Yamaha CEmarking RCX221 Bedienungsanleitung

User’s Manual ENGLISH E

RCX221

YAMAHA 2-AXIS ROBOT CONTROLLER

IM Operations

882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan

URL http://www.yamaha-motor.jp/robot/index.html

YAMAHA MOTOR CO., LTD.

E100-Ver. 2.10

INTRODUCTION

Introduction

Our sincere thanks for your purchase of this YAMAHA robot controller.

This manual explains how to install and operate the YAMAHA robot controller. Be sure to

read this manual carefully as well as related manuals and comply with their instructions

for using the YAMAHA robot controller safely and correctly.

Refer to the "Programming Manual" that comes with the robot controller for detailed

information on robot programs.

BEFORE USING THE ROBOT CONTROLLER (BE SURE TO READ THE FOLLOWING NOTES)

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

Please be sure to perform the following tasks before using the robot controller.

Failing to perform these tasks may cause abnormal robot operation (vibration, noise) when

the power is turned on.

[1] When connecting the power supply to the robot controller

Always make a secure connection to the ground terminal on the robot controller to

ensure safety and prevent malfunctions due to noise.

Reference

Refer to "4. Connecting to the power" in Chapter 3, "Installation".

[2] When connecting robot cables to the robot controller

Be sure to keep robot cables separate from the robot controller power connection

lines and other equipment power lines. Using in close contact with lines carrying

power may cause malfunctions or abnormal operation.

OVERVIEW OF THE RCX SERIES

Overview of the RCX series

The YAMAHA RCX series robot controllers were developed based on years of YAMAHA

experience and proven achievements in robotics and electronics. These controllers are

specifically designed to operate YAMAHA industrial robots efficiently and accurately.

Despite their compact size, the RCX series controllers operate efficiently as multi-axis

controllers with a variety of functions.

Major features and functions are:

1. Multi-task function

Up to 8 tasks* can be run simultaneously in a specified priority. (Low priority tasks

are halted while high priority tasks are run.)

I/O parallel processing and interrupt processing are also available, so that operational

efficiency of the total robot system including peripheral units is greatly improved.

(*: Refer to the programming manual for more details on multi-tasking.)

2. Robot language

The RCX series controller comes with a BASIC-like high-level robot language that

conforms to the industrial robot programming language SLIM *1. This robot language

allows easy programming even of complex movements such as multi-task operations

and uses a compiling method *2for rapid execution of programs.

(*1: Standard Language for Industrial Manipulators)

(*2: This compiling method checks the syntax in a robot language program, converts

it into intermediate codes, and creates an execution file (object file) before actually

performing the program.)

3. Movement command

• Arch motion

Spatial movement during pick-and-place work can be freely set according to the

work environment. This is effective in reducing cycle time.

4. Maintenance

Software servo control provides unit standardization. This allows connection to most

YAMAHA robot models and simplifies maintenance.

5. CE marking *

As a YAMAHA robot series product, the RCX series robot controller is designed to

conform to machinery directives, low-voltage directives and EMC (Electromagnetic

compatibility) directives. In this case, the robot controller is set to operate under

"SAFE" mode. (* For CE marking compliance, see the CE marking supplement manual.)

This manual explains how to handle and operate the YAMAHA robot controllers

correctly and effectively, as well as I/O interface connections.

Read this manual carefully before installing and using the robot controller. Also refer

to the separate "Programming Manual" and "Robot User's Manual" as needed.

MEMO

GENERAL CONTENTS

General Contents

Introduction 1

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

Overview of the RCX series 3

Chapter 1 USING THE ROBOT SAFELY

1. Safety information 1-1

2. Particularly important cautions 1-3

2.1 System design safety points 1-3

2.2 Installation safety points 1-4

2.3 Wiring safety points 1-5

2.4 Start-up and maintenance safety points 1-6

2.5 Safety precautions during robot operation 1-8

2.6 Precautions for disposal 1-8

3. Safety measures for robots 1-9

3.1 Safety measures for single-axis robots, Cartesian robots,

and pick & place robots 1-9

4. Motor overload precautions 1-9

5. Warning labels and marks 1-9

5.1 Warning labels 1-9

5.2 Warning marks 1-10

Industrial robot operating and maintenance personnel

1-10

7. Make daily and periodic inspections 1-11

8. Warranty 1-11

9. Operating environment 1-11

Chapter 2 SYSTEM OVERVIEW

1. System overview 2-1

1.1 Main system configuration 2-1

1.2 RCX22 series axis definition 2-2

2. Part names and functions 2-3

2.1 RCX221 (Maximum number of axes: 2) 2-3

2.2 RCX221HP (Maximum number of axes: 2) 2-3

GENERAL CONTENTS

3. Control system 2-4

3.1 RCX221/RCX221HP 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

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

4.1 AC200 to 230V single-phase specifications 3-7

4.1.1 AC power connector wiring 3-8

4.2 Power capacity 3-9

4.3 Installing an external leakage breaker 3-10

4.4 Installing a circuit protector 3-11

4.5 Installing a surge absorber 3-11

4.6 Installing a current control switch 3-12

5. Connecting the robot cables 3-13

6. Connecting the RPB programming box 3-14

7. I/O connections 3-15

8. Connecting a host computer 3-16

9. Connecting a regenerative unit 3-17

10.

Precautions for cable routing and installation

3-19

10.1 Wiring methods 3-19

10.2 Precautions for installation 3-21

10.3 Methods of preventing malfunctions 3-21

11. Checking the robot controller operation 3-22

11.1 Cable connection 3-22

iii

GENERAL CONTENTS

11.2 Operation check 3-23

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

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

7. Mode configuration 4-19

7.1 Basic operation modes 4-19

7.2 Other operation modes 4-20

7.3 Mode hierarchy 4-21

8. "SERVICE" mode 4-26

8.1 Operation device 4-26

8.2 Prohibition of "AUTO" mode operation 4-26

8.3 Hold-to-Run function 4-26

8.4 Limitations on robot operating speed 4-27

9. "AUTO" mode 4-28

9.1 Automatic operation 4-31

9.2 Stopping the program 4-32

9.3 Resetting the program 4-33

9.4 Switching task display 4-35

GENERAL CONTENTS

9.5 Switching the program 4-36

9.6 Changing the automatic movement speed 4-37

9.7 Executing the point trace 4-38

9.7.1 PTP motion mode 4-40

9.7.2 ARCH motion mode 4-41

9.7.3 Linear interpolation motion mode 4-43

9.8 Direct command execution 4-44

9.9 Break point 4-45

9.9.1 Setting break points 4-46

9.9.2 Deleting break points 4-47

9.10 Executing a step 4-48

9.11 Skipping a step 4-48

9.12 Executing the next step 4-49

10. "PROGRAM" mode 4-50

10.1 Scrolling a program listing 4-51

10.2 Program editing 4-52

10.2.1 Cursor movement 4-54

10.2.2 Insert/Overwrite mode switching 4-55

10.2.3 Inserting a line 4-56

10.2.4 Deleting a character 4-56

10.2.5 Deleting a line 4-56

10.2.6 User function key display 4-57

10.2.7 Quitting program editing 4-58

10.2.8 Specifying the copy/cut lines 4-58

10.2.9 Copying the selected lines 4-59

10.2.10 Cutting the selected lines 4-59

10.2.11 Pasting the data 4-60

10.2.12 Backspace 4-60

10.2.13 Line jump 4-61

10.2.14 Searching a character string 4-62

10.3 Directory 4-63

10.3.1 Cursor movement 4-65

10.3.2 Registering a new program name 4-65

10.3.3 Directory information display 4-66

10.3.4 Copying a program 4-67

10.3.5 Erasing a program 4-68

10.3.6 Renaming a program 4-69

10.3.7 Changing the program attribute 4-70

10.3.8 Displaying object program information 4-71

10.3.9 Creating a sample program automatically 4-72

10.4 Compiling 4-74

10.5 Line jump and character string search 4-75

10.6 Registering user function keys 4-75

10.7 Resetting an error in the selected program 4-79

11. "MANUAL" mode 4-80

11.1 Manual movement 4-82

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