Yamaha RCX222 Manuel utilisateur

RCX222

EUR2153130

E99

Ver. 1.30

UserʼsManual

YAMAHA2-AXISROBOTCONTROLLER

CONTENTS RCX222

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-8

3.2 Warning symbols S-9

4. Important precautions for each stage of the robot life cycle S-10

4.1 Precautions for using robots and controllers S-10

4.2 Essential precautions for the linear conveyor module S-11

4.3 Design S-12

4.3.1 Precautions for robots S-12

4.3.2 Precautions for robot controllers S-12

4.4 Moving and installation S-13

4.4.1 Precautions for robots S-13

4.4.2 Precautions for robot controllers S-14

4.5 Safety measures S-16

4.5.1 Safety measures S-16

4.5.2 Installing a safety enclosure S-17

4.6 Operation S-18

4.6.1 Trial operation S-18

4.6.2 Automatic operation S-20

4.6.3 Precautions during operation S-20

4.7 Inspection and maintenance S-22

4.7.1 Before inspection and maintenance work S-22

4.7.2 Precautions during service work S-23

4.8 Disposal S-24

5. Emergency action when a person is caught by robot S-25

6. Cautionsregardingstrongmagneticelds S-25

7. Using the robot safely S-26

7.1 Movement range S-26

7.2 Robot protective functions S-27

7.3 Residual risk S-28

7.4 Special training for industrial robot operation S-28

CONTENTS RCX222

User’s Manual

T-2

T-3

Warranty

Introduction 1

Before using the robot controller (Be sure to read the following notes) 2

Overview of the RCX series 3

Chapter 1 USING THE ROBOT SAFELY

1. Operating environment 1-1

Chapter 2 SYSTEM OVERVIEW

1. System overview 2-1

1.1 Mainsystemconguration 2-1

1.2 RCX22seriesaxisdenition 2-2

2. Part names and functions 2-3

2.1 RCX222 (Maximum number of axes: 2) 2-3

2.2 RCX222HP (Maximum number of axes: 2) 2-3

3. Control system 2-4

3.1 RCX222/RCX222HP 2-4

4. Optional devices 2-5

4.1 RPB programming box 2-5

4.2 I/O expansion 2-5

4.3 Regenerative unit 2-5

5. Basic sequence from installation to operation 2-6

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 3-4

3. Connector names 3-6

4. Connecting to the power 3-7

T-2

CONTENTS RCX222

User’s Manual

T-3

4.1 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 3-11

4.6 Installing a circuit protector 3-11

4.7 Installing an electromagnetic contactor 3-12

4.8 Installinganoiselter 3-12

4.9 Installing a surge absorber 3-13

5. Robot connections 3-14

5.1 Connecting the robot cables 3-14

5.2 Noise countermeasures 3-15

6. Connecting the RPB programming box 3-16

7. I/O connections 3-17

8. Connecting a host computer 3-18

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 3-24

12.1 Wiring methods 3-24

12.2 Precautions for installation 3-26

12.3 Methods of preventing malfunctions 3-26

13. Checking the robot controller operation 3-27

13.1 Cable connection 3-27

13.2 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

CONTENTS RCX222

User’s Manual

T-4

T-5

3.1 Part names 4-3

3.2 Main functions 4-3

3.3 Connection to the robot controller 4-4

3.4 Changing the RPB screen settings 4-5

4. Turning power on and off 4-6

5. Operation keys 4-8

5.1 RPB screen 4-8

5.2 Operation key layout 4-9

5.3 Basic key operation 4-10

5.4 Function keys 4-11

5.5 Control keys 4-13

5.6 Data keys 4-15

5.7 Other keys 4-15

6. Emergency stop 4-16

6.1 Emergency stop reset 4-17

6.2 Overload error reset 4-19

7. Modeconguration 4-21

7.1 Basic operation modes 4-21

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 Limits on robot moving 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 4-43

9.7.3 Linear interpolation motion mode 4-45

9.8 Direct command execution 4-46

T-4

CONTENTS RCX222

User’s Manual

T-5

9.9 Break point 4-47

9.9.1 Setting break points 4-48

9.9.2 Deleting break points 4-49

9.10 Executing a step 4-50

9.11 Skipping a step 4-50

9.12 Executing the next step 4-51

10. "PROGRAM" mode 4-52

10.1 Scrolling a program listing 4-53

10.2 Program editing 4-54

10.2.1 Cursor movement 4-56

10.2.2 Insert/Overwrite mode switching 4-57

10.2.3 Inserting a line 4-58

10.2.4 Deleting a character 4-58

10.2.5 Deleting a line 4-58

10.2.6 User function key display 4-59

10.2.7 Quitting program editing 4-60

10.2.8 Specifying the copy/cut lines 4-60

10.2.9 Copying the selected lines 4-61

10.2.10Cutting the selected lines 4-61

10.2.11 Pasting the data 4-62

10.2.12Backspace 4-62

10.2.13Line jump 4-63

10.2.14Searching a character string 4-64

10.3 Directory 4-65

10.3.1 Cursor movement 4-67

10.3.2 Registering a new program name 4-67

10.3.3 Directory information display 4-68

10.3.4 Copying a program 4-69

10.3.5 Erasing a program 4-70

10.3.6 Renaming a program 4-71

10.3.7 Changing the program attribute 4-72

10.3.8 Displaying object program information 4-73

10.3.9 Creating a sample program automatically 4-74

10.4 Compiling 4-76

10.5 Line jump and character string search 4-77

10.6 Registering user function keys 4-77

10.7 Resetting an error in the selected program 4-81

11. "MANUAL" mode 4-82

11.1 Manual movement 4-84

11.2 Displaying and editing point data 4-87

CONTENTS RCX222

User’s Manual

T-6

T-7

11.2.1 Point data input and editing 4-89

11.2.1.1 Restoring point data 4-90

11.2.2 Point data input by teaching 4-91

11.2.3 Point data input by direct teaching 4-93

11.2.4 Point jump display 4-94

11.2.5 Copying point data 4-95

11.2.6 Erasing point data 4-97

11.2.7 Point data trace 4-98

11.2.8 Point comment input and editing 4-98

11.2.8.1 Point comment input and editing 4-100

11.2.8.2 Point data input by teaching 4-100

11.2.8.3 Jump to a point comment 4-101

11.2.8.4 Copying a point comment 4-101

11.2.8.5 Erasing point comments 4-103

11.2.8.6 Point comment search 4-104

11.2.9 Point data error reset 4-105

11.3Displaying,editingandsettingpalletdenitions 4-106

11.3.1 Editing pallet deﬁnitions 4-108

11.3.1.1 Point setting in pallet deﬁnition 4-109

11.3.1.1.1 Editing the point in pallet deﬁnition 4-110

11.3.1.1.2 Setting the point in pallet deﬁnition by teaching 4-110

11.3.2 Pallet deﬁnition by teaching 4-111

11.3.3 Copying a pallet deﬁnition 4-114

11.3.4 Deleting a pallet deﬁnition 4-115

11.4 Changing the manual movement speed 4-116

11.5 Displaying, editing and setting shift coordinates 4-117

11.5.1 Editing shift coordinates 4-119

11.5.1.1 Restoring shift coordinates 4-120

11.5.2 Editing the shift coordinate range 4-121

11.5.2.1 Restoring a shift coordinate range 4-123

11.5.3 Shift coordinate setting method 1 4-124

11.5.4 Shift coordinate setting method 2 4-127

11.6 Displaying,editingandsettinghanddenitions 4-130

11.6.1 Editing hand deﬁnitions 4-133

11.6.1.1 Restoring hand deﬁnitions 4-134

11.6.2 Hand deﬁnition setting method 1 4-135

11.7 Changing the display units 4-137

11.8 Absolute reset 4-138

11.8.1 Checking absolute reset 4-139

11.8.2 Absolute reset on each axis 4-140

11.8.3 Absolute reset on all axes 4-147

11.9 Setting the standard coordinates 4-153

T-6

CONTENTS RCX222

User’s Manual

T-7

11.10 Executing the user function keys 4-154

12. "SYSTEM" mode 4-155

12.1 Parameters 4-157

12.1.1 Parameter list 4-159

12.1.2 Robot parameters 4-161

12.1.3 Axis parameters 4-165

12.1.4 Other parameters 4-185

12.1.5 Parameters for option boards 4-201

12.1.5.1 Option DIO setting 4-203

12.1.5.2 Serial IO setting 4-204

12.1.5.3 Setting the network parameters 4-209

12.2 Communication parameters 4-211

12.3 OPTION parameters 4-220

12.3.1 Setting the area check output 4-221

12.3.2 Setting the "SERVICE" mode 4-230

12.3.2.1 Saving the "SERVICE" mode parameters 4-236

12.3.2.2 Help display in "SERVICE" mode 4-237

12.3.3 SIO settings 4-238

12.3.4 Double-carrier setting 4-241

12.3.4.1 Before using a double-carrier 4-241

12.3.4.2 Setting the double-carrier parameters 4-242

12.4 Initialization 4-245

12.4.1 Initializing the parameters 4-246

12.4.2 Initializing the memory 4-247

12.4.3 Initializing the communication parameters 4-248

12.4.4 Clock setting 4-249

12.4.5 System generation 4-250

12.5 Self diagnosis 4-251

12.5.1 Controller check 4-252

12.5.2 Error history display 4-253

12.5.3 Displaying the absolute battery condition 4-254

12.5.4 Displaying the total operation time 4-255

12.5.5 System error details display 4-256

12.6 Backup processes 4-257

12.6.1 SD memory card 4-258

12.6.1.1 Loading ﬁles 4-260

12.6.1.2 Saving ﬁles 4-262

12.6.1.3 Deleting ﬁles 4-264

12.6.1.4 Previewing ﬁles 4-265

12.6.2 Internal ﬂash ROM 4-266

12.6.2.1 Loading ﬁles 4-267

CONTENTS RCX222

User’s Manual

T-8

T-9

12.6.2.2 Saving ﬁles 4-269

12.6.2.3 Initializing the ﬁles 4-270

13. "MONITOR" mode 4-271

14. "UTILITY" mode 4-274

14.1 Canceling emergency stop; Motor power and servo on/off 4-276

14.1.1 Canceling emergency stop 4-276

14.1.2 Motor power and servo on/off 4-277

14.2 Overload error reset and motor and servo power on/off 4-279

14.2.1 Emergency stop reset 4-279

14.2.2 Overload error reset 4-279

14.3Enabling/disablingthesequenceexecutionag 4-280

14.4 Resetting the output ports 4-281

14.5 Changing the execution level 4-282

14.5.1 Changing the execution level 4-283

14.5.2 Displaying the Help message 4-284

14.6 Changing the access level (operation level) 4-285

14.6.1 Entering the password 4-286

14.6.2 Changing the access level 4-287

14.6.3 Displaying the Help message 4-288

Chapter 5 PARALLEL I/O INTERFACE

1. Standard I/O interface overview 5-1

1.1 ID setting 5-2

1.2 Connector I/O signals 5-3

1.3 Connector pin numbers 5-6

1.4 Connecting the power supply 5-7

1.4.1 NPN/PNP power connector wiring 5-8

1.5 Typical input signal connection 5-9

1.6 Typical output signal connection 5-10

1.7 Dedicated I/O signals 5-11

1.7.1 Dedicated input signals 5-11

1.7.2 Dedicated output signals 5-13

1.8 General-purpose I/O signals 5-15

1.8.1 General-purpose output reset 5-15

1.9 Dedicated I/O signal timing charts 5-16

1.9.1 Turning the power on 5-16

1.9.2 Emergency stop and servo ON 5-18

1.9.3 ABS (absolute) reset 5-19

1.9.4 Mode switching 5-20

1.9.5 Automatic operation 5-21

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