Omron SCARA YRCX Series Owner's manual

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Introduction
Our sincere thanks for your purchase of this OMRON YRCX robot controller.
This manual describes robot program commands and related information for using OMRON YRCX
robot controllers. Be sure to read this manual carefully as well as related manuals and comply with
their instructions for using the OMRON robot controllers safely and correctly.
For details on how to operate OMRON robot controllers, refer to the separate controller user's
manual that comes with the OMRON robot controller.
Applicable controllers: YRCX

Safety precautions
Be sure to read before using
Before using the OMRON 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 OMRON robot controllers.
When this robot controller is used in a robot controller system, please take appropriate safety
measures as required by the user’s individual system.
This manual classifies safety caution items and operating points into the following levels, along with
symbols for signal words “CAUTION” and “NOTE”.
CAUTION
"CAUTION" indicates a potentially hazardous situation which, if not avoided, could
result in minor or moderate injury or damage to the equipment or software.
NOTE
Primarily explains function differences, etc., between software versions.
Explains robot operation procedures 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.
Keep this manual carefully so that the operator can refer to it when needed. Also make sure that this
manual reaches the end user.
MEMO

CONTENTS YRCX
Programming Manual
T-1
Introduction
Safety precautions
Chapter 1 Writing Programs
1The OMRON Robot Language 1-1
2Characters 1-1
3Program Basics 1-1
4Program Names 1-2
5 Identiers 1-4
6 LABELStatement 1-4
7Comment 1-5
8Command Statement Format 1-5
Chapter 2 Constants
1Outline 2-1
2Numeric constants 2-1
2.1 Integer constants 2-1
2.2 Real constants 2-1
3Character constants 2-2
Chapter 3 Variables
1Outline 3-1
2User Variables & System Variables 3-2
2.1 User Variables 3-2
2.2 System Variables 3-2
3Variable Names 3-3
3.1 Dynamic Variable Names 3-3
3.2 Static Variable Names 3-3
4 VariableTypes 3-4

CONTENTS YRCX
Programming Manual
T-2
4.1 Numeric variables 3-4
4.2 Character variables 3-4
5Array variables 3-5
6Value Assignments 3-5
7Type Conversions 3-6
8Value Pass-Along & Reference Pass-Along 3-6
9System Variables 3-7
9.1 Point variable 3-7
9.2 Shift variable 3-8
9.3 Parallel input variable 3-8
9.4 Parallel output variable 3-9
9.5 Internal output variable 3-10
9.6 Arm lock output variable 3-11
9.7 Timer output variable 3-12
9.8 Serial input variable 3-13
9.9 Serial output variable 3-14
9.10 Serial word input 3-15
9.11 Serial double word input 3-15
9.12 Serial word output 3-16
9.13 Serial double word output 3-16
10 Bit Settings 3-17
11 Valid range of variables 3-18
11.1 Valid range of dynamic (array) variables 3-18
11.2 Valid range of static variables 3-18
12 Clearing variables 3-19
12.1 Clearing dynamic variables 3-19
12.2 Clearing static variables 3-19
Chapter4 ExpressionsandOperations
1 Arithmeticoperations 4-1
1.1 Arithmetic operators 4-1
1.2 Relational operators 4-1
1.3 Logic operations 4-2
1.4 Priority of arithmetic operation 4-3
1.5 Data format conversion 4-3

CONTENTS YRCX
Programming Manual
T-3
2 Characterstringoperations 4-4
2.1 Character string connection 4-4
2.2 Character string comparison 4-4
3 Pointdataformat 4-5
4 DI/DOconditionalexpressions 4-6
Chapter 5 Multiple Robot Control
1Overview 5-1
2Command list with a robot setting 5-2
Chapter 6 Multi-tasking
1Outline 6-1
2 Taskdenitionmethod 6-1
3Task status and transition 6-2
3.1 Starting tasks 6-2
3.2 Task scheduling 6-3
3.3 Condition wait in task 6-4
3.4 Suspending tasks (SUSPEND) 6-5
3.5 Restarting tasks (RESTART) 6-5
3.6 Deleting tasks 6-6
3.7 Stopping tasks 6-7
4 Multi-taskprogramexample 6-8
5Sharing the data 6-8
6Cautionary Items 6-9
Chapter 7 Sequence fnction
1Sequence function 7-1
2Creating a sequence program 7-1
2.1 Programming method 7-1
2.2 Compiling 7-3
3 Executingasequenceprogram 7-4
3.1 Sequence program STEP execution 7-4

CONTENTS YRCX
Programming Manual
T-4
4Programming a sequence program 7-5
4.1 Assignment statements 7-5
4.2 Input/output variables 7-5
4.2.1 Input variables 7-5
4.2.2 Output variables 7-6
4.3 Timerdenitionstatement 7-7
4.4 Logical operators 7-7
4.5 Priority of logic operations 7-8
4.6 Sequenceprogramspecications 7-8
Chapter 8 Robot Language Lists
How to read the robot language table 8-1
Command list in alphabetic order 8-2
 Operation-specic 8-7
Functions: in alphabetic order 8-13
 Functions:operation-specic 8-16
1ABS Acquires absolute values 8-18
2ABSRPOS Acquires the machine reference value (axes: mark method) 8-19
3ACCEL Species/acquires the acceleration coefcient parameter 8-20
4 ARCHP1 / ARCHP2 Species/acquires the arch position parameter 8-21
5ARMCND Acquires the current arm status 8-23
6ARMSEL Sets/acquires the current hand system selection 8-24
7ARMTYP Sets/acquires the hand system selection during program reset 8-25
8ASPEED Sets/acquires the AUTO movement speed of a specied robot 8-26
9 ATN / ATN2 Acquires the arctangent of the specied value 8-27
10 AXWGHT Sets/acquires the axis tip weight 8-28
11 CALL Calls a sub-procedure 8-29
12 CHANGE Switches the hand 8-30
13 CHGPRI Changes the priority ranking of a specied task 8-31
14 CHR$ Acquires a character with the specied character code 8-32
15 CLOSE Closes the specied General Ethernet Port 8-33
16 COS Acquires the cosine value of a specied value 8-34
17 CURTQST Acquires the current torque value of a specied axis
to the rated torque 8-35
18 CURTRQ Acquires the current torque of the specied axis 8-36

CONTENTS YRCX
Programming Manual
T-5
19 CUT Terminates another task which is currently being executed 8-37
20 DATE$ Acquires the date 8-38
21 DECEL Species/acquires the deceleration rate parameter 8-39
22 DEF FN Denes functions which can be used by the user 8-40
23 DEGRAD Angle conversion (degree →radian) 8-41
24 DELAY Program execution waits for a specied period of time 8-42
25 DI Acquires the input status from the parallel port 8-43
26 DIM Declares array variable 8-44
27 DIST Acquires the distance between 2 specied points 8-45
28 DO Outputs to parallel port or acquires the output status 8-46
29 DRIVE Executes absolute movement of specied axes 8-48
30 DRIVEI Moves the specied robot axes in a relative manner 8-52
31 END SELECT Ends the SELECT CASE statement 8-57
32 END SUB Ends the sub-procedure denition 8-58
33 ERR / ERL Acquires the error code / error line number 8-59
34 ETHSTS Acquires the Ethernet port status 8-60
35 EXIT FOR Terminates the FOR to NEXT statement loop 8-61
36 EXIT SUB Terminates the sub-procedure dened by the SUB to END SUB
statement 8-62
37 EXIT TASK Terminates its own task which is in progress 8-63
38 FOR to NEXT Performs loop processing until the variable exceeds
the specied value 8-64
39 GEPSTS Acquires the General Ethernet Port status 8-65
40 GOSUB to RETURN Jumps to a subroutine 8-66
41 GOTO Executes an unconditional jump to the specied line 8-67
42 HALT Stops the program and performs a reset 8-68
43 HALTALL Stops all programs and performs reset 8-69
44 HAND Denes the hand 8-70
44.1 For SCARA Robots 8-70
45 HOLD Temporarily stops the program 8-73
46 HOLDALL Temporality stops all programs 8-74
47 IF Evaluates a conditional expression value, and executes
the command in accordance with the conditions 8-75
47.1 Simple IF statement 8-75
47.2 Block IF statement 8-76
48 INPUT Assigns a value to a variable specied from the programming box 8-77
49 INT Truncates decimal fractions 8-79

CONTENTS YRCX
Programming Manual
T-6
50 JTOXY Performs axis unit system conversions (pulse →mm) 8-80
51 LEFT$ Extracts character strings from the left end 8-81
52 LEFTY Sets the SCARA robot hand system as a left-handed system 8-82
53 LEN Acquires a character string length 8-83
54 LET Assigns values to variables 8-84
55 LO Arm lock output or acquires the output status 8-87
56 LOCx Species/acquires point data for a specied axis or shift data
for a specied element 8-89
57 LSHIFT Left-shifts a bit 8-91
58 MCHREF Acquires the machine reference value
(axes: sensor method / stroke-end method) 8-92
59 MID$ Acquires a character string from a specied position 8-93
60 MO Outputs a specied value to the MO port
or acquires the output status 8-94
61 MOTOR Controls the motor power status 8-96
62 MOVE Performs absolute movement of robot axes 8-97
63 MOVEI Performs relative movement of robot axes 8-112
64 MOVET Performs relative movement of all robot axes in tool coordinates 8-122
65 MTRDUTY Acquires the motor load factor of the specied axis 8-132
66 OFFLINE Sets a specied communication port to the "ofine" mode 8-133
67 ON ERROR GOTO Jumps to a specied label when an error occurs 8-134
68 ON to GOSUB Executes the subroutine specied by the <expression> value 8-135
69 ON to GOTO Jumps to the label specied by the <expression> value 8-136
70 ONLINE Sets the specied communication port to the "online" mode 8-137
71 OPEN Opens the specied General Ethernet Port 8-138
72 ORD Acquires a character code 8-139
73 ORGORD Species/acquires the robot's return-to-origin sequence 8-140
74 ORIGIN Performs return-to-origin 8-141
75 OUT Turns ON the specied port output 8-142
76 OUTPOS
Species/acquires the OUT enable position parameter of the robot 8-143
77 PATH Species the motion path 8-145
78 PATH END Ends the path setting 8-151
79 PATH SET Starts the path setting 8-152
80 PATH START Starts the PATH motion 8-155
81 PDEF Denes the pallet 8-159
82 PGMTSK Acquires the task number
in which a specied program is registered 8-160

CONTENTS YRCX
Programming Manual
T-7
83 PGN Acquires the program number from a specied program name 8-161
84 PMOVE Executes a pallet movement command for the robot 8-162
85 Pn Denes points within a program 8-166
86 PPNT Creates pallet point data 8-168
87 PRINT Displays the specied expression value at the programming box 8-169
88 PSHFRC Species/acquires the pushing force parameter 8-170
89 PSHJGSP Species/acquires the push judge speed parameter 8-171
90 PSHMTD Species/acquires a pushing type parameter 8-172
91 PSHRSLT Acquires the status when PUSH statement ends 8-173
92 PSHSPD Species/acquires the push speed parameter 8-174
93 PSHTIME Species/acquires the push time parameter 8-175
94 PUSH Executes a pushing operation for specied axes 8-176
95 RADDEG Performs a unit conversion (radians → degrees) 8-181
96 REM Inserts a comment 8-182
97 RESET Turns OFF the bits of specied ports, or clears variables 8-183
98 RESTART Restarts another task during a temporary stop 8-184
99 RESUME Resumes program execution after error recovery processing 8-185
100 RETURN Processing which was branched by GOSUB, is returned
to the next line after GOSUB 8-186
101 RIGHT$ Extracts a character string
from the right end of another character string 8-187
102 RIGHTY Sets the SCARA robot hand system as a right-handed system 8-188
103 RSHIFT Shifts a bit value to the right 8-189
104
SELECT CASE to END SELECT
Executes the specied command block in accordance with the
<expression> value 8-190
105 SEND Sends readout le data to the write le 8-191
106 SERVO Controls the servo status 8-193
107 SET Turns the bit at the specied output port ON 8-194
108 SETGEP Sets the General Ethernet Port 8-195
109 SGI Assigns /acquires the value
to a specied integer type static variable 8-196
110 SGR
Assigns /acquires the value to a specied real type static variable 8-197
111 SHARED
Enables sub-procedure referencing without passing on the variable 8-198
112 SHIFT Sets the shift coordinates 8-199
113 SI Acquires specied SI status 8-200
114 SID Acquires a specied serial input's double-word information 8-201
115 SIN Acquires the sine value for a specied value 8-202

CONTENTS YRCX
Programming Manual
T-8
116 SIW Acquires a specied serial input's word information 8-203
117 Sn Denes the shift coordinates in the program 8-204
118 SO Outputs a specied value
to serial port or acquires the output status 8-205
119 SOD Outputs a specied serial output's double-word information
or acquires the output status 8-207
120 SOW Outputs a specied serial output's word information
or acquires the output status 8-208
121 SPEED Changes the program movement speed 8-209
122 SQR Acquires the square root of a specied value 8-210
123 START Starts a new task 8-211
124 STR$ Converts a numeric value to a character string 8-212
125 SUB to END SUB Denes a sub-procedure 8-213
126 SUSPEND Temporarily stops another task which is being executed 8-215
127 SWI Switches the program being executed 8-216
128 TAN Acquires the tangent value for a specied value 8-217
129 TCOUNTER Timer & counter 8-218
130 TIME$ Acquires the current time 8-219
131 TIMER Acquires the current time 8-220
132 TO Outputs a specied value to the TO port
or acquires the output status 8-221
133 TOLE Species/acquires the tolerance parameter 8-222
134 TORQUE Species/acquires the maximum torque command value 8-223
135 TSKPGM Acquires the program number
which is registered in a specied task number 8-225
136 VAL Converts character strings to numeric values 8-226
137 WAIT Waits until the conditional expression is met 8-227
138 WAIT ARM Waits until the robot axis operation is completed 8-228
139 WEIGHT Species/acquires the tip weight parameter 8-229
140 WEND Ends the WHILE statement's command block 8-230
141 WHERE Acquires the arm's current position (pulse coordinates) 8-231
142 WHILE to WEND Repeats an operation for as long as a condition is met 8-232
143 WHRXY Acquires the arm's current position in Cartesian coordinates 8-233
144 XYTOJ Converts the Cartesian coordinate data ("mm")
to joint coordinate data ("pulse") 8-234

CONTENTS YRCX
Programming Manual
T-9
Chapter 9 PATH Statements
1Overview 9-1
2Features 9-1
3How to use 9-1
4Cautions when using this function 9-2
Chapter10Dataledescription
1Overview 10-1
1.1 Dataletypes 10-1
1.2 Cautions 10-2
2 Programle 10-3
2.1 All programs 10-3
2.2 One program 10-4
3 Pointle 10-5
3.1 All points 10-5
3.2 One point 10-7
4 Pointcommentle 10-8
4.1 All point comments 10-8
4.2 One point comment 10-9
5 Pointnamele 10-10
5.1 All point names 10-10
5.2 One point name 10-11
6 Parameterle 10-12
6.1 All parameters 10-12
6.2 One parameter 10-14
7 Shiftcoordinatedenitionle 10-16
7.1 All shift data 10-16
7.2 Oneshiftdenition 10-17
8 Handdenitionle 10-18
8.1 All hand data 10-18
8.2 Onehanddenition 10-19

CONTENTS YRCX
Programming Manual
T-10
9 Palletdenitionle 10-20
9.1 Allpalletdenitions 10-20
9.2 Onepalletdenition 10-22
10 GeneralEthernetportle 10-24
11 Input/outputnamele 10-26
11.1 All input/output name data 10-26
11.2 One input/output type 10-27
11.3 One input/output port 10-28
11.4 One input/output bit 10-29
12 Areacheckoutputle 10-30
12.1 All area check output data 10-30
12.2 Oneareacheckoutputdenition 10-31
13 Allle 10-32
13.1 Allle 10-32
14 Programdirectoryle 10-34
14.1 Entire program directory 10-34
14.2 One program directory 10-35
15 Parameterdirectoryle 10-36
15.1 Entire parameter directory 10-36
16 Machinereferencele 10-37
16.1 Machine reference (axes: sensor method, stroke-end method) 10-37
16.2 Machine reference (axes: mark method) 10-38
17 Systemcongurationinformationle 10-39
18 Versioninformationle 10-40
19 Optionboardle 10-41
20 Selfcheckle 10-42
21 Alarmhistoryle 10-43
22 Remainingmemorysizele 10-45
23 Variablele 10-46

CONTENTS YRCX
Programming Manual
T-11
24 Constantle 10-52
24.1 One character string 10-52
25 Arrayvariablele 10-53
25.1 All array variables 10-53
25.2 One array variable 10-54
26 DIle 10-55
26.1 All DI information 10-55
26.2 One DI port 10-56
27 DOle 10-57
27.1 All DO information 10-57
27.2 One DO port 10-58
28 MOle 10-59
28.1 All MO information 10-59
28.2 One MO port 10-60
29 LOle 10-61
29.1 All LO information 10-61
29.2 One LO port 10-62
30 TOle 10-63
30.1 All TO information 10-63
30.2 One TO port 10-64
31 SIle 10-65
31.1 All SI information 10-65
31.2 One SI port 10-66
32 SOle 10-67
32.1 All SO information 10-67
32.2 One SO port 10-68
33 SIWle 10-69
33.1 All SIW data 10-69
33.2 One SIW data 10-70
34 SOWle 10-71
34.1 All SOW 10-71
34.2 One SOW data 10-72

CONTENTS YRCX
Programming Manual
T-12
35 EOFle 10-73
35.1 EOF data 10-73
36 Serialportcommunicationle 10-74
36.1 Serialportcommunicationle 10-74
37 Ethernetportcommunicationle 10-75
37.1 Ethernetportcommunicationle 10-75
Chapter11Userprogramexamples
1Basic operation 11-1
1.1 Directly writing point data in program 11-1
1.2 Using point numbers 11-2
1.3 Using shift coordinates 11-3
1.4 Palletizing 11-4
1.4.1 Calculating point coordinates 11-4
1.4.2 Utilizing pallet movement 11-6
1.5 DI/DO (digital input and output) operation 11-7
2Application 11-8
2.1 Pick and place between 2 points 11-8
2.2 Palletizing 11-10
2.3 Pick and place of stacked parts 11-12
2.4 Parts inspection (Multi-tasking example) 11-14
2.5 Sealing 11-17
2.6 Connection to an external device through RS-232C (example 1) 11-18
2.7 Connection to an external device through RS-232C (example 2) 11-19
Chapter 12 Online commands
1Online Command List 12-1
1.1 Onlinecommandlist:Operation-specic 12-2
1.2 Online command list: In alphabetic order 12-6
2Operation and setting commands 12-9
2.1 Program operations 12-9
2.2 MANUAL mode operation 12-17
2.3 Alarm reset 12-18
2.4 Clearingoutputmessagebuer 12-19
2.5 Setting input data 12-20
2.6 Change access level 12-21
2.7 Setting input data 12-22

CONTENTS YRCX
Programming Manual
T-13
3Reference commands 12-23
3.1 Acquiring return-to-origin status 12-23
3.2 Acquiring the servo status 12-24
3.3 Acquire motor power status 12-24
3.4 Acquiring the access level 12-25
3.5 Acquiring the break point status 12-25
3.6 Acquiring the mode status 12-26
3.7 Acquiring the communication port status 12-26
3.8 Acquiring the main program number 12-27
3.9 Acquiring the sequence program execution status 12-27
3.10 Acquiring the version information 12-28
3.11 Acquiring the tasks in RUN or SUSPEND status 12-28
3.12 Acquiring the tasks operation status 12-29
3.13 Acquiring the task end condition 12-29
3.14 Acquiring the shift status 12-30
3.15 Acquiring the hand status 12-30
3.16 Acquiring the remaining memory capacity 12-31
3.17 Acquiring the alarm status 12-31
3.18 Acquiring the emergency stop status 12-32
3.19 Acquiring the manual movement speed 12-32
3.20 Acquiring the inching movement amount 12-33
3.21
Acquiring the last reference point number (current point number) 12-33
3.22 Acquiring the output message 12-34
3.23 Acquiring the input data 12-34
3.24 Acquiring various values 12-35
4Operation commands 12-37
4.1 Absolute reset 12-37
4.2 Return-to-origin operation 12-38
4.3 Manual movement: inching 12-39
4.4 Manual movement: jog 12-40
5 Dataleoperationcommands 12-41
5.1 Copy operations 12-41
5.2 Erase 12-42
5.3 Rename program 12-47
5.4 Changing the program attribute 12-47
5.5 Initialization process 12-48
5.6 Data readout processing 12-50
5.7 Data write processing 12-51

CONTENTS YRCX
Programming Manual
T-14
6Utility commands 12-52
6.1 Settingthesequenceprogramexecutionag 12-52
6.2 Setting the date 12-52
6.3 Setting the time 12-53
7 Individualexecutionofrobotlanguage 12-54
8Control codes 12-55
Chapter13Appendix
1Reserved word list 13-1
2Changes from conventional models 13-3
1 Program name 13-3
A) FUNCTION 13-3
B) _SELECT 13-3
2 Multiple Robot Control 13-3
3 Multi-tasking 13-4
4 Robot Language 13-4
5 Online commands 13-5
6 Datale 13-5
Index

Chapter 1
Writing Programs
11The OMRON Robot Language.................1-1
22Characters ................................................ 1-1
33Program Basics .........................................1-1
44Program Names........................................ 1-2
55Identifiers................................................... 1-4
66LABEL Statement ....................................... 1-4
77Comment ..................................................1-5
88Command Statement Format ................. 1-5