Omron YRCX Series User manual

=;76HULHV

&DW1R,((1

<5&;5RERW&RQWUROOHU

23(5$7,210$18$/

6&$5$5RERWV

<5&;6HULHV

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

Table of contents

Other Omron Robotics manuals

Omron

Omron TM User manual

Omron

Omron R6Y Series User manual

Omron

Omron LD-250 User manual

Omron

Omron Pioneer LX User manual

Omron

Omron SCARA YRC Series User manual

Omron

Omron TM Robot S Series Assembly instructions

Omron

Omron CR UGD4 XL Series User manual

Omron

Omron CR_UDG4_NR User manual

Omron

Omron Medium & Heavy Payload TM12 Series Assembly instructions

Omron

Omron Regular Payload Series Assembly instructions

Omron

Omron i4-350L User manual

Omron

Omron Scara R6Y - XP Series User manual

Omron

Omron Medium Series Assembly instructions

Omron

Omron TM Conveyor Tracking User manual

Omron

Omron HD-1500 Platform User manual

Omron

Omron LD-60 User manual

Omron

Omron AmigoBot User manual

Omron

Omron Cobra 350 ePLC User manual

Omron

Omron S Series User manual

Omron

Omron i4H User manual

Omron

Omron i4H User manual

Omron

Omron Ewellix LIFTKIT-OM User manual

Omron

Omron Techman Robot Series User manual

Omron

Omron LD Platform User manual

Popular Robotics manuals by other brands

STEMCenter USA

STEMCenter USA Pi-Bot v2.00 user manual

SunFounder

SunFounder PiDog manual

Universal Robots

Universal Robots UR5 Service manual

Universal Robots

Universal Robots E Series Original instructions

YASKAWA

YASKAWA MOTOMAN-MPL80 II instructions

EFORT

EFORT ECR5 Quick start manual

Epson

Epson C8 Series MANIPULATOR MANUAL

WowWee

WowWee ROBOQUAD user manual

Milvus Robotics

Milvus Robotics SEIT 100 user manual

RoboMaster

RoboMaster AI Robot 2020 Standard Version user manual

fischertechnik

fischertechnik Mini Bots manual

YASKAWA

YASKAWA MA2010 Operating and maintenance instructions

Abicor Binzel

Abicor Binzel iCAT mini operating instructions

ABB

ABB OmniCore E10 product manual

YASKAWA

YASKAWA Motoman DX200 instructions

pitsco

pitsco Tetrix Max Creator's Guide

ECOVACS

ECOVACS DEEBOT R95 instruction manual

Feng Yuan

Feng Yuan Interstellar Warrior user guide