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