Yamaha RCX240 Owner's manual

Supporting Supplement Manual ENGLISH E
YAMAHA ROBOT CONTROLLER
CEmarking
RCX240/RCX221/RCX222
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
YAMAHA MOTOR CO., LTD.
E115-Ver. 1.01

Introduction 1
Introduction
Thanks for purchasing the YAMAHA robot controller RCX240/RCX221/RCX222.
This manual describes the CE marking for the RCX240/RCX221/RCX222. When shipping
the RCX240/RCX221/RCX222 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.
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.
YAMAHA MOTOR CO., LTD.
IM Operations

MEMO
2Introduction

General contents i
General contents General contents
Introduction
Chapter 1 USING THE ROBOT SAFELY
1.1 Safety information 1-1
1.2 Particularly important cautions 1-2
1.2.1 System design safety points 1-2
1.2.2 Installation safety points 1-3
1.2.3 Wiring safety points 1-4
1.2.4 Start-up and maintenance safety points 1-5
1.2.5 Safety precautions during robot operation 1-7
1.2.6 Precautions for disposal 1-8
1.3 Safety measures for robots 1-8
1.3.1 Safety measures for SCARA type robots 1-8
1.3.2 Safety measures for single-axis robots, Cartesian robots,
and pick & place robots 1-8
1.4 Motor overload precautions 1-8
1.5 Warning labels and marks 1-9
1.5.1 Warning labels 1-9
1.5.2 Warning marks 1-9
1.6 Industrial robot operating and maintenance
personnel 1-10
1.7 Make daily and periodic inspections 1-10
Chapter 2 CE MARKING
2.1 CE Marking 2-1
2.2 Safety standards 2-1
2.2.1 Cautions regarding compliance with EC Directives 2-1
2.2.2 CE marking 2-1
2.2.3 Applicable EC Directives and their related standards 2-2
2.2.4 Robots subject to CE Marking 2-2
2.2.5
Cautions regarding the official language of EU countries 2-2
2.3 Usage conditions 2-3

ii General contents
Chapter 3 SYSTEM OVERVIEW
3.1 System overview 3-1
3.1.1 Main system configuration 3-1
3.2 Control system configuration 3-3
3.2.1 Basic configuration 3-3
3.2.2 Power supply and emergency stop system circuit
configuration 3-6
3.3 Programming box (RPB-E) 3-7
3.3.1 Part names and functions 3-7
3.3.2 RPB connector 3-9
3.4 SERVICE mode 3-11
3.4.1 What is SERVICE mode? 3-11
3.4.2 Flow for enabling the SERVICE mode functions 3-13
3.4.3 SERVICE mode parameter settings 3-13
3.4.3.1 SERVICE mode level 3-14
3.4.3.2 Limitations on operating speed during SERVICE mode 3-14
3.4.3.3 Operation device control during SERVICE mode 3-14
Chapter 4 EMC COUNTERMEASURE
4.1 EMC countermeasure examples 4-1
4.1.1 RCX240 4-2
4.1.1.1 Configuration 4-2
4.1.1.2 Countermeasure components 4-3
4.1.2 RCX221/RCX222 4-8
4.1.2.1 Configuration 4-8
4.1.2.2 Countermeasure components 4-9
Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES
5.1 External safety circuit examples 5-1
5.1.1 Performance level 5-1
5.1.2 Circuit examples for the RCX240 5-2
5.1.2.1 Category 4 5-4
5.1.2.2 Category 3 5-5
5.1.2.3 Category 2 5-6
5.1.2.4 Overview of circuit operation 5-7
5.1.3 Circuit examples for the RCX221/RCX222 5-8
5.1.3.1 Category 4 5-10
5.1.3.2 Category 3 5-11
5.1.3.3 Category 2 5-12
5.1.3.4 Overview of circuit operation 5-13

General contents iii
Chapter 6 SPECIFICATIONS
6.1 Controller 6-1
6.1.1 Basic specifications 6-1
6.1.1.1 RCX240 6-1
6.1.1.2 RCX221 6-3
6.1.1.3 RCX222 6-5
6.1.2 Basic functions 6-7
6.1.3 External view 6-8
6.1.3.1 RCX240 6-8
6.1.3.2 RCX221 6-11
6.1.3.3 RCX221HP 6-12
6.1.3.4 RCX222 6-13
6.1.3.5 RCX222HP 6-14
6.2 Programming box 6-15
6.2.1 Basic specifications 6-15
6.2.1.1 RPB-E 6-15
6.2.2 External view 6-16
6.2.2.1 RPB-E 6-16

MEMO
iv General contents

Chapter 1 USING THE ROBOT SAFELY
Contents
1.1 Safety information 1-1
1.2 Particularly important cautions 1-2
1.2.1 System design safety points 1-2
1.2.2 Installation safety points 1-3
1.2.3 Wiring safety points 1-4
1.2.4 Start-up and maintenance safety points 1-5
1.2.5 Safety precautions during robot operation 1-7
1.2.6 Precautions for disposal 1-8
1.3 Safety measures for robots 1-8
1.3.1 Safety measures for SCARA type robots 1-8
1.3.2 Safety measures for single-axis robots, Cartesian
robots, and pick & place robots 1-8
1.4 Motor overload precautions 1-8
1.5 Warning labels and marks 1-9
1.5.1 Warning labels 1-9
1.5.2 Warning marks 1-9
1.6 Industrial robot operating and maintenance
personnel 1-10
1.7 Make daily and periodic inspections 1-10