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.

Safety Guide
3
2.3 Wiring safety points
WARNING
• 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.
CAUTION
• Makesurethatnoforeignmattersuchascuttingchipsorwirescrapsentertherobotcontroller.Malfunctions,breakdownorremay
result if they have entered.
• 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 cause equipment malfunctions.
• Donotmodifythecablesanddonotplaceanyheavyobjectonthem.Handlethemcarefullytoavoiddamage.Damagedcablesmay
cause malfunction or electrical shock.
• Ifthereisapossibilitythatthecablesconnectedtotherobotcontrollermaybedamaged,protectthemwithacover,etc.
• Donotapplyexcessiveloadsorimpactstotheconnectorswhenmakingcableconnections.Theconnectorpinsmaybecomebentor 
the internal PC board may be damaged.
• Whendisconnectingthecablefromtherobotcontroller,detachbygripping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 cause equipment malfunctions.
2.4 Start-up and maintenance safety points
DANGER
• NEVERENTERTHEROBOT'SWORKINGENVELOPEWHILETHEROBOTISOPERATINGORTHEMAINPOWERIS 
 TURNEDON.FAILURETOFOLLOWTHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYOR
 DEATH.INSTALLASAFETYENCLOSUREORAGATEINTERLOCKWITHANAREASENSORTOKEEPALLPERSONS 
 AWAYFROMTHEROBOT'SWORKINGENVELOPE.
• WHENITISNECESSARYTOOPERATETHEROBOTWHILEYOUAREWITHINTHEROBOTMOVEMENTRANGE 
 SUCHASFORTEACHINGORMAINTENANCE/INSPECTIONTASKS,ALWAYSCARRYTHEPROGRAMMINGBOX 
 WITHYOUSOTHATYOUCANIMMEDIATELYSTOPTHEROBOTOPERATIONINCASEOFANABNORMALOR 
 HAZARDOUSCONDITION.INSTALLANENABLEDEVICEINTHEEXTERNALSAFETYCIRCUITISNEEDED.ALSO 
 SETTHEROBOTMOVINGSPEEDTO3%ORLESS.FAILURETOFOLLOWTHESEINSTRUCTIONSMAYCAUSE 
 SERIOUSACCIDENTSINVOLVINGINJURYORDEATH.
• CHECKTHEFOLLOWINGPOINTSBEFOREOPERATINGTHEROBOT:
  •NOONEISWITHINTHEROBOT'SWORKINGENVELOPE.
  •THEPROGRAMMINGBOXISATTHESPECIFIEDPOSITION.
  •THEREISNOABNORMALSTATEINTHEROBOTANDRELATEDDEVICES.
WARNING
• ONLYPERSONNELTRAINEDINSAFETYANDROBOTOPERATIONMAYOPERATETHEROBOT.OPERATIONBYANY
 PERSONWHOHASNOTRECEIVEDTHEPROPERTRAININGISVERYDANGEROUSANDMUSTBEAVOIDED.
• THEROBOTANDROBOTCONTROLLER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FOLLOWTHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYORDEATH,
 ORLEADTOFIRE.
• DONOTTOUCHANYELECTRICALTERMINALOFTHEROBOTCONTROLLER.DOINGSOMAYCAUSEELECTRICAL
 SHOCKOREQUIPMENTMALFUNCTIONS.
• ALWAYSCONNECTTHEROBOTANDROBOTCONTROLLERINTHECORRECTCOMBINATION.USINGTHEMINAN 
 INCORRECTCOMBINATIONMAYCAUSEFIREORBREAKDOWN.
• ALWAYSSHUTOFFALLPHASESOFTHEPOWERSUPPLYEXTERNALLYBEFORECLEANINGORTIGHTENINGTHE 
 TERMINALSCREWS.FAILURETOSHUTOFFALLPHASESMAYCAUSEELECTRICALSHOCK,PRODUCTDAMAGE 
 ORMALFUNCTIONS.
• DONOTTOUCHTHEROBOTCONTROLLERANDROBOTDURINGOPERATION.SOMEPARTSINTHEROBOT 
 CONTROLLERORROBOTAREHOTDURINGOPERATION.TOUCHINGTHEMMAYCAUSEBURNS.
• DONOTHANDLEOROPERATETHEROBOTCONTROLLERORPROGRAMMINGBOXWITHWETHANDS.TOUCHING
 THEMWITHWETHANDSMAYRESULTINELECTRICALSHOCKORBREAKDOWN.
• IMMEDIATELYTURNOFFPOWERIFUNUSUALODORS,NOISEORSMOKEARENOTICEDDURINGOPERATION. 
 CONTINUOUSOPERATIONUNDERSUCHACONDITIONMAYRESULTINELECTRICALSHOCK,FIREOR  
 BREAKDOWN.STOPUSINGANDCONTACTOURSALESOFFICEORSALESREPRESENTATIVE.

Safety Guide
4
• DONOTDISASSEMBLEORMODIFYANYPARTINTHEROBOTCONTROLLERANDPROGRAMMINGBOX.DONOT 
 OPENANYCOVER.FAILURETOFOLLOWTHISINSTRUCTIONMAYCAUSEELECTRICALSHOCK,BREAKDOWN, 
 MALFUNCTION,INJURY,ORFIRE.
• IFACOMPONENTUSEDINTHEROBOTORCONTROLLERNEEDSTOBEREPLACEDORREPAIRED,ALWAYS 
 FOLLOWTHEINSTRUCTIONSFROMOMRON.INSPECTIONANDMAINTENANCEOFTHECONTROLLERORROBOT
 BYANYPERSONWHODOESNOTHAVETHEREQUIREDKNOWLEDGEANDEXPERTISEISDANGEROUSANDMUST
 BEAVOIDED.
• WHENPERFORMINGMAINTENANCEORINSPECTIONOFTHEROBOTCONTROLLERUNDEROURINSTRUCTIONS,
 WAITATLEAST30MINUTESFORTHEYRCSERIESAFTERTURNINGTHEPOWEROFF.SOMECOMPONENTSINTHE
 ROBOTCONTROLLERMAYBEHOTORSTILLRETAINAHIGHVOLTAGESHORTLYAFTEROPERATION,SOBURNS 
 ORELECTRICALSHOCKMAYOCCURIFTHOSEPARTSARETOUCHED.
• DURINGSTARTUPORMAINTENANCEWORK,DISPLAYANEASYTOUNDERSTANDSIGNORMESSAGEONTHE 
 PROGRAMMINGUNITOROPERATIONPANELTOPREVENTANYONEOTHERTHANPERSONNELFORTHATWORK 
 FROMMISTAKENLYOPERATINGASTARTORSELECTORSWITCH.IFNEEDED,TAKEOTHERMEASURESSUCHAS 
 LOCKINGTHECOVERONTHEOPERATIONPANEL.
• DECIDEON"WORKINSTRUCTIONS"INCASESWHEREPERSONNELMUSTWORKWITHINTHEROBOT'SWORKING
 ENVELOPETOPERFORMSTARTUPORMAINTENANCEWORK.MAKESURETHEWORKERSKNOWTHESE"WORK 
 INSTRUCTIONS"WELL.
CAUTION
• Whenusingferritecoresfornoiseelimination,tthemtothepowercableasclosetotherobotcontrollerand/ortherobotas 
possible, to prevent malfunctions due to noise.
• Backuptherobotcontrollerinternaldatainanexternalstoragedevice.Therobotcontrollerinternaldata(programs,pointdata,etc.)
may be lost or deleted for unexpected reasons. Always make a backup of the internal data.
• Donotusethinner,benzene,andalcoholtowipecleanthesurfaceoftheprogrammingbox.Thesurfacesheetmaybedamagedor 
printed letters or marks might be erased. Use a soft, dry cloth and gently wipe the surface.
• Donotuseahardorpointedobjecttooperatethekeysontheprogrammingbox.Malfunctionorbreakdownmayresultifthekeys 
 aredamaged.Useyourngerstooperatethekeys.
• DonotinsertanySDmemorycardotherthanspeciedintotheSDmemorycardslotoftheprogrammingbox.Malfunctionor 
breakdown may result if a wrong memory card is used.
• DonotleavetheSDmemorycardinsertedintotheprogrammingbox.Doingsomaycausemalfunctionorbreakdown.InserttheSD
memory card into the programming box only when making a data backup or loading the backup data.
2.5 Safety precautions during robot operation
DANGER
• NEVERENTERTHEROBOT'SWORKINGENVELOPEWHILETHEROBOTISOPERATINGORTHEMAINPOWERIS 
 TURNEDON.FAILURETOFOLLOWTHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYOR
 DEATH.INSTALLASAFEGUARD(SAFETYENCLOSURE)ORAGATEINTERLOCKWITHANAREASENSORTOKEEP 
 ALLPERSONSAWAYFROMTHEROBOT'SWORKINGENVELOPE.
• WHENITISNECESSARYTOOPERATETHEROBOTWHILEYOUAREWITHINTHEROBOTMOVEMENTRANGE, 
 SUCHASFORTEACHINGORMAINTENANCE/INSPECTIONTASKS,ALWAYSCARRYTHEPROGRAMMINGBOX 
 WITHYOUSOTHATYOUCANIMMEDIATELYSTOPTHEROBOTOPERATIONINCASEOFANABNORMALOR 
 HAZARDOUSCONDITION.INSTALLANENABLEDEVICEINTHEEXTERNALSAFETYCIRCUITASNEEDED.ALSO 
 SETTHEROBOTMOVINGSPEEDTO3%ORLESS.FAILURETOFOLLOWTHESEINSTRUCTIONSMAYCAUSE 
 SERIOUSACCIDENTSINVOLVINGINJURYORDEATH.
WARNING
• ONLYPERSONNELTRAINEDINSAFETYANDROBOTOPERATIONMAYOPERATETHEROBOT.OPERATIONBYANY
 PERSONWHOHASNOTRECEIVEDTHEPROPERTRAININGISVERYDANGEROUSANDMUSTBEAVOIDED.
2.6 Precautions for disposal
CAUTION
• Whendisposingofthisproductdiscarditasindustrialwaste.Takeappropriatemeasuresincompliancewithlegalregulationsinyour
 countryorentrustitsproperdisposaltoacompanyauthorizedtohandleindustrialwaste.

Safety Guide
5
3. Safety measures for robots
3.1 Safety measures for SCARA type robots
1. Safety measures during transportation:
To ensure safety, use the eyebolts that come with the robot.
Refer to the robot user's manual for details.
2. Protective measures against electrical shock:
Use the protective ground terminal to ensure safety.
Refer to the robot user's manual for details.
4. Motor overload precautions
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.
5. Warning labels and marks
5.1 Warning labels
The warning labels shown below are affixed to the controller. To use the OMRON robot and controller safely and
correctly, be sure to observe the instructions and caution on the labels.
1. "Read Instruction Manual" label
READ INSTRUCTION
MANUAL
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply to the controller, read this manual carefully
and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct direction.

Safety Guide
6
5.2 Warning marks
The following warning marks are shown on the controller. To use the OMRON robot and controller safely and correctly,
be sure to observe the instructions and caution of the marks.
1. "Electric Hazard" mark
This mark indicates that a high voltage is present.
This mark warns you of possible electrical shock. Do not touch the terminal block and connectors to avoid electrical shock.
2. "CAUTION" mark
!
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply to the controller, read this manual carefully
and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct direction.
3. "High Temperature Hazard" mark
Indicatesthattheareaaroundthismarkmaybecomeveryhot.
Heatsinksandregenerativeunitbecomehotduringandshortlyafteroperation.Donottouchthemtoavoidburns.
6. Industrial robot operating and maintenance personnel
Operators or persons who handle the robot such as for teaching, programming, movement check, inspection,
adjustment, and repair must receive appropriate training and also have the skills needed to perform the job correctly
and safely. They must read the user's manual carefully to understand its contents before attempting the robot operation.
Tasks related to industrial robots (teaching, programming, movement check, inspection, adjustment, repair, etc.) must
be performed by qualified persons who meet requirements established by local regulations and safety standards for
industrial robots.
7. Make daily and periodic inspections
Always make sure that daily and periodic inspections are performed, and make a pre-work check to ensure there are
noproblemswiththerobotorrelatedequipment.Ifaproblemorabnormalityisfound,thenpromptlyrepairitortake
other measures as necessary.

Chapter 1 CE MARKING
Contents
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

1-1
CE MARKING
1
1. CE Marking
This section provides a basic description of how the YRC series comply with CE marking.
Differences in the basic specifications between CE marking compliant controllers and standard controllers are as
follows:
■Main specifications of CE Marking compliant controller
CE Marking compliant controller
Servicemode Provided
Programming box PB
(enable switch compatible specifications)
2. Safety standards
2.1 Cautions regarding compliance with EC Directives
The OMRON robot (robot and controller) is not, in itself, a robot system. The OMRON robot is just one component
that is incorporated into the customer's system (built-in equipment), and we declare that OMRON robots conform to the
EC Directives only within the scope of built-in equipment. This does not therefore guarantee that OMRON robots
conform to EC Directives in cases where the robot is used independently. Customers who incorporate a OMRON robot
into their final system which will be shipped to, or used, in the EU, should therefore verify that the overall system is
compliant with EC Directives.
●Differences between OMRON robots (robot and controller) and robot systems
A OMRON robot (robot and controller) is just one component in a robot system, and is not, in itself, a robot
system.
This is because a OMRON robot does not include the "end effector(s)" or "any equipment, devices, or sensors
requiredfortherobottoperformitstasks",asdefinedin"IndustrialRobotsystem"oftheISO10218-1:2011
Standard-Clause3.11.

1-2
CE MARKING
1
2.2 Applicable EC Directives and their related standards
The tables below show directives and related standards applied to OMRON robots.
■YRC robot controller
EC Directive Related Standards
Machinery Directive
2006/42/EC
ENISO12100 :Safetyofmachinery-Generalprinciplesfordesign-Riskassessmentandriskreduction
ENISO10218-1 :Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part1:Robots
EN60204-1 :Safetyofmachinery-Electricalequipmentofmachines-Part1:Generalrequirements
EMC Directive
2004/108/EC
EN55011 :Industrial,scientificandmedicalequipment-Radio-frequencydisturbancecharacteristics-
 Limitsandmethodsofmeasurement
EN61000-6-2 :Electromagneticcompatibility(EMC)-Part6-2:Genericstandards-Immunityforindustrial
environments
2.3 Robots subject to CE Marking
ThisCEmarkingmanualisappliedtothefollowingrobotseries:
Controller Robot Name
YRC SCARAtyperobots :XGseries,Xseries,XC/XGtinyseries,XCseries,XSseries,XPseries
2.4 Cautions regarding the official language of EU countries
For equipment that will be installed in EU countries, the language used for the manuals, warning labels, operation
screen characters and CE declarations is English only.
WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase,messagesin
Japaneseorotherlanguagesmightbeadded.

1-3
CE MARKING
1
3. Usage conditions
The following description gives major operating conditions for OMRON robot series products.
●EMC (Electromagnetic compatibility)
OMRON robot series products are designed for use in industrial environments.
(ApplicabledefinitionrelatingtotheEMCDirective:RefertotheEN61000-6-2Standard,Clause1"Scope".)
InordertoconformtotheEMCDirective,thecustomermustevaluatethefinishedproduct(entiresystem)andtakenecessary
countermeasures. Refer to EMC countermeasures for single units of OMRON robots, which are described in the next chapter in
this manual.
●Installation conditions
• Protective structure
OMRON robots are classified as built-in equipment and have a "Class I" protective structure against electrical shock.
The robot and controller must therefore be grounded properly to prevent possible electrical shock. For details, refer to the
controller user's manual and the robot user's manual.
• Enclosure
 TherobotcontrollercaseisnotdesignedasanenclosurethatconformstotheEN60204-1Standard.Suitableprotectionshould
therefore be provided to prevent the danger of electrical shock due to inadvertent contact and ambient environment problems
(dust, water, etc.).
• Insulation co-ordination
 Regardinginsulationco-ordination,OMRONrobotsandcontrollersaredesignedtomeetthefollowingconditions:
Overvoltage category II
Pollution degree 2
Take proper countermeasures as needed if the robot or controller is used in environments more severe than these levels.
●Explosion-proof
• OMRON robots and robot controllers are not designed to meet explosion-proof specifications.
Do not use them in environments exposed to flammable gases, gasoline, or solvents which could cause explosion or fire.