Omron YRCX Series User manual

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CONTENTS YRCX
Operation Manual
T-1
Warranty
Important information before reading this manual
Introduction i
About this manual i
Safety precautions ii
Signal symbols ii
Overview of the YRCX iii
Before using the robot controller (Be sure to read the following notes) iv
Chapter 1 Using the robot safely
1. Emergency action when a person is caught by robot 1-1
2. Emergency stop 1-3
2.1 Emergency stop release and alarm reset 1-3
3. Power-ON procedures 1-5
4. Usage environments 1-6
Chapter 2 System overview
1. Operation overview 2-1
2. The YRCX robot controller 2-2
2.1 External device connectors 2-2
2.2 7-segment LED display function 2-3
3. Programming box 2-4
3.1 Part names and functions 2-4
3.2 Connection to the robot controller 2-5
3.3 Programming box screen 2-5
4. Operation key 2-6
4.1 Operation key layout 2-6
4.2 Basic key operation 2-6
4.3 Function keys 2-7
4.4 Control keys 2-8
4.5 Data keys 2-9
4.6 Other keys 2-9

CONTENTS YRCX
Operation Manual
T-2
5. Hierarchy structure 2-9
5.1 Basic hierarchies 2-9
5.2 Quick menu 2-10
5.3 Selecting hierarchy and menu 2-14
Chapter 3 Operation
1. Servo operation 3-1
1.1 Emergency stop release and alarm reset 3-1
1.2 Motorpowerandservoon/o 3-1
1.2.1 Servo operation (all axes) 3-1
1.2.2 Servo operation (each axis) 3-2
2. Jog 3-3
2.1 Jog movement 3-4
2.1.1 Jog movement in return-to-origin complete status 3-5
2.1.2 Jogmovementinreturn-to-origincompletestatus(Whenhanddenitionisset) 3-6
2.1.3 Jogmovementinreturn-to-originincompletestatus 3-6
2.2 Changing the display units 3-7
2.3 Changing the Jog movement speed 3-7
2.4 Changing the inch distance 3-8
2.5 Inputting point data by teaching 3-8
2.6 Jumping the point display 3-9
3. Point trace 3-9
3.1 PTP motion 3-10
3.2 Linear interpolation motion 3-11
3.3 Arch motion 3-13
3.4 Setting the speed 3-14
3.5 Changing the display unit 3-14
3.6 Jumping the point display 3-15
4. Automatic operation 3-15
4.1 Executing automatic operation 3-17
4.2 Stopping a program 3-18
4.3 Resetting a program 3-18
4.3.1 Resetting a program 3-18
4.3.2 Resetting all programs 3-19
4.4 Registering and releasing task 3-19
4.5 Task priority 3-20
4.6 Switching task display 3-20
4.7 Changing the automatic movement speed 3-20
4.8 Sequenceprogramexecutionag 3-21
4.9 Restarting the program 3-21

CONTENTS YRCX
Operation Manual
T-3
4.10 Input function 3-22
4.10.1 Inputting message 3-22
4.10.2 Canceling INPUT command 3-23
4.11 Debug function 3-23
4.11.1 Executing a step 3-24
4.11.2 Skipping a step 3-24
4.11.3 Executing the next step 3-24
4.11.4 Break points 3-24
4.11.5 RUNTO 3-25
5. Origin return 3-26
5.1 Return-to-origin operation 3-27
5.2 Return-to-origin procedure 3-29
5.3 Absolute reset (mark method) procedure 3-30
5.4 Return-to-origin for all robots 3-33
6. Dualoset 3-34
6.1 Dualosetsettings 3-34
6.1.1 Automaticdualoffsetsetting 3-35
6.1.2 Adjustingdualoffset 3-36
Chapter 4 Edit
1. Point editing 4-1
1.1 Inputting/editing point data 4-3
1.2 Point data input by teaching 4-4
1.3 Point data input by direct teaching 4-6
1.4 Jumping point display 4-6
1.5 Copying point data 4-6
1.6 Deleting point data 4-7
1.7 Executing point trace 4-7
1.8 Deleting point name 4-7
2. Program editing 4-8
2.1 Selecting the program 4-9
2.2 Creating a new program 4-10
2.3 Editing the program 4-10
2.3.1 Cursor movement 4-11
2.3.2 Quitting program editing 4-11
2.3.3 Switching between the "insert" and "overwrite" modes 4-11
2.3.4 Inserting a line 4-12
2.3.5 Deleting one character 4-12
2.3.6 Backspace 4-12
2.3.7 Copying/cutting a program 4-12

CONTENTS YRCX
Operation Manual
T-4
2.3.8 Searching a character string 4-12
2.3.9 Jumping step 4-13
2.3.10 Checking entry data 4-13
2.4 Compiling sequence program 4-13
2.5 Setting a main program 4-14
2.6 Changing a program attribute 4-14
2.7 Deleting a program 4-15
2.8 Changing a program name 4-15
2.9 Copying a program 4-16
2.10 Resetting an alarm 4-16
3. Shift coordinates 4-17
3.1 Creating new shift coordinates 4-20
3.2 Editing shift coordinates 4-21
3.3 Setting shift coordinate 1 4-21
3.4 Setting shift coordinate 2 4-23
3.5 Selecting shift coordinates 4-24
4. Handdenitions 4-25
4.1 Dataformatofhanddenition 4-26
4.1.1 SCARAtyperobots 4-27
4.2 "HAND EDIT"/"CREATING NEW HAND" screen 4-28
4.3 Creatingnewhanddenitions 4-30
4.4 Editinghanddenitions 4-31
4.5 Settinghanddenitions 4-31
4.6 Selectinghanddenitions 4-32
5. Workdenitions 4-33
5.1 Dataformatofworkdenition 4-34
5.2 Creatingnewworkdenitions 4-34
5.3 Editingworkdenitions 4-35
5.4 Selectingworkdenitions 4-36
6. Palletdenitions 4-37
6.1 Creatingnewpalletdenitions 4-39
6.2 Editingpalletdenitions 4-40
6.3 Settingpalletdenitions 4-40
6.4 Settingpointofpalletdenitions 4-41
7. Parameters 4-42
7.1 Parameter setting conditions 4-42
7.2 Setting the parameters 4-42
7.3 Parameter list 4-44

CONTENTS YRCX
Operation Manual
T-5
7.4 Parameter descriptions 4-47
7.4.1 Controller parameters 4-47
7.4.2 Robot parameters 4-49
7.4.3 Axisparameters 4-52
7.4.4 I/O parameters 4-58
7.4.5 Optionboardrelatedparameters 4-60
7.5 PRM skip 4-64
8. Area check output 4-65
8.1 Setting area check output 4-65
8.2 Initializing area check output 4-66
8.3 Parameter list 4-67
9. Standard coordinates 4-68
9.1 Setting the standard coordinates by simple teaching 4-70
9.2 Setting the standard coordinate by 3-point teaching 4-72
9.3 Setting the standard coordinate by 4-point teaching 4-73
9.4 Setting the standard coordinate by both handed system teaching 4-75
10. General Ethernet port (GEP) setting 4-77
Chapter 5 Controller system settings
1. Overview 5-1
2. History 5-1
3. Check 5-2
4. Property 5-2
4.1 Robot information 5-2
4.2 Option information 5-3
4.3 Clock 5-3
4.4 Version 5-3
4.5 Conguration 5-4
5. USB memory operation 5-4
5.1 Saving the data 5-4
5.2 Loading the data 5-5
6. Execution level 5-6
6.1 Changing access level 5-6
7. Safety setting 5-7

CONTENTS YRCX
Operation Manual
T-6
8. Initialize 5-8
8.1 Initializing data 5-8
8.2 Setting the clock 5-9
9. Generation 5-10
Chapter 6 Monitor
1. Overview of function 6-1
2. Current position display 6-1
3. I/O status display 6-2
3.1 I/O monitor list 6-3
3.2 I/O monitor detail 6-4
3.3 Changing output status 6-4
4. Task driving state 6-5
5. Current monitor 6-6

CONTENTS YRCX
Operation Manual
T-7
Troubleshooting
1. When trouble occurs A-1
2. Acquiring the alarm information A-2
2.1 Checking the alarm occurrence status A-2
2.2 Checking the alarm history A-2
3. Troubleshooting checkpoints A-3
3.1 Installation and power supply A-3
3.2 Robot operation A-4
3.3 I/O A-5
4. Alarm messages A-6
[0]Operationmessages A-9
[1]Systemevents A-10
[2]Alarmrelatedtotherobotoperation A-12
[3]Alarmrelatedtotheprogramleoperation A-19
[4]Alarmrelatedtothedatainput A-21
[5]Alarmrelatedtothesyntaxoftherobotlanguage(compile) A-23
[6]Alarmrelatedtotherobotlanguageexecution A-30
[9]Alarmrelatedtothememory A-39
[10]Alarmrelatedtotheenvironmentandgeneralhardware A-43
[12]Alarmrelatedtotheoptionboard A-45
[14]Alarmrelatedtothecommunication A-53
[17]Alarmrelatedtothemotorcontrol A-55
[19]AlarmrelatedtotheYC-Link/E A-62
[21]Seriousalarmrelatedtosoftware A-65
[22]Seriousalarmrelatedtohardware A-66
[26]Alarmrelatedtothegripper A-68
[28]AlarmrelatedtothedriverI/F A-72
5. Warning number A-74
[c]Warning A-74
6. Alarm messages related to the programming box A-76