Task suspending
Code
: &H0610
Meaning/Cause : START or SUSPEND command was executed for a task in pause
(suspend) condition.
Action
: Delete START or SUSPEND command.
9-20
1. Error Messages
6.17 : Illegal command in error routine
Code
: &H0611
Meaning/Cause : Command which could not be executed was attempted within an
error processing routine.
Action
: Delete the command which could not be executed.
6.18 : EXIT FOR without FOR
Code
: &H0612
Meaning/Cause : EXIT FOR command was executed without executing FOR command.
Action
: Confirm execution of FOR command.
6.19 : SUB without CALL
Code
: &H0613
Meaning/Cause : SUB command was executed without executing CALL command.
Action
: Confirm execution of CALL command.
6.20 : Not execute CALL
Code
: &H0614
Meaning/Cause : CALL command was not executed.
Action
: Confirm execution of CALL command.
6.21 : Same point exists
Code
: &H0615
Meaning/Cause : Identical points exist for 1 of 3 points of an ARC command.
Action
: Change the ARC command to 3 different points.
6.22 : 3 points on line
Code
: &H0616
Meaning/Cause : 3 points of an ARC command were placed on a straight line.
Action
: Change the 3 different points of the ARC command so they are not
on the same straight line.
6.24 : Circular ARC radius too large
Code
: &H0618
Meaning/Cause : ARC command radius exceeded 5000mm.
Action
: Change ARC command to within 5000mm for circular arc
radius.
6.25 : Too low speed
Code
: &H0619
Meaning/Cause : Specified speed was too low so movement time exceeded 300
seconds. Maximum movement time is 300 seconds.
Action
: Increase the specified speed.
9-21
Troubleshooting
6.23 : Circular ARC radius too small
Code
: &H0617
Meaning/Cause : ARC command radius is less than 1mm.
Action
: Change ARC command to 1mm or more for circular arc radius.
9
1. Error Messages
[ 9] Memory errors
9.1
: Program destroyed
Code
: &H0901
Meaning/Cause : a. Part or all of the program data has been destroyed
b. This error message is sometimes issued due to a major error
or the power being turned off during rewrite of program data.
Action
: 1. Delete that program during selection.
2. Initialize the program data.
9.2
: Point data destroyed
Code
: &H0902
Meaning/Cause : a. Part or all of the point data has been destroyed
b. This error message is sometimes issued due to a major error
or the power being turned off during rewrite of point data.
Action
: Initialize the point data.
9.3
: Memory destroyed
Code
: &H0903
Meaning/Cause : Error or malfunction occurred in the memory.
Action
: Initialize memory.
9.4
: Parameter destroyed
Code
: &H0904
Meaning/Cause : Part or all of the parameter data has been destroyed.
Action
: Initialize the parameter data.
9.5
: Illegal object code
Code
: &H0905
Meaning/Cause : An object program has been destroyed.
Action
: Compile and make an object program.
9.6
: Shift data destroyed
Code
: &H0906
Meaning/Cause : Part or all of the shift data has been destroyed.
Action
: Initialize the shift data.
9.7
: Hand data destroyed
Code
: &H0907
Meaning/Cause : Part or all of the hand data has been destroyed.
Action
: Initialize the hand data.
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.
Troubleshooting
9
9-22
1. Error Messages
9.9
: Pallet data destroyed
Code
: &H0909
Meaning/Cause : Part or all of the pallet definition data was destroyed.
Action
: Initialize the pallet definition data.
9.31 : Memory full
Code
: &H091F
Meaning/Cause : No available space in the program/point data area.
Action
: Delete unnecessary programs/points.
9.32 : Object memory full
Code
: &H0920
Meaning/Cause : Object program size exceeded the upper limit.
Action
: Compress the source program size, so that the object program
size is smaller.
9.33 : Sys. Generation destroyed
Code
: &H0921
Meaning/Cause : Part or all of the system generation data has been destroyed.
Action
: Remake the system generation data correctly.
9.34 : Sys. Generation mismatch
Code
: &H0922
Meaning/Cause : Mistake made in specifying the robot type/axis number of system generation data.
Action
: Redo the system generation correctly.
9.35 : Program too big
Code
: &H0923
Meaning/Cause : Source program size exceeded the permissible size.
Action
: Compress the source program size.
9
Troubleshooting
9.36 : Task data destroyed
Code
: &H0924
Meaning/Cause : Part or all of the data used in a task has been destroyed.
Action
: Reset the program.
9.37 : Object program destroyed
Code
: &H0925
Meaning/Cause : Part or all of an object program has been destroyed.
Action
: Make the object program again.
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.
9-23
1. Error Messages
9.39 : Sequence object destroyed
Code
: &H0927
Meaning/Cause : Part or all of the sequence object program has been destroyed.
Action
: Make the sequence object program again.
9.40 : Cannot find sequence object
Code
: &H0928
Meaning/Cause : No sequence object program.
Action
: Make the sequence object program.
9.41 : Local variable memory full
Code
: &H0929
Meaning/Cause : Number of local variables defined within subroutine has exceeded upper limit.
Action
: 1. Reduce number of local variables defined in the subroutine.
2. Use the global variable.
[10] System setting or hardware errors.
10.1 : Robot disconnected
Code
: &H0A01
Meaning/Cause : Axis control was attempted with "no axis" specified for all axes
of system generation.
Action
: Re-perform the system generation.
10.6 : DRIVER.unit version mismatch
Code
: &H0A06
Meaning/Cause : Driver unit version does not match the CPU unit.
Action
: Make sure the CPU unit and driver unit versions match each
other.
9
Troubleshooting
10.7 : CPU unit version mismatch
Code
: &H0A07
Meaning/Cause : CPU unit version does not match the CPU.
Action
: Make sure the CPU unit and driver unit versions match each
other.
10.8 : Cannot set auxiliary axis
Code
: &H0A08
Meaning/Cause : Setting of axis which cannot be set as an auxiliary axis was
attempted.
The following axes cannot be set as an auxiliary axis.
• SCARA type robot axes
• X and Y axes except on MULTI type robots
Action
: 1. Do not set an auxiliary axis.
2. Change the axis setting.
9-24
1. Error Messages
10.9 : Cannot set no axis
Code
: &H0A09
Meaning/Cause : A no-axis setting was attempted on an axis which cannot accept.
The following axes cannot be set to no-axis.
• X and Y axes except on MULTI type robots
Action
: 1. Do not make a no-axis setting.
2. Change the axis setting.
10.10 : Cannot change axis
Code
: &H0A0A
Meaning/Cause : Changing of an axis whose setting cannot be changed was attempted.
The following axes cannot be changed.
• X and Y axes on SCARA type robots
Action
: 1. Do not change that axis.
2. Change a different axis.
10.13 : Cannot set Dualdrive
Code
: &H0A0D
Meaning/Cause : A dual drive setting was attempted on an axis that cannot be set
to dual drive.
Action
: 1. Do not set to dual drive.
2. Change the axis setting.
10.14:
Undefined parameter found
Code
: &H0A0E
Meaning/Cause : a. Undefined, inappropriate parameter data was written because
controller data from a different controller version was used.
b. Parameter name is wrong.
Action
: 1. Write the correct parameter data.
2. Enter the parameter name correctly.
9
Troubleshooting
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 CPU board.
Dedicated output : *4
9-25
1. Error Messages
10.22 : STD.DIO DC24V power low
Code
: &H0A16
Meaning/Cause : a. DC 24V not supplied to STD.DIO connector.
b. Drop in DC 24V being supplied for STD.DIO.
c. STD.DIO connector is not connected.
Action
: 1. Supply DC 24V to STD.DIO connector.
2. Check if line to STD.DIO connector is shorted, broken or
miswired.
3. Check if load connected to STD.DIO is beyond capacity of
DC 24V supply.
4. If STD.DIO is not used, make the “Watch on STD.DO DC
24V” parameter invalid in SYSTEM>PARAM>OTHER
mode.
[12] I/O and option board errors
12.1 : Emg.stop on
Code
: &H0C01
Meaning/Cause : a. Emergency stop button was pressed.
b. Emergency stop terminals on SAFETY connector are open
(emergency stop status).
c. MPB or terminator are not connected to MPB connector.
d. SAFETY connector is not connected.
Action
: 1. Release the MPB emergency stop button.
2. Close the emergency stop terminals on SAFETY connector.
3. Connect MPB or terminator to MPB connector.
4. Attach the SAFETY connector.
Dedicated output : *3
12.2 : Interlock on
Code
: &H0C02
Meaning/Cause : a. Program was executed or moving of axis attempted with
interlock signal still input.
b. Interlock signal turned ON during execution of program or
axis movement.
c. DC 24V not supplied to STD.DIO connector.
d. STD.DIO connector is not connected.
Action
: 1. Cancel the interlock signal, and execute program or move
axis.
2. Supply DC 24V to STD.DIO connector.
3. Connect the STD.DIO connector.
4. Disable the "DI (11) control" parameter when not using
STD.DIO.
Troubleshooting
9
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.
9-26
1. Error Messages
12.11 : CC-Link communication error
Code
: &H0C0B
Meaning/Cause : a. Error in cable for CC-Link system.
b. Wrong communication setting for CC-Link system.
c. Master station sequencer power is turned off, has stopped
operating or is damaged.
d. Breakdown in CC-Link compatible unit.
Action
: 1. Check for a break, misconnection or wiring error in CC-Link
cable.
2. Check the station No. and communication baud rate setting.
3. Check if the master station sequencer is operating correctly.
4. Replace the corresponding CC-Link compatible unit.
12.12 : CC-Link overtime error
Code
: &H0C0C
Meaning/Cause : 1. Error in CC-Link system communications due to noise
pickup, etc.
2. Master station sequencer (PLC) power is turned off or has
stopped operating.
Action
: 1. Implement countermeasures to protect the CC-Link system
cable and controller from noise.
2. Check if the master station sequencer (PLC) is operating
correctly.
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 speed setting is incorrect.
Action
: 1. Check the MacID and communication speed settings.
9-27
9
Troubleshooting
12.16 : DeviceNet link error
Code
: &H0C10
Meaning/Cause : a. Error in cable for DeviceNet system.
b. The DeviceNet system's MacID or communication speed
setting is incorrect.
c. The power for communication is not supplied.
d. The master PLC's power is turned off, has stopped operating,
is not operating correctly or is damaged.
e. Breakdown in DeviceNet compatible unit.
Action
: 1. Check for a break, misconnection or wiring error in
DeviceNet cable, and check the specifications (cable length, etc.)
2. Check the MacID and communication speed settings.
3. Check whether the communication power is supplied.
4. Check whether the master PLC is operating correctly.
5. Replace the DeviceNet compatible unit.
1. Error Messages
12.19 : DeviceNet link error(Explicit)
Code
: &H0C13
Meaning/Cause : a. The DeviceNet board was reset by an Explicit message
request (Reset request to Identity Obj) from the client (master
PLC).
Action
:
12.31 : DI DC24V disconnected
Code
: &H0C1F
Meaning/Cause : a. DC 24V not being supplied to DI section of OPT.DIO unit.
b. Drop in DC 24V supply voltage to DI section of OPT.DIO
unit.
c. OPT.DIO connector is not connected.
Action
: 1. Supply DC 24V to DI section of OPT.DIO.
2. Check for short, breakage or wiring error in OPT.DIO connector.
3. Check if a sufficient DC 24V is supplied to DI section of
OPT.DIO unit.
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 DO1section of OPT.DIO unit.
2. Check for short, breakage or wiring error in OPT.DIO connector.
3. Check if load connected to DO1 section of OPT.DIO unit is
too large for the DC 24V supply to handle.
9
Troubleshooting
12.33 : DO2 DC24V disconnected
Code
: &H0C21
Meaning/Cause : a. DC 24V not being supplied to DO2 section of OPT.DIO unit.
b. Drop in DC 24V supply voltage to DO2 section of OPT.DIO
unit.
c. OPT.DIO connector is not connected.
Action
: 1. Supply DC 24V to DO2 section of OPT.DIO unit.
2. Check for short, breakage or wiring error in OPT.DIO connector.
3. Check if load connected to DO2 section of OPT.DIO unit is
too large for the DC 24V supply to handle.
9-28
1. Error Messages
12.70 : Incorrect option setting
Code
: &H0C46
Meaning/Cause : a. Error in DIP switch setting on option unit.
b. Mismatched option units have been installed.
c. Cannot identify the installed option unit.
Action
: 1. Check the DIP switch settings on the option unit.
2. Install the correct unit.
3. Replace the option unit.
4. Replace the controller.
12.75 : Illegal remote command
Code
: &H0C4B
Meaning/Cause : a. The remote command or command data is incorrect.
Action
: 1. Check the remote command or command data.
[13] MPB errors
13.1 : MPB communication error
Code
: &H0D01
Meaning/Cause : Error occurred in communication with MPB.
Action
: 1. Install the MPB correctly.
2. Replace the MPB.
3. Replace the controller.
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.)
9
Troubleshooting
13.11 : MPB version mismatch
Code
: &H0D0B
Meaning/Cause : MPB version does not match the controller, and connection
refused.
Action
: Use an MPB version that matches the controller.
13.12 : MPB system error
Code
: &H0D0C
Meaning/Cause : Error occurred in communication with MPB.
Action
: 1. Replace the MPB.
2. Replace the controller.
9-29
1. Error Messages
[14] RS-232C communication errors
14.1 : Communication error
Code
: &H0E01
Meaning/Cause : a. During external communication via the RS-232C, an error
occurred.
b. An overrun error or framing error occurred via the RS-232C.
c. Power supply for external device turned on or off after connecting communication cable with the external device.
Action
: 1. Change to a correct system environment for RS-232C. (Do
not install near sources of noise.)
2. Replace the communications cable.
3. Check the communication parameter settings.
14.2 : Parity error
Code
: &H0E02
Meaning/Cause : During external communication via the RS-232C, an error occurred.
Action
: Check the communication parameter settings.
9
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 normal in software processing for
other party.
Troubleshooting
14.11 : Receive buffer overflow
Code
: &H0E0B
Meaning/Cause : Communication receive buffer exceeded permissible capacity.
Action
: 1. Delay the communication parameter speed (baud rate).
2. Change communication parameter so that flow control is
enabled.
14.20 : Too many Command characters
Code
: &H0E14
Meaning/Cause : 1. Off-line command character string in 1 line exceeded 80 letters.
2. Command statement created with a remote command exceeded 80 letters.
Action
: 1. Limit number of characters in 1 line for an off-line command
to 80 letters or less.
2. Check the command data of the remote command.
14.21 : No return code (C/R)
Code
: &H0E15
Meaning/Cause : 1. Character string in 1 line exceeded 75 letters.
2. CR code (0Dh) was not added at end of line.
Action
: 1. Limit number of characters in 1 line to 75 letters.
2. Add a CR code at the end of a single line.
9-30
1. Error Messages
14.22 : No start code (@)
Code
: &H0E16
Meaning/Cause : Starting code "@" was not added at beginning of single line in
an on-line command.
Action
: Add starting code "@" at the beginning of on-line command.
14.23 : Illegal command,Operating
Code
: &H0E17
Meaning/Cause : During data editing, an on-line command was executed.
Action
: After completing data edit, execute an on-line command.
14.24 : Illegal command,Running
Code
: &H0E18
Meaning/Cause : During program run, a non-executable on-line command was
attempted.
Action
: After stopping the program, execute the on-line system command which could not previously be executed.
14.25 : Illegal command in this mode
Code
: &H0E19
Meaning/Cause : Cannot execute the specified online command in the current
mode.
Action
: 1. Stop the online command.
2. Change the mode.
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 settings so it can be used in
SERVICE mode.
Troubleshooting
14.31 : Illegal port type
Code
: &H0E1F
Meaning/Cause : Communication port not specified.
Action
: Contact our company with details on this problem.
9
[15] Memory card errors
15.1 : Invalid file attribute
Code
: &H0F01
Meaning/Cause : a. Directory was accessed.
b. Read/write protected file was accessed.
Action
: 1. Change to a file which can be accessed.
2. Change to a file allowing read/write.
9-31
1. Error Messages
15.2 : Read only file
Code
: &H0F02
Meaning/Cause : Writing was attempted on a write protected file.
Action
: 1. Change to another file.
2. Change to a file not write protected.
15.3 : Same file name already exists
Code
: &H0F03
Meaning/Cause : File name change was attempted but the same file name already
exists.
Action
: Change it to an unused file name.
15.4 : File doesn’t exist
Code
: &H0F04
Meaning/Cause : Loading of file was attempted but file name does not exist.
Action
: Change to a file name that currently exists.
15.11 : Directory full
Code
: &H0F0B
Meaning/Cause : The file storage capacity was exceeded.
Action
: 1. Use a new memory card.
2. Change the directory to save.
3. Delete unnecessary files.
15.12 : Disk full
Code
: &H0F0C
Meaning/Cause : Write failed. No space is available on memory card. (File contents cannot be guaranteed.)
Action
: 1. Use a new memory card.
2. Delete unnecessary files.
9
Troubleshooting
15.13 : Unformatted media
Code
: &H0F0D
Meaning/Cause : a. Memory card was not formatted.
b. Wrong memory card format.
Action
: 1. Format correctly.
2. Replace memory card backup battery.
15.14 : Media protected
Code
: &H0F0E
Meaning/Cause : Cannot write. Memory card has been set to write protect.
Action
: 1. Change to allow writing.
2. Use another memory card.
15.15 : Media type mismatch
Code
: &H0F0F
Meaning/Cause : Memory card is unusable.
Action
: Replace the memory card.
9-32
1. Error Messages
15.16 : Media data destroyed
Code
: &H0F10
Meaning/Cause : All or part of data stored on memory card is damaged.
Action
: 1. Format the memory card.
2. Overwrite the damaged portion with new data.
3. Replace the memory card backup battery.
4. Replace the memory card.
15.21 : Cannot find media
Code
: &H0F15
Meaning/Cause : Memory card not inserted correctly in slot.
Action
: Insert the memory card correctly.
15.23 : Aborted
Code
: &H0F17
Meaning/Cause : STOP key was pressed during reading/writing from or into
memory card, and the operation halted.
Action
: --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 file.
Action
: 1. Try to reload the file.
2. Replace the memory card.
3. Replace the controller.
9
Troubleshooting
15.28 : Data write error
Code
: &H0F1C
Meaning/Cause : Failed to write file.
Action
: 1. Try rewriting the file.
2. Replace the memory card.
3. Replace the controller.
15.29 : Timeout error
Code
: &H0F1D
Meaning/Cause : Failed to load/write file.
Action
: 1. Try to reloading/rewriting the file.
2. Replace the memory card.
3. Replace the controller.
9-33
1. Error Messages
[17] Motor control errors
17.1 : System error (DRIVER)
Code
: &H1101
Meaning/Cause : Error occurred in software for driver unit.
Action
: Contact our company with details of the problem.
Dedicated output : *2
17.2 : Watchdog error (DRIVER)
Code
: &H1102
Meaning/Cause : a. Malfunction occurred in driver unit due to external noise.
b. Controller is defective.
Action
: 1. Turn the power on again.
2. Replace the controller.
Dedicated output : *2
17.3 : Overcurrent
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 : Overload
Code
: &H1104
Meaning/Cause : a. Robot drive section mechanically locked
b. Motor current exceeded its rated value due to a motor overload.
c. Motor acceleration is excessive.
d. System generation setting is wrong.
e. Motor cable wiring is broken or wiring is incorrect.
f. Electromagnetic brake for holding vertical axis is defective.
g. Wiring is incorrect or disconnected on electromagnetic brake
for holding the vertical axis.
h. SAFETY connector is not used correctly.
Action
: 1. Perform robot service and maintenance.
2. Decrease load on motor.
3. Lower the motor acceleration.
4. Redo the system generation.
5. Wire the motor cable correctly
6. Replace the motor cable.
7. Replace the magnetic brake for holding the vertical axis.
8. Replace the robot I/O cable.
9. Do not use DC 24V from SAFETY connector as power
source for external loads.
Dedicated output : *2
Troubleshooting
9
9-34
1. Error Messages
17.5 : Overheat
Code
: &H1105
Meaning/Cause : Temperature in power module of driver unit exceeded 70°C.
Action
: 1. Improve the equipment environment.
2. Check that cooling fan is working correctly.
3. Lower the robot duty cycle and decrease the amount of heat
generated.
4. Replace the controller
Dedicated output : *2
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 brake for holding vertical axis is defective.
f. Wiring is incorrect or disconnected on electromagnetic brake
for holding the vertical axis.
g. SAFETY connector is not used correctly.
Action
: 1. Perform robot service and maintenance.
2. Lower the motor acceleration.
3. Redo the system generation.
4. Wire the motor cable correctly
5. Replace the motor cable.
6. Replace the magnetic brake for holding the vertical axis.
7. Replace the robot I/O cable.
8. Do not use DC 24V from SAFETY connector as power
source for driving external loads.
Dedicated output : *2
:
:
:
:
&H1107
Motor overheated due to an overload.
Reduce the load on the motor.
*2
17.8 : Over hard limit
Code
Meaning/Cause
Action
Dedicated output
:
:
:
:
&H1108
Operating range of each robot axis was exceeded.
Set within the operating range of each robot axis.
*2
17.9 : Command error
Code
Meaning/Cause
Action
Dedicated output
:
:
:
:
&H1109
Driver cannot identify commands from CPU.
Check the versions of the CPU unit and driver unit.
*2
9
Troubleshooting
17.7 : Motor overheat
Code
Meaning/Cause
Action
Dedicated output
9-35
1. Error Messages
17.10 : Feedback error 1
Code
: &H110A
Meaning/Cause : Wiring of motor cable or encoder cable is incorrect.
Action
: 1. Rewire the motor cable or encoder cable correctly.
2. Replace the motor cable or encoder cable.
Dedicated output : *2
17.11 : Feedback error 2
Code
Meaning/Cause
Action
Dedicated output
:
:
:
:
&H110B
Motor cable or encoder cable is broken.
Replace the motor cable or encoder cable.
*2
17.16 : Over velocity 1
Code
: &H1110
Meaning/Cause : Axis movement speed exceeded the limit during linear interpolation, circular interpolation or manual orthogonal movement.
Action
: 1. Reduce the acceleration.
2. Reduce the speed.
Dedicated output : *2
17.17 :
9
Mode error
Code
Meaning/Cause
Action
Dedicated output
:
:
:
:
&H1111
Driver unit is in abnormal control mode status.
Contact our company with details on the problem.
*2
17.18 : DPRAM data error
Code
Meaning/Cause
Action
Dedicated output
:
:
:
:
&H1112
2 tries at loading the dual port RAM failed.
Contact our company with details on the problem.
*2
Troubleshooting
17.19 : Coord. value error
Code
: &H1113
Meaning/Cause : Error occurred during linear interpolation, circular interpolation
or manual orthogonal movement.
Action
: Contact our company with details on the problem.
Dedicated output : *2
17.20 : Motor type error
Code
: &H1114
Meaning/Cause : A motor type unidentifiable by drive unit was selected.
Action
: 1. Redo the system generation.
2. Replace the controller.
9-36
1. Error Messages
17.21 : Bad origin sensor
Code
: &H1115
Meaning/Cause : a. Origin sensor is defective.
b. Sensor cable is broken.
Action
: 1. Replace the origin sensor.
2. Replace the origin sensor cable.
17.22 : Bad PZ
Code
: &H1116
Meaning/Cause : a. Motor is defective.
b. Resolver signal wire is broken.
Action
: 1. Replace the motor.
2. Replace the robot I/O cable.
17.23 : Torque limit
Code
: &H1117
Meaning/Cause : Torque exceeded the limit.
Action
: Lower the acceleration.
17.24 : Cannot 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.
17.27 : ABS.backup failed (CPU)
Code
: &H111B
Meaning/Cause : a. Reset was triggered in CPU due to noise, and position information was lost.
b. Backup of position information failed when power was cut
off in the CPU unit.
Action
: Perform absolute reset.
17.30 : Bad position
Code
: &H111E
Meaning/Cause : Cannot perform positioning.
Action
: 1. Turn the power off and then on again.
2. Replace the controller.
Dedicated output : *2
9-37
9
Troubleshooting
17.26 : Dual drive failed
Code
: &H111A
Meaning/Cause : a. Driver unit is not specified as dual drive even though dual
drive was set in the system.
b. System generation was not set to dual drive even through the
driver unit is specified as dual drive.
Action
: 1. Change the driver unit setting to dual drive.
2. Change the system generation setting to dual drive.
1. Error Messages
17.31 : Servo off
Code
: &H111F
Meaning/Cause : Movement command was attempted in servo OFF state.
Action
: Change status to servo ON.
17.34 : Servo on failed
Code
: &H1122
Meaning/Cause : a. Servo-ON was attempted for each axis while motor power
was off.
b. Servo-ON processing failed because the drive unit had been
stopped.
Action
: 1. First turn on the motor power if servo-ON for each axis was
attempted.
2. Turn the power off and then on again.
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 correct value.
17.39 : Servo off failed
Code
: &H1127
Meaning/Cause : Servo-OFF processing failed because the drive unit had been
stopped.
Action
: Turn the power off and then on again.
Dedicated output : *2
17.40 : Torque mode now
Code
: &H1128
Meaning/Cause : Manual movement attempted while in torque mode.
Action
: Cancel the torque mode.
Troubleshooting
9
17.73 : Resolver wire breakage
Code
: &H1149
Meaning/Cause : a. Resolver signal wire is broken.
b. Motor malfunction occurred.
c. Controller malfunction occurred.
Action
: 1. Replace the robot I/O cable.
2. Replace the motor.
3. Replace the controller.
17.78 : Power module error
Code
: &H114E
Meaning/Cause : a. Power module overheated.
b. Power module/motor drew excessive current.
Action
: Lighten the load on the robot.
9-38
1. Error Messages
17.80 : ABS.backup failed (DRIVER)
Code
: &H1150
Meaning/Cause : a. Backup information on position was disabled when system
generation was performed during previous controller startup
b. In the driver unit, backup of position information failed when
power was cut off.
Action
: Perform absolute reset.
17.81 : ABS.battery wire breakage
Code
: &H1151
Meaning/Cause : a. Absolute battery cable is broken.
b. Absolute battery cable is not connected.
c. Drop in absolute battery voltage.
Action
: 1. Replace the absolute battery.
2. Connect the absolute battery.
3. Enable the "Incremental mode control" parameter for use in
incremental mode.
4. Apply power to controller and charge the absolute battery.
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
Meaning/Cause : Backup position information did not match the resolver angle
information when robot position information was recalculated at
controller startup.
Action
: Perform absolute reset.
17.85:
Backup position data error 2
Code
: &H1155
Meaning/Cause : Robot was moved by external force while robot position information was recalculated at controller startup.
Action
: 1. Set so that robot is not moved by external force at controller
startup.
2. Perform absolute reset.
9-39
Troubleshooting
17.84 : Over velocity 2
Code
: &H1154
Meaning/Cause : Motor rotated at 400 rpm or more when power was cut off.
Action
: Perform absolute reset.
9
1. Error Messages
17.90 : DRIVE2 module type error
Code
: &H115A
Meaning/Cause : Motor specifications do not match current sensor specifications.
Action
: 1. Replace the controller.
2. Redo the system generation.
17.91 : Cannot perform ABS.reset
Code
: &H115B
Meaning/Cause : Absolute reset was attempted at a position where absolute reset
cannot be performed.
Action
: Move the axis to a position (machine reference from 26 to 74%)
where absolute reset can be performed, and then try again.
17.92 : Resolver disconnected during power off
Code
: &H115C
Meaning/Cause : Resolver signal line was disconnected or broken while power to
the controller was cut off.
(Same as when robot I/O connector is removed.)
Action
: Perform absolute reset.
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 being cut off.
2. Perform absolute reset.
17.94 : ABS. battery low voltage
Code
: &H115E
Meaning/Cause : Absolute battery voltage dropped below 3.50 volts.
Action
: 1. Recharge absolute battery by supplying power to controller.
: 2. Check the absolute battery connections.
: 3. Replace the absolute battery.
Troubleshooting
9
[21] Major software errors
21.1 : System error (JOG)
Code
: &H1501
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
21.2 : System error (srvmod)
Code
: &H1502
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
9-40
1. Error Messages
21.3 : System error (TaskID)
Code
: &H1503
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
21.4 : System error (drcom)
Code
: &H1504
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
21.5 : System error (drmod)
Code
: &H1505
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
21.6 : System error (Gen.Data)
Code
: &H1506
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
21.10 : Watchdog error (CPU)
Code
: &H150A
Meaning/Cause : a. CPU malfunctioned due to external noise.
b. Controller is defective.
Action
: 1. Turn the power off and then on again.
2. Replace the controller.
Dedicated output : *1
21.11 : System error (EmgHalt)
Code
: &H150B
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
9
21.13 : System error (CRFPOS)
Code
: &H150D
Meaning/Cause : 1. Current position of driver does not match the instructed position.
Action
: 1. Replace the driver.
2. Replace the controller.
21.14 : DPRAM error (PTP data)
Code
: &H150E
Meaning/Cause : 1. Failed to write PTP command data into driver.
Action
: 1. Replace the driver.
2. Replace the controller.
9-41
Troubleshooting
21.12 : System error (RTOS)
Code
: &H150C
Meaning/Cause : Software error occurred.
Action
: Contact our company with details of this problem.
1. Error Messages
21.41 : System error (EXCEPTION)
Code
: &H1529
Meaning/Cause : a. Software error occurred.
Action
: 1. Contact our company with details of this problem.
[22] Major hardware errors
22.1 : AC power low
Code
: &H1601
Meaning/Cause : a. AC supply voltage dropped below 85% of rated voltage.
b. Power source has insufficient capacity.
Action
: 1. Check the AC supply voltage
2. Check if supply voltage drops during robot operation.
3. Lower the robot duty cycle.
Dedicated output : *1
Caution
: This error always occurs when the power is cut off
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 for safety connector.
Action
: 1. Replace the controller.
2. Replace the vertical axis electromagnetic brake.
3. Replace the robot I/O cable.
4. Check the SAFETY connector wiring.
Dedicated output : *1
22.9 : Abnormal overvoltage
Code
: &H1609
Meaning/Cause : a. Output voltage for motor power supply exceeded 420 volts.
b. Regenerative unit not connected to controller.
c. Regenerative unit safety device triggered due to temperature
rise (120°C or more) in regeneration damping resistor.
d. Cable connecting regenerative unit and controller is defective.
e. Regenerative unit is defective.
f. Safety connector is used incorrectly.
Action
: 1. Check the power supply voltage.
2. Connect the regenerative unit.
3. Lower the robot operating duty.
4. Replace the connecting cable.
5. Replace the regenerative unit.
6. Do not supply DC 24V to SAFETY connector from external
source.
Troubleshooting
9
9-42
1. Error Messages
22.10 : Abnormal drop in voltage
Code
: &H160A
Meaning/Cause : a. Output voltage for motor power supply dropped below 140V.
b. Power supply has insufficient capacity.
c. Vertical axis electromagnetic brake is defective.
d. SAFETY connector is used incorrectly.
Action
: 1. Check the power supply voltage.
2. Check if supply voltage drops during robot operation.
3. Lower the robot duty cycle.
4. Replace the vertical axis electromagnetic brake.
5. Do not supply DC 24V to SAFETY connector from external
source.
6. Do not use DC 24V from SAFETY connector as power
source for driving external loads.
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 output : *1
22.13 : Bus interface overtime
Code
: &H160D
Meaning/Cause : Could not acquire access rights to dual port RAM.
Action
: Replace the controller.
Dedicated output : *1
22.14 : Abnormal DRIVER unit error
Code
: &H160E
Meaning/Cause : Error occurred in hardware.
Action
: Contact our company with details of the problem.
Dedicated output : *1
9
Troubleshooting
22.20 : DRIVER unit disconnected.
Code
: &H1614
Meaning/Cause : 1. CPU unit could not recognize driver unit.
2. Dual port RAM is defective.
Action
: Replace the controller.
Dedicated output : *1
22.30 : DRIVER unit abnormal
Code
: &H161F
Meaning/Cause : 1. Wrong DIP switch setting on drive unit.
2. Drive unit not operating correctly.
3. Dual port RAM is defective.
Action
: Replace the controller.
Dedicated output : *1 or *2
9-43
1. Error Messages
22.40 : PCMCIA interface overtime
Code
: &H1628
Meaning/Cause : 1. Failed to acquire access privilege for PCMCIA interface.
Action
: 1. Replace the PCMCIA interface driver.
: 2. Replace the controller.
Dedicated output : *1
22.41 : OPT.1 interface overtime
Code
: &H1629
Meaning/Cause : 1. Failed to acquire access privilege for interface with option
board connected to option slot 1.
Action
: 1. Replace the option board connected to option slot 1.
: 2. Replace the controller.
Dedicated output : *1
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.
Dedicated output : *1
22.43 : OPT.3 interface overtime
Code
: &H162B
Meaning/Cause : 1. Failed to acquire access privilege for interface with option
board connected to option slot 3.
Action
: 1. Replace the option board connected to option slot 3.
: 2. Replace the controller.
Dedicated output : *1
9
Troubleshooting
22.44 : OPT.4 interface overtime
Code
: &H162C
Meaning/Cause : 1. Failed to acquire access privilege for interface with option
board connected to option slot 4.
Action
: 1. Replace the option board connected to option slot 4.
: 2. Replace the controller.
Dedicated output : *1
22.45 : DRIVER interface overtime
Code
: &H162D
Meaning/Cause : 1. Failed to acquire access privilege for interface with driver.
Action
: 1. Replace the driver.
2. Replace the controller.
Dedicated output : *1
9-44
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.
MPB TRAP!!
Contents
Cause
Action
: Undefined operation code was executed.
: A hardware error occurred.
: Replace the MPB.
MPB Receive Error!! (Data Register Full)
Contents
Cause
Action
: Data receive register is full.
: A hardware error occurred.
: Replace the MPB.
MPB Receive Error!! (Overrun Error)
Contents
: An overrun occurred while receiving data.
Cause
: a. Malfunction occurred due to noise.
b. The cable is broken or disconnected.
c. The connector is not making contact.
Action
: 1. Separate equipment away from noise source.
2. Replace the MPB cable.
3. Replace the MPB.
MPB Receive Error!! (Parity Error)
Contents
Cause
Action
: Parity error occurred during communication.
: a. Malfunction occurred due to noise.
b. The cable is broken or disconnected.
c. The connector is not making contact.
: 1. Separate equipment away from noise source.
2. Replace the MPB cable.
9
MPB Receive Error!! (Buffer Overflow)
Contents
Cause
Action
: Remaining area in receive buffer fell below 1% during communications.
: a. Large amount of data was sent from the controller.
b. Communication control error.
: 1. Replace the MPB.
2. Replace the controller.
9-45
Troubleshooting
MPB Receive Error!! (Framing Error)
Contents
: Framing error occurred during communication.
Cause
: Malfunction occurred due to noise.
Action
: Separate equipment away from noise source.
1. Error Messages
M P B Tr a n s m i t E r r o r ! ! ( T i m e O u t E r r o r )
Contents
: Transmission 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.
2. Replace the MPB.
3. Replace the controller.
MPB Device Not Ready!! (Time Out Error)
Contents
Cause
Action
: Cannot control the controller.
: a. The cable is broken or disconnected.
b. Handshake with controller is defective due to problem with
controller.
: 1. Replace MPB cable.
2. Replace the MPB.
3. Replace the controller.
MPB RS-422 Error!! (RTS/CTS LINE Error)
Contents
: Cannot control the controller.
Cause
: a. The cable is broken or disconnected.
b. Controller operation is abnormal.
c. The connector is not making contact.
Action
: 1. Replace the MPB cable.
2. Replace the controller.
M P B R S - 4 2 2 E r r o r ! ! ( D ATA L I N E E r r o r )
Contents
Cause
Action
9
: Data communication with controllers is defective.
: a. The cable is broken or disconnected.
b. The connector is not making contact.
: 1. Replace the MPB cable.
2. Replace the controller.
Troubleshooting
M P B M e m o r y E r r o r ! ! ( D ATA W r i t e E r r o r )
Contents
: Internal memory is defective.
Cause
: Internal memory circuit is defective.
Action
: Replace the MPB.
MPB Receive Error!! (Buffer Overflow)
Contents
: Remaining capacity of data receive data buffer fell below 1
percent.
Cause
: a. Massive amount of data was sent from controller.
b. Communication control error.
Action
: 1. Replace the MPB.
2. Replace the controller.
9-46
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.
Item
Description
• Controller model name and serial No.
example: RCX40 + regenerative unit
What happened
• Robot model name + serial No.
example: YK250X
• Controller version No.
example: V8.01 R1002
• Date of purchase
When
example: December 2001
• How long used
example: Since delivery, about 1 year
• Usage conditions
example: when power is turned on
Under what conditions
when creating program
during manual movement
when robot is moved to particular location during program
operation.
• Status on MPB screen
example: Nothing is displayed on screen
Error message appears on screen
• Robot servo status
example: Servo won't turn on
Current status is
Abnormal sound when robot is moved
Sets to origin incomplete.
• MPB operating status
example: Keys won't function
Response after pressing key is slow
Only the emergency stop switch functions
etc.
NOTE
n When
the MPB is connected, the error
message appearing on the screen is a
valuable source of information for
troubleshooting.
• How often above problem occurs
How often it happens
example: Always occurs when power is turned on.
Occurs at particular line during program operation.
9
Only occurs once, then does not occur again.
Troubleshooting
9-47
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) key in “SYSTEM” mode.
2) To check controller error status, press the F 1 (DIAGNOS) key.
A maximum of 5 error histories are displayed.
3) To check a particular error history, press the F 2 (HISTORY) key.
A maximum of 500 error histories can be checked.
2.2.2
Acquiring information from the RS-232C
[Procedure]
1) Connect the robot controller to the PC with the RS-232C cable.
2) Set the communication conditions.
3) Send “@READ LOG” from the PC to receive the internal error history in the robot
controller.
A maximum of 500 error histories can be checked.
Troubleshooting
9
9-48
2. Troubleshooting
2.3
Troubleshooting checkpoints
1. Installation and power supply
Symptom
1
Controller won't turn on
Possible cause
• Power is not supplied.
even with power supplied.
Check items
• Check power input terminal
connection (L/N/GND).
• Check power input terminal
voltage (L/N/GND).
Corrective action
• Connect power input terminal
correctly.
• Supply rated power supply
voltage.
• Check if “PWR” LED on front
panel is lit.
• Problem in controller
• Replace the controller.
internal power.
2
Controller turns on but no
• MPB not connected.
• Check MPB connector.
MPB display.
• Wrong MPB connection.
• Check how MPB connector is
• MPB malfunctioning.
• Problem in controller
internal power supply.
3
Controller turns on but
• Now in emergency stop.
“ERR” LED on front panel
inserted.
• Replace MPB and check
correctly.
• Replace the MPB.
• Replace the controller.
operation.
• Connect the MPB and check
the error history.
lights up.
• Plug in MPB connector
• Check DI00 on MPB screen.
• Release MPB emergency stop
switch.
• Insert MPB connector.
• Connect the emergency stop
terminal of SAFETY
connector.
• Error of error group No.
17 occurred.
• Connect the MPB and check
the error history.
• Check the axis from the error
information.
• Check the cause from the
error information.
• Eliminate the cause of the
error.
• Error of error group No.
21, 22 occurred.
• Connect the MPB and check
the error history.
• Check the cause from the
error information.
• Eliminate the cause of the
error.
9
Troubleshooting
9-49
2. Troubleshooting
2. Robot operation
Symptom
1
Controller turns on but
Check items
Possible cause
• Interlock signal.
• Check standard I/O interface
can't execute program and
connector (for interlock signal)
manual movement.
and check if DC 24V is
supplied.
Corrective action
• Connect the standard I/O
interface connector for
interlock signal.
• Connect the DC 24V power supply.
• Check DI11 on MPB screen.
• Disable interlock signal with
• Connect the MPB and check
• Release MPB emergency stop
the parameter.
• Robot is in emergency
stop.
error. information.
• Check DI00 on MPB screen.
switch.
• Plug in MPB connector.
• Connect MPB emergency stop
terminal of SAFETY connector.
• Error occurred.
• Connect the MPB and check
error info
• Check if “ERR” LED on front
panel is lit.
2
Abnormal sound or
vibration.
• Wrong robot or axis type
setting.
• Connect MPB and check robot
settings in SYSTEM mode.
• Check if robot and controller
are compatible.
• Tip weight/ acceleration
• Check tip weight parameter
settings are incorrect.
setting in SYSTEM mode.
• Check “Accel. Coefficient”
parameter setting in SYSTEM
mode.
• Check AXWGHT/ACCEL
• Check the cause from the
error information.
• Eliminate the cause of the
error.
• Change to correct robot or axis
type setting.
• Make sure robot and controller
are compatible.
• Set a correct tip weight
parameter
• Set a correct “Accel.
Coefficient” parameter.
• Make a correct setting in the
program language.
commands in program language.
• Mechanical problem
occurred.
• Check for resonance in robot
frame.
• Check for loose screws on
robot cover.
• Check for warping or damage
on guides or ball screws.
• Reinforce the robot frame.
• Tighten the robot cover
screws.
• Remove foreign matter if
found.
• Replace if warped or damaged
guides or ball screws are found.
9
• Controller is defective.
• Replace with another
• Position sensor device is
• Move axis in emergency stop
controller and check operation.
3
Position deviation
Troubleshooting
occurred.
defective.
and check the pulse count.
substitute controller.
• Replace motor if count is
incorrect.
• Replace cable if found to be
• Cable is defective.
• There are 2 main types of
position deviation.
1. Electrical position
deviation
2. Mechanical position
deviation
In case 1, if position
deviation occurs, you
can perform absolute
reset and return to
original position. In
case 2, you cannot
return to original
position.
• If operation is normal use the
defective.
• Position detection error
due to noise.
• Check grounding of robot and
controller.
• Check robot periphery for
noise.
• Check for noise sources
around robot I/O cable.
• Mechanical error
occurred.
• Check the belt tension
• Check for warping or damage
on guides or ball screws.
• Ground the robot and
controller.
• Isolate from noise sources
around robot.
• Isolate from noise sources
around robot I/O cable.
• Adjust to correct tension if
necessary.
• Remove foreign matter if
found.
• Replace guides or ball screws
if warping or damage is found.
• Controller is defective.
• Replace with another
controller and check operation.
9-50
• If operation is normal use the
substitute controller.
2. Troubleshooting
3. I/O operation
Symptom
1
Won't operate even when
Possible cause
• No DC24V supply.
Check items
• Check that DC 24V is supplied
Corrective action
• Supply DC 24V.
from standard I/O interface
custom signal input is
connector.
supplied.
• Check DI04 on MPB screen.
• Problem in signal
connection.
• Check wiring on standard I/O
interface connector.
• Make the correct wiring on
standard I/O interface
connector.
• Error has occurred.
• Connect MPB and check robot
settings in SYSTEM mode.
• Check if “ERR” LED is lit on
front of controller.
2
No output of custom output
• No DC24V supply.
signal.
• Check that DC 24V is supplied
• Check the cause from the
error information.
• Eliminate the cause of the
error.
• Supply DC 24V.
from standard I/O interface
connector.
• Check DI04 on MPB screen.
• Problem in signal
connection.
• Check wiring on standard I/O
interface connector.
• Make the correct wiring on
standard I/O interface
connector.
• Error has occurred.
• Connect the MPB and check
robot settings in SYSTEM mode.
• Check if “ERR” LED is lit on
front of controller.
3
No output of general-
• No DC24V supply.
• Check that DC 24V is supplied
• Check the cause from the
error information.
• Eliminate the cause of the
error.
• Supply DC 24V.
from standard. I/O interface
purpose I/O signal.
connector.
• Check DI04 on MPB screen.
• Check that DC 24V is supplied
for option I/O interface.
• Problem in signal
connection.
• Check wiring on standard I/O
interface connector.
• Check wiring on option I/O
interface connector.
• Error in option I/O
• Error has occurred.
setting on the DIP switch.
• Connect the MPB and check
the error information.
• Check if “ERR” LED is lit on
front of controller.
standard I/O interface connector.
• Make the correct wiring on
option I/O interface connector.
• Make the correct option I/O
interface setting.
• Check the cause from the
error information.
• Eliminate the cause of the
error.
9-51
9
Troubleshooting
interface setting.
• Check the option I/O interface
• Make the correct wiring on
Revision record
Manual version
Issue date
Description
1st Edition
2nd Edition
3rd Edition
4th Edition
5th Edition
6th Edition
7th Edition
8th Edition
9th Edition
10th Edition
11th Edition
12th Edition
Nov. 2001
Jan. 2002
May 2002
Nov. 2002
Jan. 2003
May 2003
Sep. 2003
Feb. 2004
May 2004
Dec. 2005
Aug. 2006
May 2007
English manual 1st edition is based on Japanese manual 1st edition.
English manual 2nd edition is based on Japanese manual 2nd edition.
English manual 3rd edition is based on Japanese manual 3rd edition.
English manual 4th edition is based on Japanese manual 4th edition.
English manual 5th edition is based on Japanese manual 5th edition.
English manual 6th edition is based on Japanese manual 6th edition.
English manual 7th edition is based on Japanese manual 7th edition.
English manual 8th edition is based on Japanese manual 8th edition.
English manual 9th edition is based on Japanese manual 9th edition.
English manual 10th edition is based on Japanese manual 10th edition.
English manual 11th edition is based on Japanese manual 12th edition.
English manual 12th edition is based on Japanese manual 13th edition.
User's Manual
Robot Controller
Series
May 2007
12th Edition
This manual is based on 13th edition of Japanese manual.
© YAMAHA MOTOR CO., LTD.
IM Company
All rights reserved. No part of this publication may be reproduced in
any form without the permission of YAMAHA MOTOR CO., LTD.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible
inaccuracies or omissions. If you find any part unclear in this manual,
please contact YAMAHA or YAMAHA sales representatives.