Omron YRC Manual de usuario

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CONTENTS YRCX

User’s Manual

T-1

Safety Instructions

1. Safety Information S-1

2. Signal words used in this manual S-2

3. Warning labels S-3

3.1 Warning labels S-3

3.1.1 Warning label messages on robot and controller S-3

3.1.2 Supplied warning labels S-6

3.2 Warning symbols S-7

4. Important precautions for each stage of the robot life cycle S-8

4.1 Precautions for using robots and controllers S-8

4.2 Design S-9

4.2.1 Precautions for robots S-9

4.2.2 Precautions for robot controllers S-9

4.3 Moving and installation S-10

4.3.1 Precautions for robots S-10

4.3.2 Precautions for robot controllers S-11

4.4 Safety measures S-13

4.4.1 Safety measures S-13

4.4.2 Installing a safety enclosure S-14

4.5 Operation S-15

4.5.1 Trial operation S-15

4.5.2 Automatic operation S-17

4.5.3 Precautions during operation S-17

4.6 Inspection and maintenance S-19

4.6.1 Before inspection and maintenance work S-19

4.6.2 Precautions during service work S-20

4.7 Disposal S-21

5. Emergency action when a person is caught by robot S-22

6. Cautionsregardingstrongmagneticelds S-22

7. Using the robot safely S-23

7.1 Movement range S-23

7.2 Robot protective functions S-24

7.3 Residual risk S-25

7.4 Special training for industrial robot operation S-25

7.5 KC mark S-26

7.5.1 EMC standards S-26

7.5.2 Examples of EMC countermeasures S-26

CONTENTS YRCX

User’s Manual

T-2

Warranty

Important information before reading this manual

Introduction i

About this manual i

Overview of the YRCX ii

Before using the robot controller (Be sure to read the following notes) iii

Chapter 1 Using the robot safely

1. Emergency action when a person is caught by robot 1-1

2. Emergency stop 1-2

2.1 Emergency stop release and alarm reset 1-2

3. Power-ON procedures 1-4

4. Usage environments 1-5

Chapter 2 System overview

1. I/O interface overview 2-1

1.1 Mainsystemconguration 2-1

1.2 AxiscongurationfortheYRCX 2-2

2. Name of each part and control system 2-3

2.1 YRCXexternalview 2-3

2.2 Controller system 2-4

3. Optional devices 2-5

3.1 Programming box 2-5

3.2 Basic key operation 2-5

3.3 Expansion I/O board 2-5

4. Basic sequence from installation to operation 2-6

Chapter 3 Installation

1. Transport, unpacking 3-1

2. Installing the robot controller 3-1

2.1 Installation conditions 3-1

2.2 Installation methods 3-2

CONTENTS YRCX

User’s Manual

T-3

3. Connecting to the power 3-3

3.1 Powersupplyandgroundterminals 3-3

3.2 ACpowerconnectorwiring 3-4

3.3 Consideringpowercapacityandgeneratedheatamount 3-5

3.4 Installing an external leakage breaker 3-6

3.4.1 Selecting condition 3-6

3.5 Installing a circuit protector 3-6

3.6 Installing an electromagnetic contactor 3-6

3.7 Installinganoiselter 3-7

3.8 Installing a surge absorber 3-7

4. Connecting the absolute battery 3-8

5. Robot connections 3-9

5.1 Connecting the robot cables 3-9

5.2 Noise countermeasures 3-10

6. Connecting the programming box 3-10

7. I/O connections 3-11

8. Connecting the regenerative shorting connector 3-11

9. Connecting the brake power supply 3-12

10. Precautions for cable routing and installation 3-12

10.1 Wiring methods 3-12

10.2 Methods of preventing malfunctions 3-13

11. Checking the robot controller operation 3-14

11.1 Controllerwiring 3-14

11.2 Wiring example of emergency stop circuit for operation check 3-15

11.3 Operation check 3-15

Chapter 4 I/O interface

1. I/O interface overview 4-1

1.1 ID settings 4-2

1.2 Powersupply 4-2

1.3 Powerconnectorwiringwork 4-3

1.4 Connector I/O signals 4-4

1.4.1 StandardspecicationI/Oconnectorsignallist 4-4

1.4.2 ExpandedspecicationI/Oconnectorsignallist 4-5

1.5 Connector pin assignment lists 4-6

1.5.1 StandardspecicationI/Oconnector 4-6

1.5.2 ExpandedspecicationI/Oconnector 4-6

CONTENTS YRCX

User’s Manual

T-4

1.6 Connector pin numbers 4-7

1.7 Typical input signal connection 4-7

1.8 Typical output signal connection 4-8

1.9 Dedicated input signal description 4-9

1.10 Dedicated output signal description 4-10

1.11 Dedicated I/O signal timing chart 4-12

1.11.1 From the controller power on to servo on 4-12

1.11.2 Controller emergency stop and servo on reset 4-13

1.11.3 Return-to-origin 4-14

1.11.4 Program reset and program execution 4-15

1.11.5 Stopping by program stop 4-16

1.12 General-purpose I/O signals 4-17

1.12.1 General-purpose input signals 4-17

1.12.2 General-purpose output signals 4-17

1.12.3 General-purpose output signal reset (off) 4-17

2. Ratings 4-18

2.1 Input 4-18

2.2 Output 4-18

3. Caution items 4-18

Chapter 5 SAFETY I/O interface

1. SAFETY I/O interface overview 5-1

1.1 Power 5-1

1.2 Connector I/O signals 5-1

1.3 Connectionexamplecombiningtheprogrammingboxwith

external emergency stop circuit 5-2

1.3.1 ConnectionexampleofcontrollerwithCEspecicationsandPBEX 5-2

1.4 Connections example of dedicated input signal 5-3

1.4.1 Emergencystopinputs(E-STOPRDY*,E-STOPCOM*) 5-3

1.4.2 AUTOmodeinputs(AUTO*+,AUTOCOM*) 5-3

1.5 Connection example of dedicated output signal 5-4

1.5.1 Emergencystopcontactoutputs(E-STOP*1,E-STOP*2) 5-4

1.5.2 Enableswitchcontactoutputs(ENABLE*1,ENABLE*2) 5-4

1.5.3 Motorpowerreadyoutputs(MPRDY*+,MPRDY*-) 5-5

Chapter 6 External communication interface

1. Overview 6-1

1.1 Communicationoverview 6-1

1.2 ONLINE and OFFLINE modes 6-2

1.3 Character code 6-3

CONTENTS YRCX

User’s Manual

T-5

2. RS-232C 6-4

2.1 Connectors and cables 6-4

2.2 Communicationspecications 6-5

2.3 Connections 6-5

2.4 Communication parameter setting 6-6

2.5 Communicationowcontrol 6-7

2.5.1 Flow control during transmit 6-7

2.5.2 Flow control during receive 6-7

2.6 Other caution items 6-7

3. Ethernet 6-8

3.1 Connectors and cables 6-9

3.2 Communicationspecications 6-11

3.3 Connections 6-12

3.4 Parameter setting on controller (server) 6-13

3.4.1 Setting the communication mode and parameters 6-14

3.4.2 Initializing communication parameters 6-14

3.5 System setting on personal computer (client) 6-15

3.5.1 SettingtheTCP/IPprotocol 6-15

3.6 Connection check using "Ping" 6-16

3.7 Communicationexampleusing"TELNET.EXE" 6-16

3.8 Appendix 6-17

3.8.1 Exampleofnetworksystemconguration 6-17

3.8.2 Glossary 6-20

4. General Ethernet port (GEP) 6-22

4.1 GEP parameter setting 6-22

4.2 GEP parameter setting method 6-23

4.3 Initializing communication parameters 6-24

Chapter 7 Controller system settings

1. Overview 7-1

2. History 7-1

3. Check 7-2

4. Property 7-2

4.1 Robot information 7-2

4.2 Option information 7-3

4.3 Clock 7-3

4.4 Version 7-3

4.5 Conguration 7-4

CONTENTS YRCX

User’s Manual

T-6

5. USB memory operation 7-4

5.1 Saving the data 7-4

5.2 Loading the data 7-5

6. Execution level 7-6

6.1 Changing the access level 7-6

7. Safety setting 7-7

8. Initialize 7-8

8.1 Initializing the data 7-8

8.2 Setting the clock 7-9

9. Generation 7-10

10. Parameters 7-10

10.1 Parameter setting conditions 7-10

10.2 Setting the parameters 7-10

10.3 Parameter list 7-12

10.4 Controller parameters 7-15

10.5 Robot parameters 7-17

10.6 Axis parameters 7-20

10.7 I/O parameters 7-27

10.8 Option board related parameters 7-29

Chapter 8 Periodic inspection

1. Before carrying out work 8-1

2. Maintenance parts 8-1

3. Periodic inspections 8-1

3.1 Daily inspections 8-1

3.2 Three-month inspections 8-2

4. Replacing the absolute battery 8-2

5. Replacing the memory battery 8-2

Chapter 9 Specications

1. Controller 9-1

1.1 Specications 9-1

1.2 Basic functions 9-2

1.3 Externalview 9-3

CONTENTS YRCX

User’s Manual

T-7

2. Programming box 9-4

2.1 Basicspecications 9-4

2.2 Externalview 9-4

Troubleshooting

1. Alarm messages A-1

1.1 Alarm messages related to the controller A-1

1.1.1 Alarm group number list A-3

1.1.2 Alarmclassicationnumberlist A-4

1.1.3 Warning number list A-4

[0]Operationmessages A-4

[ 1] System events A-5

[ 2] Alarm related to the robot operation A-7

[3]Alarmrelatedtotheprogramleoperation A-13

[ 4] Alarm related to the data input A-15

[ 5] Alarm related to the syntax of the robot language (compile) A-16

[ 6] Alarm related to the robot language execution A-23

[ 9] Alarm related to the memory A-33

[10] Alarm related to the environment and general hardware A-36

[12] Alarm related to the option board A-38

[14] Alarm related to the communication A-46

[17] Alarm related to the motor control A-49

[19]AlarmrelatedtotheYC-Link/E A-55

[21] Serious alarm related to software A-58

[22] Serious alarm related to hardware A-59

[26] Alarm related to the gripper A-62

[28]AlarmrelatedtothedriverI/F A-66

[ c] Warning A-67

1.2 Alarm messages related to the programming box A-68

2. Troubleshooting A-69

2.1 When trouble occurs A-69

2.2 Acquiring the alarm information A-70

2.2.1 Checking the alarm occurrence status A-70

2.2.2 Checking the alarm history A-70

2.3 Troubleshooting checkpoints A-71

2.3.1 Installation and power supply A-71

2.3.2 Robot operation A-72

2.3.3 I/O A-73

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