Yamaha CEmarking RCX221 User manual

User’s Manual ENGLISH E
RCX221
YAMAHA 2-AXIS ROBOT CONTROLLER
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
YAMAHA MOTOR CO., LTD.
E100-Ver. 2.10

1
INTRODUCTION
Introduction
Our sincere thanks for your purchase of this YAMAHA robot controller.
This manual explains how to install and operate the YAMAHA robot controller. Be sure to
read this manual carefully as well as related manuals and comply with their instructions
for using the YAMAHA robot controller safely and correctly.
Refer to the "Programming Manual" that comes with the robot controller for detailed
information on robot programs.

BEFORE USING THE ROBOT CONTROLLER (BE SURE TO READ THE FOLLOWING NOTES)
2
Before using the robot controller (Be sure to read the following notes)
Please be sure to perform the following tasks before using the robot controller.
Failing to perform these tasks may cause abnormal robot operation (vibration, noise) when
the power is turned on.
[1] When connecting the power supply to the robot controller
Always make a secure connection to the ground terminal on the robot controller to
ensure safety and prevent malfunctions due to noise.
Reference
Refer to "4. Connecting to the power" in Chapter 3, "Installation".
[2] When connecting robot cables to the robot controller
Be sure to keep robot cables separate from the robot controller power connection
lines and other equipment power lines. Using in close contact with lines carrying
power may cause malfunctions or abnormal operation.

3
OVERVIEW OF THE RCX SERIES
Overview of the RCX series
The YAMAHA RCX series robot controllers were developed based on years of YAMAHA
experience and proven achievements in robotics and electronics. These controllers are
specifically designed to operate YAMAHA industrial robots efficiently and accurately.
Despite their compact size, the RCX series controllers operate efficiently as multi-axis
controllers with a variety of functions.
Major features and functions are:
1. Multi-task function
Up to 8 tasks* can be run simultaneously in a specified priority. (Low priority tasks
are halted while high priority tasks are run.)
I/O parallel processing and interrupt processing are also available, so that operational
efficiency of the total robot system including peripheral units is greatly improved.
(*: Refer to the programming manual for more details on multi-tasking.)
2. Robot language
The RCX series controller comes with a BASIC-like high-level robot language that
conforms to the industrial robot programming language SLIM *1. This robot language
allows easy programming even of complex movements such as multi-task operations
and uses a compiling method *2for rapid execution of programs.
(*1: Standard Language for Industrial Manipulators)
(*2: This compiling method checks the syntax in a robot language program, converts
it into intermediate codes, and creates an execution file (object file) before actually
performing the program.)
3. Movement command
• Arch motion
Spatial movement during pick-and-place work can be freely set according to the
work environment. This is effective in reducing cycle time.
4. Maintenance
Software servo control provides unit standardization. This allows connection to most
YAMAHA robot models and simplifies maintenance.
5. CE marking *
As a YAMAHA robot series product, the RCX series robot controller is designed to
conform to machinery directives, low-voltage directives and EMC (Electromagnetic
compatibility) directives. In this case, the robot controller is set to operate under
"SAFE" mode. (* For CE marking compliance, see the CE marking supplement manual.)
This manual explains how to handle and operate the YAMAHA robot controllers
correctly and effectively, as well as I/O interface connections.
Read this manual carefully before installing and using the robot controller. Also refer
to the separate "Programming Manual" and "Robot User's Manual" as needed.

4
MEMO

i
GENERAL CONTENTS
General Contents
Introduction 1
Before using the robot controller (Be sure to read the following notes) 2
Overview of the RCX series 3
Chapter 1 USING THE ROBOT SAFELY
1. Safety information 1-1
2. Particularly important cautions 1-3
2.1 System design safety points 1-3
2.2 Installation safety points 1-4
2.3 Wiring safety points 1-5
2.4 Start-up and maintenance safety points 1-6
2.5 Safety precautions during robot operation 1-8
2.6 Precautions for disposal 1-8
3. Safety measures for robots 1-9
3.1 Safety measures for single-axis robots, Cartesian robots,
and pick & place robots 1-9
4. Motor overload precautions 1-9
5. Warning labels and marks 1-9
5.1 Warning labels 1-9
5.2 Warning marks 1-10
6. Industrial robot operating and maintenance personnel 1-10
7. Make daily and periodic inspections 1-11
8. Warranty 1-11
9. Operating environment 1-11
Chapter 2 SYSTEM OVERVIEW
1. System overview 2-1
1.1 Main system configuration 2-1
1.2 RCX22 series axis definition 2-2
2. Part names and functions 2-3
2.1 RCX221 (Maximum number of axes: 2) 2-3
2.2 RCX221HP (Maximum number of axes: 2) 2-3

GENERAL CONTENTS
ii
3. Control system 2-4
3.1 RCX221/RCX221HP 2-4
4. Optional devices 2-5
4.1 RPB programming box 2-5
4.2 I/O expansion 2-5
4.3 Regenerative unit 2-5
5. Basic sequence from installation to operation 2-6
Chapter 3 INSTALLATION
1. Unpacking 3-1
1.1 Packing box 3-1
1.2 Unpacking 3-1
2. Installing the robot controller 3-2
2.1 Installation conditions 3-2
2.2 Installation methods 3-4
3. Connector names 3-6
4. Connecting to the power 3-7
4.1 AC200 to 230V single-phase specifications 3-7
4.1.1 AC power connector wiring 3-8
4.2 Power capacity 3-9
4.3 Installing an external leakage breaker 3-10
4.4 Installing a circuit protector 3-11
4.5 Installing a surge absorber 3-11
4.6 Installing a current control switch 3-12
5. Connecting the robot cables 3-13
6. Connecting the RPB programming box 3-14
7. I/O connections 3-15
8. Connecting a host computer 3-16
9. Connecting a regenerative unit 3-17
10.
Precautions for cable routing and installation 3-19
10.1 Wiring methods 3-19
10.2 Precautions for installation 3-21
10.3 Methods of preventing malfunctions 3-21
11. Checking the robot controller operation 3-22
11.1 Cable connection 3-22

iii
GENERAL CONTENTS
11.2 Operation check 3-23
Chapter 4 OPERATION
1. Operation overview 4-1
2. The RCX robot controller 4-2
2.1 Part names 4-2
2.2 Main functions 4-2
3. RPB programming box 4-3
3.1 Part names 4-3
3.2 Main functions 4-3
3.3 Connection to the robot controller 4-4
3.4 Changing the RPB screen settings 4-5
4. Turning power on and off 4-6
5. Operation keys 4-8
5.1 RPB screen 4-8
5.2 Operation key layout 4-9
5.3 Basic key operation 4-10
5.4 Function keys 4-11
5.5 Control keys 4-13
5.6 Data keys 4-15
5.7 Other keys 4-15
6. Emergency stop 4-16
6.1 Emergency stop reset 4-17
7. Mode configuration 4-19
7.1 Basic operation modes 4-19
7.2 Other operation modes 4-20
7.3 Mode hierarchy 4-21
8. "SERVICE" mode 4-26
8.1 Operation device 4-26
8.2 Prohibition of "AUTO" mode operation 4-26
8.3 Hold-to-Run function 4-26
8.4 Limitations on robot operating speed 4-27
9. "AUTO" mode 4-28
9.1 Automatic operation 4-31
9.2 Stopping the program 4-32
9.3 Resetting the program 4-33
9.4 Switching task display 4-35

GENERAL CONTENTS
iv
9.5 Switching the program 4-36
9.6 Changing the automatic movement speed 4-37
9.7 Executing the point trace 4-38
9.7.1 PTP motion mode 4-40
9.7.2 ARCH motion mode 4-41
9.7.3 Linear interpolation motion mode 4-43
9.8 Direct command execution 4-44
9.9 Break point 4-45
9.9.1 Setting break points 4-46
9.9.2 Deleting break points 4-47
9.10 Executing a step 4-48
9.11 Skipping a step 4-48
9.12 Executing the next step 4-49
10. "PROGRAM" mode 4-50
10.1 Scrolling a program listing 4-51
10.2 Program editing 4-52
10.2.1 Cursor movement 4-54
10.2.2 Insert/Overwrite mode switching 4-55
10.2.3 Inserting a line 4-56
10.2.4 Deleting a character 4-56
10.2.5 Deleting a line 4-56
10.2.6 User function key display 4-57
10.2.7 Quitting program editing 4-58
10.2.8 Specifying the copy/cut lines 4-58
10.2.9 Copying the selected lines 4-59
10.2.10 Cutting the selected lines 4-59
10.2.11 Pasting the data 4-60
10.2.12 Backspace 4-60
10.2.13 Line jump 4-61
10.2.14 Searching a character string 4-62
10.3 Directory 4-63
10.3.1 Cursor movement 4-65
10.3.2 Registering a new program name 4-65
10.3.3 Directory information display 4-66
10.3.4 Copying a program 4-67
10.3.5 Erasing a program 4-68
10.3.6 Renaming a program 4-69
10.3.7 Changing the program attribute 4-70
10.3.8 Displaying object program information 4-71
10.3.9 Creating a sample program automatically 4-72
10.4 Compiling 4-74
10.5 Line jump and character string search 4-75
10.6 Registering user function keys 4-75
10.7 Resetting an error in the selected program 4-79
11. "MANUAL" mode 4-80
11.1 Manual movement 4-82

v
GENERAL CONTENTS
11.2 Displaying and editing point data 4-85
11.2.1 Point data input and editing 4-87
11.2.1.1 Restoring point data 4-88
11.2.2 Point data input by teaching 4-89
11.2.3 Point data input by direct teaching 4-91
11.2.4 Point jump display 4-92
11.2.5 Copying point data 4-93
11.2.6 Erasing point data 4-95
11.2.7 Point data trace 4-96
11.2.8 Point comment input and editing 4-96
11.2.8.1 Point comment input and editing 4-98
11.2.8.2 Point data input by teaching 4-98
11.2.8.3 Jump to a point comment 4-99
11.2.8.4 Copying a point comment 4-99
11.2.8.5 Erasing point comments 4-101
11.2.8.6 Point comment search 4-102
11.2.9 Point data error reset 4-103
11.3 Displaying, editing and setting pallet definitions 4-104
11.3.1 Editing pallet definitions 4-106
11.3.1.1 Point setting in pallet definition 4-107
11.3.1.1.1 Editing the point in pallet definition 4-108
11.3.1.1.2 Setting the point in pallet definition by teaching 4-108
11.3.2 Pallet definition by teaching 4-109
11.3.3 Copying a pallet definition 4-112
11.3.4 Deleting a pallet definition 4-113
11.4 Changing the manual movement speed 4-114
11.5 Displaying, editing and setting shift coordinates 4-115
11.5.1 Editing shift coordinates 4-117
11.5.1.1 Restoring shift coordinates 4-118
11.5.2 Editing the shift coordinate range 4-119
11.5.2.1 Restoring a shift coordinate range 4-121
11.5.3 Shift coordinate setting method 1 4-122
11.5.4 Shift coordinate setting method 2 4-125
11.6 Displaying, editing and setting hand definitions 4-128
11.6.1 Editing hand definitions 4-131
11.6.1.1 Restoring hand definitions 4-132
11.6.2 Hand definition setting method 1 4-133
11.7 Changing the display units 4-135
11.8 Return-to-origin 4-136
11.8.1 Return-to-origin operation 4-136
11.8.2 Semi-absolute 4-138
11.8.3 Checking the return-to-origin status 4-140
11.8.4 Return-to-origin on each axis 4-141
11.8.5 Return-to-origin on all axes 4-143
11.9 Setting the standard coordinates 4-145
11.10 Executing the user function keys 4-146
12. "SYSTEM" mode 4-147
12.1 Parameters 4-149
12.1.1 Robot parameters 4-151

GENERAL CONTENTS
vi
12.1.2 Axis parameters 4-155
12.1.3 Other parameters 4-174
12.1.4 Parameters for option boards 4-187
12.1.4.1 Option DIO setting 4-189
12.1.4.2 Serial IO setting 4-190
12.1.4.3 Setting the network parameters 4-195
12.2 Communication parameters 4-197
12.3 OPTION parameters 4-206
12.3.1 Setting the area check output 4-207
12.3.2 Setting the "SERVICE" mode 4-216
12.3.2.1 Saving the "SERVICE" mode parameters 4-222
12.3.2.2 Help display in "SERVICE" mode 4-223
12.3.3 SIO settings 4-224
12.3.4 Double-carrier setting 4-227
12.3.4.1 Before using a double-carrier 4-227
12.3.4.2 Setting the double-carrier parameters 4-228
12.4 Initialization 4-231
12.4.1 Initializing the parameters 4-232
12.4.2 Initializing the memory 4-233
12.4.3 Initializing the communication parameters 4-234
12.4.4 Clock setting 4-235
12.4.5 System generation 4-236
12.5 Self diagnosis 4-237
12.5.1 Controller check 4-238
12.5.2 Error history display 4-239
12.5.3 Displaying the total operation time 4-240
12.5.4 System error details display 4-241
12.6 Backup processes 4-242
12.6.1 SD memory card 4-243
12.6.1.1 Loading files 4-245
12.6.1.2 Saving files 4-247
12.6.1.3 Deleting files 4-249
12.6.1.4 Previewing files 4-250
12.6.2 Internal flash ROM 4-251
12.6.2.1 Loading files 4-252
12.6.2.2 Saving files 4-254
12.6.2.3 Initializing the files 4-255
13. "MONITOR" mode 4-256
14. "UTILITY" mode 4-259
14.1 Canceling emergency stop; Motor power and servo on/off 4-261
14.1.1 Canceling emergency stop 4-261
14.1.2 Motor power and servo on/off 4-262
14.2 Enabling/disabling the sequence execution flag 4-264
14.3 Resetting the output ports 4-265
14.4 Changing the execution level 4-266
14.4.1 Changing the execution level 4-267
14.4.2 Displaying the Help message 4-268
14.5 Changing the access level (operation level) 4-269

vii
GENERAL CONTENTS
14.5.1 Entering the password 4-270
14.5.2 Changing the access level 4-271
14.5.3 Displaying the Help message 4-272
Chapter 5 PARALLEL I/O INTERFACE
1. Standard I/O interface overview 5-1
1.1 ID setting 5-2
1.2 Connector I/O signals 5-3
1.3 Connector pin numbers 5-6
1.4 Connecting the power supply 5-7
1.4.1 NPN/PNP power connector wiring 5-8
1.5 Typical input signal connection 5-9
1.6 Typical output signal connection 5-10
1.7 Dedicated I/O signals 5-11
1.7.1 Dedicated input signals 5-11
1.7.2 Dedicated output signals 5-13
1.8 General-purpose I/O signals 5-15
1.8.1 General-purpose output reset 5-15
1.9 Dedicated I/O signal timing charts 5-16
1.9.1 Turning the power on 5-16
1.9.2 Emergency stop and servo ON 5-18
1.9.3 Return-to-origin 5-19
1.9.4 Mode switching 5-20
1.9.5 Automatic operation 5-21
2. Ratings 5-22
3. Precautions 5-23
Chapter 6 SAFETY I/O INTERFACE
1. SAFETY I/O interface overview 6-1
1.1 Power 6-1
1.2 Connector I/O signals 6-2
1.3 Connector terminal numbers 6-3
1.4 Emergency stop input signal connections 6-4
1.5 Dedicated input signal connections 6-10
1.6 Dedicated output signal connections 6-11
1.7 Input signal description 6-13
1.8 Meaning of output signals 6-14
Chapter 7 RS-232C INTERFACE
1. Communication overview 7-1
2. Communication function overview 7-2
3. Communication specifications 7-3

GENERAL CONTENTS
viii
3.1 Connector 7-3
3.2 Transmission mode and communication parameters 7-5
3.3 Communication flow control 7-6
3.3.1 Flow control during transmit 7-6
3.3.2 Flow control during receive 7-6
3.4 Other caution items 7-7
3.5 Character code table 7-9
3.6 Connecting to a PC 7-10
Chapter 8 SPECIFICATIONS
1. Controller basic specifications 8-1
2. Controller basic functions 8-3
3. Controller external view 8-4
3.1 RCX221 external view 8-4
3.2 RCX221HP external view 8-5
4. RPB basic specifications and external view 8-6
Chapter 9 TROUBLESHOOTING
1. Error Messages 9-1
1.1 Robot controller error messages 9-1
[ 0] Warnings and messages 9-3
[ 1] Warnings (error history entry) 9-5
[ 2] Robot operating area errors 9-6
[ 3] Program file operating errors 9-9
[ 4] Data entry and edit errors 9-12
[ 5] Robot language syntax (compiling) errors 9-12
[ 6] Robot language execution errors 9-21
[ 9] Memory errors 9-26
[10] System setting or hardware errors 9-29
[12] I/O and option board errors 9-31
[13] RPB errors 9-35
[14] RS-232C communication errors 9-36
[15] Memory card errors 9-38
[17] Motor control errors 9-40
[21] Major software errors 9-47
[22] Major hardware errors 9-48
1.2 RPB Error Messages 9-53
2. Troubleshooting 9-55
2.1 When trouble occurs 9-55
2.2 Acquiring error information 9-56
2.2.1 Acquiring information from the RPB 9-56
2.2.2 Acquiring information from the RS-232C 9-56
2.3 Troubleshooting checkpoints 9-57

Chapter 1 USING THE ROBOT SAFELY
Contents
1. Safety information 1-1
2. Particularly important cautions 1-3
2.1 System design safety points 1-3
2.2 Installation safety points 1-4
2.3 Wiring safety points 1-5
2.4 Start-up and maintenance safety points 1-6
2.5 Safety precautions during robot operation 1-8
2.6 Precautions for disposal 1-8
3. Safety measures for robots 1-9
3.1 Safety measures for single-axis robots, Cartesian
robots, and pick & place robots 1-9
4. Motor overload precautions 1-9
5. Warning labels and marks 1-9
5.1 Warning labels 1-9
5.2 Warning marks 1-10
6. Industrial robot operating and maintenance
personnel 1-10
7. Make daily and periodic inspections 1-11
8. Warranty 1-11
9. Operating environment 1-11

1-1
Chapter
1
USING THE ROBOT SAFELY
1. Safety information
Before using the YAMAHA 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 YAMAHA robot controllers. To
ensure safety of the user's final system that includes YAMAHA 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 YAMAHA 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.
wDANGER
"DANGER" INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH, IF NOT
AVOIDED, WILL RESULT IN DEATH OR SERIOUS INJURY.
wWARNING
"WARNING" INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT
AVOIDED, COULD RESULT IN DEATH OR SERIOUS INJURY.
cCAUTION
"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.
nNOTE
Explains key points in the operation in a simple and clear manner.
1. Safety information

1-2
Chapter
1
USING THE ROBOT SAFELY
Use any of the following approaches to this manual when installing, operating and
adjusting the YAMAHA 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 YAMAHA robots and controllers safely and correctly, always comply with the
safety rules and instructions.
Please note, however, this user's 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.
1. Safety information

1-3
Chapter
1
USING THE ROBOT SAFELY
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
wDANGER
• YAMAHA 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.
wWARNING
• 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.).
cCAUTION
• 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. Particularly important cautions

1-4
Chapter
1
USING THE ROBOT SAFELY
2.2 Installation safety points
wWARNING
• 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.
• YAMAHA 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.
2. Particularly important cautions