Omron SCARA YRC Series Owner's manual

ZX-T Series
Cat. No. I154E-EN-02
CE marking
SUPPORTING
SUPPLEMENT MANUAL
SCARA Robots
YRC Series

General Contents
Introduction i
Safety Guide
1. Safety information 1
2. Particularly important cautions 2
2.1 System design safety points …………………………………………………………… 2
2.2 Installation safety points………………………………………………………………… 2
2.3 Wiring safety points ……………………………………………………………………… 3
2.4 Start-up and maintenance safety points …………………………………………… 3
2.5 Safety precautions during robot operation ………………………………………… 4
2.6 Precautions for disposal ………………………………………………………………… 4
3. Safety measures for robots 5
3.1 Safety measures for SCARA type robots …………………………………………… 5
4. Motor overload precautions 5
5. Warning labels and marks 5
5.1 Warning labels …………………………………………………………………………… 5
5.2 Warning marks …………………………………………………………………………… 6
6. Industrial robot operating and maintenance personnel 6
7. Make daily and periodic inspections 6
Chapter 1 CE MARKING
1. CE Marking 1-1
2. Safety standards 1-1
2.1 Cautions regarding compliance with EC Directives …………………………… 1-1
2.2 Applicable EC Directives and their related standards ………………………… 1-2
2.3 Robots subject to CE Marking ……………………………………………………… 1-2
2.4 Cautions regarding the official language of EU countries …………………… 1-2
3. Usage conditions 1-3
Chapter 2 YRC series
1. System overview 2-1
1.1 System overview ……………………………………………………………………… 2-1
1.1.1 Main system configuration ………………………………………………………………………… 2-1
1.2 Control system configuration ……………………………………………………… 2-2

1.2.1 Basic configuration ………………………………………………………………………………… 2-2
1.2.2 Power supply and emergency stop system circuit configuration ………………………… 2-3
1.3 Programming box (PB) ……………………………………………………………… 2-4
1.3.1 Part names and functions ………………………………………………………………………… 2-4
1.3.2 PB connector ………………………………………………………………………………………… 2-5
1.4 SERVICE mode ………………………………………………………………………… 2-6
1.4.1 What is SERVICE mode? …………………………………………………………………………… 2-6
1.4.2 Flow for enabling the SERVICE mode functions ……………………………………………… 2-7
1.4.3 SERVICE mode parameter settings ……………………………………………………………… 2-7
2. EMC countermeasure examples 2-9
2.1 YRC robot controller ………………………………………………………………… 2-9
2.1.1 Configuration ………………………………………………………………………………………… 2-9
2.1.2 Countermeasure components ………………………………………………………………… 2-10
3. External safety circuit examples 2-14
3.1 Performance level …………………………………………………………………… 2-14
3.2 Circuit examples for the YRC ……………………………………………………… 2-15
3.2.1 Category 4 ………………………………………………………………………………………… 2-17
3.2.2 Category 3 ………………………………………………………………………………………… 2-18
3.2.3 Category 2 ………………………………………………………………………………………… 2-19
3.2.4 Overview of circuit operation ………………………………………………………………… 2-20

i
Introduction
Thanks for purchasing the OMRON robot controller YRC.
This manual describes the CE marking for the YRC. When shipping the YRC to Europe or when using it in Europe,
always read this manual thoroughly to use the controller correctly.
This manual describes only the items related to CE marking. For operations and programming of the robot controller,
refer to the user's manuals that come with the robot controller. For information on the warranty, also refer to the user's
manual that come with the robot controller.
Even after reading this manual, keep it in a safe, easily accessible place so that it can be referred to when needed.
• Thismanualshouldbeusedwiththerobotandcontrollerandconsideredanintegralpartofthem.
• Whentherobotandcontrolleraremoved,transferred,orsold,sendthismanualtothenewuseralongwiththerobotandcontroller.
Be sure to explain to the new user the need to read through this manual.
• Specificationsoftherobotandcontrollermodelsotherthanstandardmodelsmaybeomittedinthismanual.Inthatcase,referto
the specifications of standard models.
• Fordetailsonspecificoperationoftherobotcontroller,refertotheuser'smanualsthatcomewiththerobotcontroller.
NOTES
•The contents of this manual are subject to change without prior notice.
•While every effort has been made to ensure the contents of this manual are correct, please
contact us if you find any part of this manual to be unclear, confusing or inaccurate.
•This manual does not serve as a guarantee of any industrial property rights or any other rights
and does not grant a license in any form. Please acknowledge that we bear no liability
whatsoever for any problems involving industrial property rights which may arise from the
contents of this manual.
OMRON EUROPE, B.V.

Contents
1. Safety information 1
2. Particularly important cautions 2
2.1 System design safety points 2
2.2 Installation safety points 2
2.3 Wiring safety points 3
2.4 Start-up and maintenance safety points 3
2.5 Safety precautions during robot operation 4
2.6 Precautions for disposal 4
3. Safety measures for robots 5
3.1 Safety measures for SCARA type robots 5
4. Motor overload precautions 5
5. Warning labels and marks 5
5.1 Warning labels 5
5.2 Warning marks 6
6. Industrial robot operating and maintenance personnel 6
7. Make daily and periodic inspections 6
Safety Guide

Safety Guide
1
1. Safety information
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.
Warnings and cautions listed in this manual relate to OMRON robot controllers. To ensure safety of the user's final
system that includes OMRON robots and controllers, please take appropriate safety measures as required by the user's
individual system.
Industrialrobotsarehighlyprogrammablemachinesthatprovidealargedegreeoffreedominmovement.Touse
OMRON robots and controllers safely and correctly, be sure to comply with the safety instructions and precautions
described in this chapter. Failure to take necessary safety measures or incorrect handling may result not only in trouble
or damage to the robot and controller, but also in serious accidents involving injury or death to personnel (robot
installer, operator, or service personnel).
This manual describes safety precautions and operating points using the following symbols and signal words.
DANGER
"DANGER"INDICATESANIMMINENTLYHAZARDOUSSITUATIONWHICH,IFNOTAVOIDED,WILLRESULTINDEATH
ORSERIOUSINJURY.
WARNING
"WARNING"INDICATESAPOTENTIALLYHAZARDOUSSITUATIONWHICH,IFNOTAVOIDED,COULDRESULTIN
DEATHORSERIOUSINJURY.
CAUTION
"CAUTION"indicatesapotentiallyhazardoussituationwhich,ifnotavoided,couldresultinminorormoderateinjuryordamagetothe
equipment or loss of data.
NOTE
Explains key points in the operation in a simple and clear manner.
Use any of the following approaches to this manual when installing, operating and adjusting the OMRON robot and/or
controller so that you can quickly refer to this manual when needed.
1. Keep the printed version of this manual (available for an additional fee) handy for ready reference.
2. View the CD-ROM version of this manual on your PC screen.
3. Print out the necessary pages of this manual from the CD-ROM and keep them handy for ready reference.
To use OMRON robots and controllers safely and correctly, always comply with the safety rules and instructions.
Pleasenote,however,thissupplementarymanualcannotcoverallitemsregardingsafety.Soitisextremelyimportant
that the operator or user have knowledge of safety and make correct decisions regarding safety.

Safety Guide
2
2. Particularly important cautions
Particularly important cautions for handling and operating the robot and controller are described below. Additional
cautions are also described in each chapter. Be sure to comply with those instructions to ensure safety.
2.1 System design safety points
DANGER
• OMRONROBOTCONTROLLERSANDROBOTSAREDESIGNEDANDMANUFACTUREDFORGENERAL-PURPOSE 
 INDUSTRIALEQUIPMENT.THEYSHOULDNOTBEUSEDINTHEFOLLOWINGAPPLICATIONS:
  •MEDICALEQUIPMENTORSYSTEMSWHICHWILLAFFECTHUMANLIFE
  •EQUIPMENTDESIGNEDTOCARRYORTRANSPORTPERSONS
  •EQUIPMENTORSYSTEMSWHICHWILLSERIOUSLYAFFECTSOCIETYORPUBLICPOLICY
  •USEINENVIRONMENTSSUBJECTTOVIBRATION,SUCHASVEHICLESANDSHIPS
• EACHROBOTCONTROLLERHASANEMERGENCYSTOPINPUTTERMINALTOTRIGGEREMERGENCYSTOP.USING
 THISTERMINAL,CONFIGUREASAFETYCIRCUITSOTHATTHESYSTEMINCLUDINGTHEROBOTCONTROLLER 
 WILLWORKSAFELY.
WARNING
• TOCHECKTHEOPERATINGSTATUSOFTHEROBOTCONTROLLER,REFERTOTHISMANUALANDRELATED 
 USER'SMANUAL.BUILDTHESYSTEMINCLUDINGTHEROBOTCONTROLLERSOTHATITWILLALWAYSWORK 
 SAFELY.
• INSTALLASIGNALLIGHT(SIGNALTOWER,ETC.)ATANEASY-TO-SEEPOSITIONSOTHATTHEOPERATORWILL 
 KNOWTHESTOPSTATUSOFTHEROBOT(TEMPORARYSTOP,EMERGENCYSTOP,ERRORSTOP,ETC.).
CAUTION
• Donotbundlecontrollinesorcommunicationcablestogetherorinclosecontactwiththemainpowersupplycircuitorpowerlines. 
As a general rule, separate them by at least 100mm. Failure to follow this instruction may cause malfunctions due to noise.
2.2 Installation safety points
WARNING
• ALWAYSGROUNDTHEGROUNDTERMINALOFTHEPOWERTERMINALBLOCKTOAVOIDELECTRICALSHOCK.
• 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MAYCAUSEELECTRICALSHOCKORPRODUCTDAMAGE.
• OMRONROBOTSANDROBOTCONTROLLERSARENOTDESIGNEDTOBEEXPLOSION-PROOF.DONOTUSETHEM
 INLOCATIONSEXPOSEDTOINFLAMMABLEGASES,GASOLINEORSOLVENTTHATCOULDCAUSEEXPLOSIONOR
 FIREFAILURETOOBSERVETHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYORDEATH,
 ORLEADTOFIRE.
• USETHEROBOTCONTROLLERWITHINTHEENVIRONMENTSPECIFICATIONSLISTEDINTHISMANUAL.USING 
 THECONTROLLERINANENVIRONMENTOUTSIDETHESPECIFICATIONRANGEMAYCAUSEELECTRICALSHOCK,
 MALFUNCTIONS,PRODUCTDAMAGEORDETERIORATEDPERFORMANCE.
• INSTALLTHEROBOTCONTROLLERANDPROGRAMMINGBOXATALOCATIONOUTSIDETHEROBOT'SWORKING
 ENVELOPEYETWHEREITISEASYTOOPERATETHEROBOTANDVIEWITSMOTION.
• INSTALLTHECONTROLLERINLOCATIONSWITHENOUGHSPACETOPERFORMWORK(TEACHING,INSPECTION, 
 ETC.)SAFELY.LIMITEDSPACENOTONLYMAKESITDIFFICULTTOPERFORMWORK,BUTCANALSOBEACAUSE 
 OFINJURY.
• INSTALLTHEROBOTCONTROLLERINASTABLE,LEVELLOCATIONANDSECUREITFIRMLY.AVOIDINSTALLING 
 THEROBOTCONTROLLERUPSIDEDOWNORINATILTEDPOSITION.
• PROVIDESUFFICIENTCLEARANCEAROUNDTHEROBOTCONTROLLERFORGOODVENTILATION.POOR 
 VENTILATIONMAYCAUSEMALFUNCTION,BREAKDOWNORFIRE.
• NEVERDIRECTLYTOUCHTHECONDUCTIVESECTIONSANDELECTRONICPARTSOTHERTHANTHE  
 CONNECTORS,ROTARYSWITCHES,ANDDIPSWITCHESONTHEOUTSIDEPANELOFTHEROBOTCONTROLLER.
• SECURELYTIGHTENTHESCREWSONTHEL-SHAPEDBRACKETSTOINSTALLTHEROBOTCONTROLLER.IFNOT 
 SECURELYTIGHTENED,THESCREWSMAYBECOMELOOSECAUSINGTHECONTROLLERTODROP.
• SECURELYINSTALLEACHCONNECTIONCABLECONNECTORINTOTHERECEPTACLESORSOCKETS.POOR 
 CONNECTIONSMAYCAUSEEQUIPMENTMALFUNCTIONS.