Omron SCARA YRCX Series Betriebsanleitung

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Introduction

Our sincere thanks for your purchase of this OMRON YRCX robot controller.

This manual describes robot program commands and related information for using OMRON YRCX

robot controllers. Be sure to read this manual carefully as well as related manuals and comply with

their instructions for using the OMRON robot controllers safely and correctly.

For details on how to operate OMRON robot controllers, refer to the separate controller user's

manual that comes with the OMRON robot controller.

Applicable controllers: YRCX

Safety precautions

Be sure to read before using

Before using the OMRON robot controller, be sure to read this manual and related manuals, and

follow their instructions to use the robot controller safely and correctly.

Warning and caution items listed in this manual relate to OMRON robot controllers.

When this robot controller is used in a robot controller system, please take appropriate safety

measures as required by the user’s individual system.

This manual classiﬁes safety caution items and operating points into the following levels, along with

symbols for signal words “CAUTION” and “NOTE”.

CAUTION

"CAUTION" indicates a potentially hazardous situation which, if not avoided, could

result in minor or moderate injury or damage to the equipment or software.

NOTE

Primarily explains function differences, etc., between software versions.

Explains robot operation procedures in a simple and clear manner.

Note that the items classified into “CAUTION” might result in serious injury depending on the

situation or environmental conditions.

Keep this manual carefully so that the operator can refer to it when needed. Also make sure that this

manual reaches the end user.

MEMO

CONTENTS YRCX

Programming Manual

T-1

Introduction

Safety precautions

Chapter 1 Writing Programs

1The OMRON Robot Language 1-1

2Characters 1-1

3Program Basics 1-1

4Program Names 1-2

5 Identiers 1-4

6 LABELStatement 1-4

7Comment 1-5

8Command Statement Format 1-5

Chapter 2 Constants

1Outline 2-1

2Numeric constants 2-1

2.1 Integer constants 2-1

2.2 Real constants 2-1

3Character constants 2-2

Chapter 3 Variables

1Outline 3-1

2User Variables & System Variables 3-2

2.1 User Variables 3-2

2.2 System Variables 3-2

3Variable Names 3-3

3.1 Dynamic Variable Names 3-3

3.2 Static Variable Names 3-3

4 VariableTypes 3-4

CONTENTS YRCX

Programming Manual

T-2

4.1 Numeric variables 3-4

4.2 Character variables 3-4

5Array variables 3-5

6Value Assignments 3-5

7Type Conversions 3-6

8Value Pass-Along & Reference Pass-Along 3-6

9System Variables 3-7

9.1 Point variable 3-7

9.2 Shift variable 3-8

9.3 Parallel input variable 3-8

9.4 Parallel output variable 3-9

9.5 Internal output variable 3-10

9.6 Arm lock output variable 3-11

9.7 Timer output variable 3-12

9.8 Serial input variable 3-13

9.9 Serial output variable 3-14

9.10 Serial word input 3-15

9.11 Serial double word input 3-15

9.12 Serial word output 3-16

9.13 Serial double word output 3-16

10 Bit Settings 3-17

11 Valid range of variables 3-18

11.1 Valid range of dynamic (array) variables 3-18

11.2 Valid range of static variables 3-18

12 Clearing variables 3-19

12.1 Clearing dynamic variables 3-19

12.2 Clearing static variables 3-19

Chapter4 ExpressionsandOperations

1 Arithmeticoperations 4-1

1.1 Arithmetic operators 4-1

1.2 Relational operators 4-1

1.3 Logic operations 4-2

1.4 Priority of arithmetic operation 4-3

1.5 Data format conversion 4-3

CONTENTS YRCX

Programming Manual

T-3

2 Characterstringoperations 4-4

2.1 Character string connection 4-4

2.2 Character string comparison 4-4

3 Pointdataformat 4-5

4 DI/DOconditionalexpressions 4-6

Chapter 5 Multiple Robot Control

1Overview 5-1

2Command list with a robot setting 5-2

Chapter 6 Multi-tasking

1Outline 6-1

2 Taskdenitionmethod 6-1

3Task status and transition 6-2

3.1 Starting tasks 6-2

3.2 Task scheduling 6-3

3.3 Condition wait in task 6-4

3.4 Suspending tasks (SUSPEND) 6-5

3.5 Restarting tasks (RESTART) 6-5

3.6 Deleting tasks 6-6

3.7 Stopping tasks 6-7

4 Multi-taskprogramexample 6-8

5Sharing the data 6-8

6Cautionary Items 6-9

Chapter 7 Sequence fnction

1Sequence function 7-1

2Creating a sequence program 7-1

2.1 Programming method 7-1

2.2 Compiling 7-3

3 Executingasequenceprogram 7-4

3.1 Sequence program STEP execution 7-4

CONTENTS YRCX

Programming Manual

T-4

4Programming a sequence program 7-5

4.1 Assignment statements 7-5

4.2 Input/output variables 7-5

4.2.1 Input variables 7-5

4.2.2 Output variables 7-6

4.3 Timerdenitionstatement 7-7

4.4 Logical operators 7-7

4.5 Priority of logic operations 7-8

4.6 Sequenceprogramspecications 7-8

Chapter 8 Robot Language Lists

How to read the robot language table 8-1

Command list in alphabetic order 8-2

 Operation-specic 8-7

Functions: in alphabetic order 8-13

 Functions:operation-specic 8-16

1ABS Acquires absolute values 8-18

2ABSRPOS Acquires the machine reference value (axes: mark method) 8-19

3ACCEL Species/acquires the acceleration coefcient parameter 8-20

4 ARCHP1 / ARCHP2 Species/acquires the arch position parameter 8-21

5ARMCND Acquires the current arm status 8-23

6ARMSEL Sets/acquires the current hand system selection 8-24

7ARMTYP Sets/acquires the hand system selection during program reset 8-25

8ASPEED Sets/acquires the AUTO movement speed of a specied robot 8-26

9 ATN / ATN2 Acquires the arctangent of the specied value 8-27

10 AXWGHT Sets/acquires the axis tip weight 8-28

11 CALL Calls a sub-procedure 8-29

12 CHANGE Switches the hand 8-30

13 CHGPRI Changes the priority ranking of a specied task 8-31

14 CHR$ Acquires a character with the specied character code 8-32

15 CLOSE Closes the specied General Ethernet Port 8-33

16 COS Acquires the cosine value of a specied value 8-34

17 CURTQST Acquires the current torque value of a specied axis

to the rated torque 8-35

18 CURTRQ Acquires the current torque of the specied axis 8-36

CONTENTS YRCX

Programming Manual

T-5

19 CUT Terminates another task which is currently being executed 8-37

20 DATE$ Acquires the date 8-38

21 DECEL Species/acquires the deceleration rate parameter 8-39

22 DEF FN Denes functions which can be used by the user 8-40

23 DEGRAD Angle conversion (degree →radian) 8-41

24 DELAY Program execution waits for a specied period of time 8-42

25 DI Acquires the input status from the parallel port 8-43

26 DIM Declares array variable 8-44

27 DIST Acquires the distance between 2 specied points 8-45

28 DO Outputs to parallel port or acquires the output status 8-46

29 DRIVE Executes absolute movement of specied axes 8-48

30 DRIVEI Moves the specied robot axes in a relative manner 8-52

31 END SELECT Ends the SELECT CASE statement 8-57

32 END SUB Ends the sub-procedure denition 8-58

33 ERR / ERL Acquires the error code / error line number 8-59

34 ETHSTS Acquires the Ethernet port status 8-60

35 EXIT FOR Terminates the FOR to NEXT statement loop 8-61

36 EXIT SUB Terminates the sub-procedure dened by the SUB to END SUB

statement 8-62

37 EXIT TASK Terminates its own task which is in progress 8-63

38 FOR to NEXT Performs loop processing until the variable exceeds

the specied value 8-64

39 GEPSTS Acquires the General Ethernet Port status 8-65

40 GOSUB to RETURN Jumps to a subroutine 8-66

41 GOTO Executes an unconditional jump to the specied line 8-67

42 HALT Stops the program and performs a reset 8-68

43 HALTALL Stops all programs and performs reset 8-69

44 HAND Denes the hand 8-70

44.1 For SCARA Robots 8-70

45 HOLD Temporarily stops the program 8-73

46 HOLDALL Temporality stops all programs 8-74

47 IF Evaluates a conditional expression value, and executes

the command in accordance with the conditions 8-75

47.1 Simple IF statement 8-75

47.2 Block IF statement 8-76

48 INPUT Assigns a value to a variable specied from the programming box 8-77

49 INT Truncates decimal fractions 8-79

CONTENTS YRCX

Programming Manual

T-6

50 JTOXY Performs axis unit system conversions (pulse →mm) 8-80

51 LEFT$ Extracts character strings from the left end 8-81

52 LEFTY Sets the SCARA robot hand system as a left-handed system 8-82

53 LEN Acquires a character string length 8-83

54 LET Assigns values to variables 8-84

55 LO Arm lock output or acquires the output status 8-87

56 LOCx Species/acquires point data for a specied axis or shift data

for a specied element 8-89

57 LSHIFT Left-shifts a bit 8-91

58 MCHREF Acquires the machine reference value

(axes: sensor method / stroke-end method) 8-92

59 MID$ Acquires a character string from a specied position 8-93

60 MO Outputs a specied value to the MO port

or acquires the output status 8-94

61 MOTOR Controls the motor power status 8-96

62 MOVE Performs absolute movement of robot axes 8-97

63 MOVEI Performs relative movement of robot axes 8-112

64 MOVET Performs relative movement of all robot axes in tool coordinates 8-122

65 MTRDUTY Acquires the motor load factor of the specied axis 8-132

66 OFFLINE Sets a specied communication port to the "ofine" mode 8-133

67 ON ERROR GOTO Jumps to a specied label when an error occurs 8-134

68 ON to GOSUB Executes the subroutine specied by the <expression> value 8-135

69 ON to GOTO Jumps to the label specied by the <expression> value 8-136

70 ONLINE Sets the specied communication port to the "online" mode 8-137

71 OPEN Opens the specied General Ethernet Port 8-138

72 ORD Acquires a character code 8-139

73 ORGORD Species/acquires the robot's return-to-origin sequence 8-140

74 ORIGIN Performs return-to-origin 8-141

75 OUT Turns ON the specied port output 8-142

76 OUTPOS

Species/acquires the OUT enable position parameter of the robot

8-143

77 PATH Species the motion path 8-145

78 PATH END Ends the path setting 8-151

79 PATH SET Starts the path setting 8-152

80 PATH START Starts the PATH motion 8-155

81 PDEF Denes the pallet 8-159

82 PGMTSK Acquires the task number

in which a specied program is registered 8-160

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