Yamaha RCX240 User manual

RCX240
EUR6127206
E107
Ver. 2.06
UserʼsManual
YAMAHA4-AXISROBOTCONTROLLER

Introduction 1
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.

2Before using the robot controller (Be sure to read the following notes)
Before using the robot controller (Be sure to read the following notes) 3
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 will require absolute reset for setting the origin position each time
the power is turned on or may cause abnormal operation (vibration, noise).
[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 the battery cable to the robot controller
The absolute batteries shipped with the controller are unused, and the battery connectors are
left disconnected to prevent discharge. After installing the controller, always be sure to connect
the absolute batteries while referring to "9. Connecting the absolute battery" in Chapter 3 before
connecting the robot cables.
An error (relating to absolute settings) is always issued if the robot controller power is turned
on without connecting the absolute batteries, so the origin position cannot be detected. This
means the robot connected to this controller cannot be used with absolute specifications.
[3] 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.
Reference
Absolute reset is always required when the robot controller power is first
turned on after connecting the robot cable to the robot controller. Perform
absolute reset while referring to "11.9 Absolute reset" in Chapter 4,
"OPERATION".
Absolute reset is also required after the robot cable was disconnected from
the robot controller and then reconnected.
[4] Setting the maximum speed
When operating a ball screw driven robot, the ball screw’s free length will increase as the
movement stroke increases, and the resonant frequency will drop. This may cause the ball screw
to resonate and vibrate severely depending on the motor rotation speed. (The speed at which
resonance occurs is called the critical speed.)
To prevent this resonance, the maximum speed must be reduced depending on the robot
model when the movement stroke increases. Refer to our robot catalog for the maximum speed
settings.

2Before using the robot controller (Be sure to read the following notes)
Before using the robot controller (Be sure to read the following notes) 3
cCAUTION
Continuous operation while the ball screw is resonating may cause the ball
screw to wear out prematurely.
[5] Duty
To achieve maximum service life for the single-axis robots, the robot must be operated
within the allowable duty (50%).
The duty is calculated as follows:
Duty (%) = Operation time
Operation time + Non-operation time ×100
If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case, increase
the stop time to reduce the duty.

4Overview 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.
• Three-dimensionalCPcontrol
Allows three-dimensional interpolation control of linear and circular movements.
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.

General contents 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 4
General contents i
Chapter 1 USING THE ROBOT SAFELY
1. Safety information 1-1
2. Particularly important cautions 1-2
2.1 System design safety points 1-2
2.2 Installation safety points 1-3
2.3 Wiring safety points 1-4
2.4 Start-up and maintenance safety points 1-5
2.5 Safety precautions during robot operation 1-7
2.6 Precautions for disposal 1-7
3. Safety measures for robots 1-8
3.1 Safety measures for SCARA type robots 1-8
3.2 Safety measures for single-axis robots, Cartesian robots,
and pick & place robots 1-8
4. Motor overload precautions 1-8
5. Warning labels and marks 1-8
5.1 Warning labels 1-8
5.2 Warning marks 1-9
6. Industrial robot operating and maintenance personnel 1-9
7. Make daily and periodic inspections 1-9
8. Freeing a person caught by the robot 1-10
9. Warranty 1-12
10. Operating environment 1-13
Chapter 2 SYSTEM OVERVIEW
1. System overview 2-1

ii General contents
General contents iii
1.1 Main system configuration 2-1
1.2 Axis definition for the RCX240 2-3
2. External view and control system 2-4
2.1 RCX240 external view 2-4
2.2 Controller system 2-4
3. Optional devices 2-5
3.1 RPB programming box 2-5
3.2 Expansion I/O board 2-5
3.3 Regenerative unit 2-5
4. Basic sequence from installation to operation 2-6
4.1 When using absolute type axes only 2-6
4.2 When using incremental type axes only 2-7
4.3 When using both absolute and incremental type axes 2-8
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 3-3
3. Connector names 3-6
4. Connecting to the power 3-7
4.1 Power supply connection example 3-7
4.2 Power supply and ground terminals 3-8
4.3 AC power connector wiring 3-9
4.4 Considering power capacity and generated heat amount 3-10
4.5 Installing an external leakage breaker 3-12
4.6 Installing a circuit protector 3-12
4.7 Installing an electromagnetic contactor 3-13
4.8 Installing a noise filter 3-13
4.9 Installing a surge absorber 3-14
5. Connecting the robot cables 3-15
6. Connecting the RPB programming box 3-16
7. I/O connections 3-17
8. Connecting a host computer 3-18

ii General contents
General contents iii
9. Connecting the absolute battery 3-19
10. Replacing the absolute battery 3-21
11. Connecting a regenerative unit 3-22
12.
Precautions for cable routing and installation 3-23
12.1 Wiring methods 3-23
12.2 Precautions for installation 3-25
12.3 Methods of preventing malfunctions 3-25
13. Checking the robot controller operation 3-26
13.1 Cable connection 3-26
13.2 Emergency stop input signal connection 3-27
13.3 Operation check 3-28
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 4-5
3.4 Changing the RPB screen settings 4-6
4. Turning power on and off 4-7
5. Operation keys 4-9
5.1 RPB screen 4-9
5.2 Operation key layout 4-11
5.3 Basic key operation 4-12
5.4 Function keys 4-13
5.5 Control keys 4-15
5.6 Data keys 4-17
5.7 Other keys 4-17
6. Emergency stop 4-18
6.1 Emergency stop reset 4-19
7. Mode configuration 4-21
7.1 Basic operation modes 4-21

iv General contents
General contents v
7.2 Other operation modes 4-22
7.3 Mode hierarchy 4-23
8. "SERVICE" mode 4-28
8.1 Operation device 4-28
8.2 Prohibition of "AUTO" mode operation 4-28
8.3 Hold-to-Run function 4-28
8.4 Limitations on robot operating speed 4-29
9. "AUTO" mode 4-30
9.1 Automatic operation 4-33
9.2 Stopping the program 4-34
9.3 Resetting the program 4-35
9.4 Switching task display 4-37
9.5 Switching the program 4-38
9.6 Changing the automatic movement speed 4-39
9.7 Executing the point trace 4-40
9.7.1 PTP motion mode 4-42
9.7.2 ARCH motion mode 4-45
9.7.3 Linear interpolation motion mode 4-49
9.8 Direct command execution 4-52
9.9 Break point 4-53
9.9.1 Setting break points 4-53
9.9.2 Deleting break points 4-54
9.10 Executing a step 4-55
9.11 Skipping a step 4-56
9.12 Executing the next step 4-56
10. "PROGRAM" mode 4-57
10.1 Scrolling a program listing 4-58
10.2 Program editing 4-59
10.2.1 Cursor movement 4-61
10.2.2 Insert/Overwrite mode switching 4-62
10.2.3 Inserting a line 4-63
10.2.4 Deleting a character 4-63
10.2.5 Deleting a line 4-64
10.2.6 User function key display 4-64
10.2.7 Quitting program editing 4-65
10.2.8 Copying or cutting lines 4-65
10.2.9 Backspace 4-67
10.2.10 Line jump 4-67
10.2.11 Searching a character string 4-68
10.3 Directory 4-70
10.3.1 Cursor movement 4-72
10.3.2 Registering a new program name 4-72
10.3.3 Directory information display 4-73
10.3.4 Copying a program 4-74

iv General contents
General contents v
10.3.5 Erasing a program 4-75
10.3.6 Renaming a program 4-76
10.3.7 Changing the program attribute 4-76
10.3.8 Displaying object program information 4-77
10.3.9 Creating a sample program automatically 4-78
10.4 Compiling 4-80
10.5 Line jump and character string search 4-81
10.6 Registering user function keys 4-81
10.7 Resetting an error in the selected program 4-84
11. "MANUAL" mode 4-85
11.1 Manual movement 4-88
11.2 Displaying and editing point data 4-92
11.2.1 Point data input and editing 4-94
11.2.1.1 Restoring point data 4-95
11.2.2 Point data input by teaching 4-96
11.2.3 Point data input by direct teaching 4-101
11.2.4 Point jump display 4-101
11.2.5 Copying point data 4-102
11.2.6 Erasing point data 4-103
11.2.7 Point data trace 4-104
11.2.8 Point comment input and editing 4-105
11.2.8.1 Point comment input and editing 4-107
11.2.8.2 Point data input by teaching 4-107
11.2.8.3 Jump to a point comment 4-108
11.2.8.4 Copying a point comment 4-109
11.2.8.5 Erasing point comments 4-110
11.2.8.6 Point comment search 4-111
11.2.9 Point data error reset 4-112
11.3 Displaying, editing and setting pallet definitions 4-113
11.3.1 Editing pallet definitions 4-115
11.3.1.1 Point setting in pallet definition 4-116
11.3.1.1.1 Editing the point in pallet definition 4-117
11.3.1.1.2 Setting the point in pallet definition by teaching 4-118
11.3.2 Pallet definition by teaching 4-118
11.3.3 Copying a pallet definition 4-121
11.3.4 Deleting a pallet definition 4-122
11.4 Changing the manual movement speed 4-123
11.5 Displaying, editing and setting shift coordinates 4-124
11.5.1 Editing shift coordinates 4-127
11.5.1.1 Restoring shift coordinates 4-128
11.5.2 Editing the shift coordinate range 4-129
11.5.2.1 Restoring a shift coordinate range 4-131
11.5.3 Shift coordinate setting method 1 4-132
11.5.4 Shift coordinate setting method 2 4-135
11.6 Displaying, editing and setting hand definitions 4-138
11.6.1 Editing hand definitions 4-145
11.6.1.1 Restoring hand definitions 4-146
11.6.2 Hand definition setting method 1 4-147

vi General contents
General contents vii
11.7 Changing the display units 4-149
11.8 Return-to-origin 4-150
11.8.1 Return-to-origin operation 4-150
11.8.2 Semi-absolute 4-152
11.8.3 Return-to-origin procedure 4-154
11.9 Absolute reset 4-156
11.9.1 Checking absolute reset 4-157
11.9.2 Absolute reset on each axis 4-159
11.9.3 Absolute reset on all axes 4-165
11.10 Setting the standard coordinates 4-171
11.10.1 Setting the standard coordinates by 4-point teaching 4-174
11.10.2 Setting the standard coordinate by 3-point teaching 4-176
11.10.3 Setting the standard coordinates by simple teaching 4-179
11.11 Executing the user function keys 4-181
12. "SYSTEM" mode 4-182
12.1 Parameters 4-185
12.1.1 Parameter setting 4-185
12.1.2 Parameter list 4-187
12.1.3 Robot parameters 4-190
12.1.4 Axis parameters 4-195
12.1.5 Other parameters 4-213
12.1.6 Parameters for option boards 4-234
12.1.6.1 Option DIO setting 4-236
12.1.6.2 Serial I/O setting 4-237
12.1.6.3 Setting the network parameters 4-240
12.2 Communication parameters 4-242
12.3 OPTION parameters 4-252
12.3.1 Setting the area check output 4-253
12.3.2 Setting the "SERVICE" mode 4-262
12.3.2.1 Saving the "SERVICE" mode parameters 4-267
12.3.2.2 Help display in "SERVICE" mode 4-268
12.3.3 SIO settings 4-269
12.3.4 Double-carrier setting 4-273
12.3.4.1 Before using a double-carrier 4-273
12.3.4.2 Setting the double-carrier parameters 4-274
12.3.5 Individual axis return-to-origin by general-purpose DI/SI 4-277
12.3.5.1 Individual axis return-to-origin function 4-277
12.3.5.2 Setting the individual axis return-to-origin 4-279
12.3.5.3 Timing chart of individual axis return-to-origin by general-purpose DI/SI 4-285
12.4 Initialization 4-289
12.4.1 Initializing the parameters 4-290
12.4.2 Initializing the memory 4-291
12.4.3 Initializing the communication parameters 4-292
12.4.4 Clock setting 4-293
12.4.5 System generation 4-294
12.5 Self diagnosis 4-295
12.5.1 Controller check 4-296
12.5.2 Error history display 4-297
12.5.3 Displaying the absolute battery condition 4-298

vi General contents
General contents vii
12.5.4 Displaying the total operation time 4-299
12.5.5 System error details display 4-300
12.6 Backup processes 4-301
12.6.1 Internal flash ROM 4-302
12.6.1.1 Loading files 4-303
12.6.1.2 Saving files 4-305
12.6.1.3 Initializing the files 4-306
13. "MONITOR" mode 4-307
14. "UTILITY" mode 4-310
14.1 Canceling emergency stop; Motor power and servo on/off 4-312
14.1.1 Canceling emergency stop 4-312
14.1.2 Motor power and servo on/off 4-312
14.2 Enabling/disabling the sequence execution flag 4-314
14.3 Changing the arm type 4-315
14.4 Resetting the output ports 4-316
14.5 Changing the execution level 4-317
14.5.1 Changing the execution level 4-318
14.5.2 Displaying the help message 4-319
14.6 Changing the access level (operation level) 4-320
14.6.1 Changing the access level 4-321
14.6.2 Displaying the help message 4-322
Chapter 5 TWO-ROBOT SETTING
1. Explanation of two-robot setting 5-1
1.1 Two-robot setting 5-1
1.2 System configuration example 5-3
2. Operations and data when using the two-robot setting 5-4
2.1 "AUTO" mode 5-4
2.1.1 Changing the automatic movement speed 5-4
2.1.2 Executing the point trace 5-5
2.2 "MANUAL" mode 5-7
2.2.1 Current position 5-7
2.2.2 Manual movement 5-8
2.2.3 Point data 5-12
2.2.3.1 Point data input by teaching 5-13
2.2.3.2 Input by point data direct teaching 5-14
2.2.4 Pallet definition 5-15
2.2.4.1 Setting the point in pallet definition by teaching 5-15
2.2.4.2 Pallet definition by teaching 5-16
2.2.5 Changing the manual movement speed 5-18
2.2.6 Shift coordinates 5-19
2.2.6.1 Shift coordinate setting method 1 5-21
2.2.6.2 Shift coordinate setting method 2 5-22
2.2.7 Hand definition 5-24
2.2.7.1 Hand definition setting method 1 5-24

viii General contents
General contents ix
2.2.8 Absolute reset 5-26
2.2.8.1 Checking absolute reset status 5-26
2.2.8.2 Absolute reset on each axis (mark method) 5-27
2.2.8.3 A bsolute reset on each axis (stroke end method / sensor method) 5-29
2.2.8.4 Absolute reset on all axes 5-31
2.3 "SYSTEM" mode 5-34
2.3.1 "SYSTEM" mode initial screen format 5-34
2.3.2 Robot parameters screen format 5-35
2.3.3 Axis parameters screen format 5-36
2.3.4 Setting the area check output 5-37
2.3.5 Double-carrier collision prevention 5-39
2.4 Error message displays 5-44
3. Programming 5-45
3.1 Robot languages used in the two-robot setting 5-45
Chapter 6 PARALLEL I/O INTERFACE
1. Standard I/O interface overview 6-1
1.1 Power supply 6-1
1.2 Connector I/O signals 6-2
1.3 Connector pin numbers 6-3
1.4 Typical input signal connection 6-4
1.5 Typical output signal connection 6-6
1.5.1 Dedicated outputs 6-6
1.5.2 General-purpose outputs 6-8
1.6 Dedicated input signal description 6-9
1.7 Dedicated output signal description 6-12
1.8 Dedicated I/O signal timing chart 6-14
1.8.1 Controller power ON, servo ON and emergency stop 6-14
1.8.2 Return-to-origin 6-15
1.8.3 Absolute reset 6-16
1.8.4 Switching to AUTO mode, program reset and execution 6-17
1.8.5 Stopping due to program interlocks 6-18
1.9 General-purpose I/O signals 6-19
1.9.1 General-purpose input signals 6-19
1.9.2 General-purpose output signals 6-19
1.9.3 General-purpose output signal reset (off) 6-19
2. Option I/O interface overview 6-21
2.1 ID settings 6-22
2.2 Power supply 6-22
2.3 Connector I/O signals 6-23
2.4 Connector pin numbers 6-24
2.5 Typical input signal connection 6-25
2.6 Typical output signal connection 6-25
2.7 General-purpose I/O signals 6-26

viii General contents
General contents ix
2.7.1 General-purpose input signals 6-26
2.7.2 General-purpose output signals 6-26
2.7.3 General-purpose output signal reset (off) 6-27
3. Ratings 6-28
4. Caution items 6-29
Chapter 7 SAFETY I/O INTERFACE
1. SAFETY I/O interface overview 7-1
1.1 Power 7-1
1.2 Connector I/O signals 7-2
1.3 Connector terminal numbers 7-3
1.4 Emergency stop input signal connections 7-4
1.5 Dedicated input signal connections 7-8
1.6 Input signal description 7-9
1.7 Dedicated output signal connections 7-10
1.8 Meaning of output signals 7-10
Chapter 8 RS-232C INTERFACE
1. Communication overview 8-1
2. Communication function overview 8-2
3. Communication specifications 8-3
3.1 Connector 8-3
3.2 Transmission mode and communication parameters 8-5
3.3 Communication flow control 8-6
3.3.1 Flow control during transmit 8-6
3.3.2 Flow control during receive 8-6
3.4 Other caution items 8-7
3.5 Character code table 8-9
3.6 Connecting to a PC 8-10
Chapter 9 Periodic inspection
1. Before beginning work 9-1
2. Periodic inspection 9-1
2.1 Daily inspection 9-1
2.2 Three-month inspection 9-2
3. Replacing the fan filter 9-3
4. Maintenance parts 9-4

xGeneral contents
Chapter 10 SPECIFICATIONS
1. Controller basic specifications 10-1
1.1 RCX240 basic specifications 10-1
2. Controller basic functions 10-3
3. Robot controller external view 10-4
3.1 RCX240 external view 10-4
4. RPB basic specifications and external view 10-7
TROUBLESHOOTING
1. Error messages A-1
1.1 Robot controller error messages A-1
[ 0] Warnings and messages A-4
[ 1] Warnings (error history entry) A-7
[ 2] Robot operating area errors A-8
[ 3] Program file operating errors A-12
[ 4] Data entry and edit errors A-15
[ 5] Robot language syntax (compiling) errors A-16
[ 6] Robot language execution errors A-25
[ 9] Memory errors A-31
[10] System setting or hardware errors A-35
[12] I/O and option board errors A-38
[13] RPB errors A-44
[14] RS-232C communication errors A-44
[15] Memory card errors A-47
[17] Motor control errors A-49
[19] YC-Link (SR1) related error A-57
[20] iVY system errors A-63
[21] Major software errors A-68
[22] Major hardware errors A-70
[26] Alarm messages (major errors) that occurred in electrical gripper A-76
[27] Error messages that occurred in electrical gripper A-79
1.2 RPB error messages A-81
2. Troubleshooting A-83
2.1 When trouble occurs A-83
2.2 Acquiring error information A-84
2.2.1 Acquiring information from the RPB A-84
2.2.2 Acquiring information from the RS-232C A-84
2.3 Troubleshooting checkpoints A-85
INDEX

Chapter 1 USING THE ROBOT SAFELY
Contents
1. Safety information 1-1
2. Particularly important cautions 1-2
2.1 System design safety points 1-2
2.2 Installation safety points 1-3
2.3 Wiring safety points 1-4
2.4 Start-up and maintenance safety points 1-5
2.5 Safety precautions during robot operation 1-7
2.6 Precautions for disposal 1-7
3. Safety measures for robots 1-8
3.1 Safety measures for SCARA type robots 1-8
3.2 Safety measures for single-axis robots, Cartesian
robots, and pick & place robots 1-8
4. Motor overload precautions 1-8
5. Warning labels and marks 1-8
5.1 Warning labels 1-8
5.2 Warning marks 1-9
6. Industrial robot operating and maintenance personnel 1-9
7. Make daily and periodic inspections 1-9
8. Freeing a person caught by the robot 1-10
9. Warranty 1-12
10. Operating environment 1-13

Chapter 1 USING THE ROBOT SAFELY 1-1

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Chapter 1 USING THE ROBOT SAFELY 1-1
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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.
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

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1-2 Chapter 1 USING THE ROBOT SAFELY
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Chapter 1 USING THE ROBOT SAFELY 1-3
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
 
FOR GENERAL-PURPOSE INDUSTRIAL EQUIPMENT. THEY SHOULD NOT BE USED IN THE
FOLLOWING APPLICATIONS:
   
   
   
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
 
MANUAL AND RELATED USER'S MANUAL. BUILD THE SYSTEM INCLUDING THE ROBOT
CONTROLLER SO THAT IT WILL ALWAYS WORK SAFELY.
 
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