Okura Yusoki A Series User manual

Okura Yusoki Co., Ltd.
Robot Manual
Installation and Adjustment
- Electrical -
UL-CE-VINSE-01
-Ori
g
inal instructions-

History
Version
(Date)
Content Page
01 (2012.04.24) First edition

Introduction
Thank you for purchasing a model from the Okura Robot Palletizer A series.
This manual is a guidebook to help you safely and correctly use your A Series
Robot Palletizer. It should be useful not only to beginners who are using an Okura
Palletizer for the first time, but also to experienced users, who can use this Manual to
reconfirm their knowledge. Please read this Manual carefully and use the Palletizer
with a clear understanding of its content.
NOTE
Unauthorized reproduction of part or all of the content of this manual is forbidden.
The content of this manual is subject to future change without prior notice.
Safety Instructions
Each A Series Robotic Palletizer is equipped with a variety of protective features.
However, an increased level of safety results when these safety precautions are
constantly reviewed and consistently followed with a separate manual of “Safetey”.
IMPORTANT
IMPORTANT
Only AUTHORIZED PERSONNEL can operate, maintain the robot or work on
programming.
The definition of “AUTHORIZED PERSON” is that the only personnel who can
operate the robot and/or robot system, are those who have enough knowledge or
experience of robot operation and have also been trained to operate the robot.
They must also have been authorized by the employer.
The safety instructions with left sign of IMPORTANT
throughout this manual are enforcement or warning that
if not correctly operated or handled, you may be
seriously injured or killed.
Be sure to follow those safety instructions.

Table of Contents
1. OUTLINE OF CONTROLLER 1-1
1.1. APPEARANCE OF CONTROLLER······················································ 1-2
1.2. TEACHING PENDANT (INSTALLATION PERSONNEL ONLY)················ 1-3
2. HARNESS CABLE CONNECTION 2-1
2.1. INSIDE-ROBOT HARNESS CABLE ·················································· 2-2
2.2. SPARE CABLES ··········································································· 2-5
2.3. CONNECTION OF MAIN POWER SUPPLY WIRES ································ 2-6
2.4. PROTECTION AGAINST LIGHTNING SURGE········································· 2-7
2.5. OTHER NOTES (WIRING)···························································· 2-7
3. CONTROLLER BOARDS AND UNITS 3-1
3.1. CPU BOARD (RC501)································································ 3-2
3.2. I/O BOARD (RC512) ································································ 3-5
3.3. SERVO POWER UNIT (SPCU-1A) ················································ 3-6
3.4. CONTACTOR UNIT (MCRU-1-UL/CE)·········································· 3-7
3.5. SAFETY RELAY BOARD (RC516)·················································· 3-8
3.6. AMP UNIT ··············································································· 3-10
3.7. FIELDBUS BOARD (ETHERNET/IP AB6214）·····························3-11
4. ADJUSTMENTS 4-1
4.1. ORIGIN STORING ······································································· 4-2
4.2. BASIC POSTURE ········································································· 4-4
4.3. AMP UNIT ················································································· 4-5
4.4. COLLISION DETECTION ······························································· 4-6
5. SYSTEM STORAGE 5-1
5.1. PERIPHERAL EQUIPMENT NAME INPUT·········································· 5-2
5.2. COMMUNICATION SETTING ·························································· 5-2
5.3. EXTERNAL PLC COMMUNICATION SETUP ······································· 5-3
5.4. PASSWORD SETTING ··································································· 5-5
5.5. MEMORY SWITCH ······································································· 5-5
5.6. PARAMETER SETTING (CONTROLLER DATA)··································· 5-9
5.7. FIRMWARE UPDATE··································································· 5-10
5.8. HOUR METER············································································ 5-12
5.9. SOFT LIMIT ·············································································· 5-13
5.10. HAND SETUP ············································································ 5-14
5.11. PARAMETER SETTING (ROBOT DATA)········································· 5-15
5.12. ORIGIN STORING ····································································· 5-16
5.13. SERVO PARAMETER··································································· 5-16
5.14. EXPANSION AXIS SETTING ························································ 5-17

6. MAINTENANCE FUNCTIONS 6-1
6.1. MENU STRUCTURE ······································································ 6-2
6.2. DATA MEMORY CONTENTS···························································· 6-4
6.3. I／OMONITOR ·········································································· 6-5
6.4. OPERATION READY CONDITION···················································· 6-6
6.5. KEY TRACE ················································································ 6-6
6.6. FILE OPERATION ········································································ 6-7
6.7. LOGIC ANALYZER ······································································· 6-9
6.8. ID NO –PRG NO ALLOCATION ··················································· 6-11
6.9. BATTERY REPLACE ·····································································6-12
6.10. CONVEYOR INFORMATION ··························································6-12
6.11. STACKED COUNTER REVISION ·····················································6-13
6.12. PROGRAM SELECTION METHOD ····················································6-14
6.13. POSITION &ACCELERATION /DECELERATION TIME ······················6-14
6.14. EXECUTED SEQUENCE COMMAND··················································6-15
6.15. OVERLAP TRACE ········································································6-15
6.16. SMOV CALCULATION·································································6-16
6.17. DEVIATION TRACE·····································································6-16
6.18. POSITION COMMAND TRACE ·······················································6-17
6.19. SERVO TORQUE INDICATE···························································6-18
6.20. COLLISION DETECTION ······························································6-19
6.21. EXPANSION AXIS TRACE·····························································6-19
7. TABLE OF BASIC SPECIFICATIONS 7-1

1-1
1. Outline of Controller
Names of part of controller and main parts are introduced in this section.

1-2
1.1. Appearance of Controller
1.1.1. Robot Controller
This is common among RC830 and RC840 (See 5. SYSTEM SPECIFICATIONS for model of
controller for detail.)

1-3
1.2. Teaching Pendant (Installation Personnel Only)
Teaching pendant works at manual mode.
Note
・Manual operation on controller does not work once teaching pendnat is
connected.
How to set up teaching pendant
→See”Operation Manual” Section 4
① E/S push button switch
② Data display
③ Enable switch
①
②
③