Omron YRCX Series Manual de usuario

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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

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