beautypg.com
Manuals
Brands
Yamaha Manuals
Controller
RCX222
Yamaha RCX222 Manuals
Manuals and User Guides for Yamaha RCX222. We have
3
Yamaha RCX222 manuals available for free PDF download: User Manual, Supporting Supplement Manual
Yamaha RCX222 User Manual (524 pages)
2-AXIS ROBOT CONTROLLER
Brand:
Yamaha
| Category:
Controller
| Size: 6.11 MB
Table of Contents
Table of Contents
3
Safety Information
15
Signal Words Used in this Manual
16
Warning Labels
17
Warning Label Messages on Robot and Controller
17
Supplied Warning Labels
22
Warning Symbols
23
Important Precautions for each Stage of the Robot Life Cycle
24
Precautions for Using Robots and Controllers
24
Essential Precautions for the Linear Conveyor Module
25
Design
26
Precautions for Robots
26
Precautions for Robot Controllers
26
Moving and Installation
27
Precautions for Robots
27
Precautions for Robot Controllers
28
Safety Measures
30
Installing a Safety Enclosure
31
Operation
32
Trial Operation
32
Automatic Operation
34
Precautions During Operation
34
Inspection and Maintenance
36
Before Inspection and Maintenance Work
36
Precautions During Service Work
37
Disposal
38
Emergency Action When a Person Is Caught by Robot
39
Cautions Regarding Strong Magnetic Fields
39
Using the Robot Safely
40
Movement Range
40
Robot Protective Functions
41
Residual Risk
42
Special Training for Industrial Robot Operation
42
Introduction
47
Before Using the Robot Controller (be Sure to Read the Following Notes)
48
Overview of the RCX Series
49
Chapter 1 USING the ROBOT SAFELY
51
Operating Environment
53
Chapter 2 SYSTEM OVERVIEW
57
System Overview
57
Main System Configuration
57
RCX22 Series Axis Definition
58
Part Names and Functions
59
RCX222 (Maximum Number of Axes: 2)
59
RCX222HP (Maximum Number of Axes: 2)
59
Control System
60
Rcx222/Rcx222Hp
60
Optional Devices
61
RPB Programming Box
61
I/O Expansion
61
Regenerative Unit
61
Basic Sequence from Installation to Operation
62
Chapter 3 INSTALLATION
63
Unpacking
65
Packing Box
65
Installing the Robot Controller
66
Installation Conditions
66
Installation Methods
68
Connector Names
70
Connecting to the Power
71
Connection Example
71
Power Supply and Ground Terminals
72
AC Power Connector Wiring
73
Considering Power Capacity and Generated Heat Amount
74
Installing an External Leakage Breaker
75
Installing a Circuit Protector
75
Installing an Electromagnetic Contactor
76
Installing a Noise Filter
76
Installing a Surge Absorber
77
Robot Connections
78
Connecting the Robot Cables
78
Noise Countermeasures
79
Connecting the RPB Programming Box
80
I/O Connections
81
Connecting a Host Computer
82
Connecting the Absolute Battery
83
Replacing the Absolute Battery
85
Connecting a Regenerative Unit
86
Precautions for Cable Routing and Installation
88
Wiring Methods
88
Precautions for Installation
90
Methods of Preventing Malfunctions
90
Checking the Robot Controller Operation
91
Cable Connection
91
Operation Check
92
Chapter 4 OPERATION
93
Operation Overview
99
The RCX Robot Controller
100
Part Names
100
Main Functions
100
RPB Programming Box
101
Part Names
101
Main Functions
101
Connection to the Robot Controller
102
Changing the RPB Screen Settings
103
Turning Power on and off
104
Operation Keys
106
RPB Screen
106
Operation Key Layout
107
Basic Key Operation
108
Function Keys
109
Control Keys
111
Data Keys
113
Other Keys
113
Emergency Stop
114
Emergency Stop Reset
115
Overload Error Reset
117
Mode Configuration
119
Basic Operation Modes
119
Other Operation Modes
120
Mode Hierarchy
121
SERVICE" Mode
126
Operation Device
126
Prohibition of "AUTO" Mode Operation
126
Hold-To-Run Function
126
Limits on Robot Moving Speed
127
AUTO" Mode
128
Automatic Operation
131
Stopping the Program
132
Resetting the Program
133
Switching Task Display
135
Switching the Program
136
Changing the Automatic Movement Speed
137
Executing the Point Trace
138
PTP Motion Mode
140
ARCH Motion Mode
141
Linear Interpolation Motion Mode
143
Direct Command Execution
144
Break Point
145
Setting Break Points
146
Deleting Break Points
147
Executing a Step
148
Skipping a Step
148
Executing the Next Step
149
PROGRAM" Mode
150
Scrolling a Program Listing
151
Program Editing
152
Cursor Movement
154
Insert/Overwrite Mode Switching
155
Inserting a Line
156
Deleting a Character
156
Deleting a Line
156
User Function Key Display
157
Quitting Program Editing
158
Specifying the Copy/Cut Lines
158
Copying the Selected Lines
159
Cutting the Selected Lines
159
Pasting the Data
160
Backspace
160
Line Jump
161
Searching a Character String
162
Directory
163
Cursor Movement
165
Registering a New Program Name
165
Directory Information Display
166
Copying a Program
167
Erasing a Program
168
Renaming a Program
169
Changing the Program Attribute
170
Displaying Object Program Information
171
Creating a Sample Program Automatically
172
Compiling
174
Line Jump and Character String Search
175
Registering User Function Keys
175
Resetting an Error in the Selected Program
179
MANUAL" Mode
180
Manual Movement
182
Displaying and Editing Point Data
185
Point Data Input and Editing
187
Restoring Point Data
188
Point Data Input by Teaching
189
Point Data Input by Direct Teaching
191
Point Jump Display
192
Copying Point Data
193
Erasing Point Data
195
Point Data Trace
196
Point Comment Input and Editing
196
Point Data Input by Teaching
198
Jump to a Point Comment
199
Copying a Point Comment
199
Erasing Point Comments
201
Point Comment Search
202
Point Data Error Reset
203
Displaying, Editing and Setting Pallet Definitions
204
Editing Pallet Definitions
206
Point Setting in Pallet Definition
207
Editing the Point in Pallet Definition
208
Setting the Point in Pallet Definition by Teaching
208
Pallet Definition by Teaching
209
Copying a Pallet Definition
212
Deleting a Pallet Definition
213
Changing the Manual Movement Speed
214
Displaying, Editing and Setting Shift Coordinates
215
Editing Shift Coordinates
217
Restoring Shift Coordinates
218
Editing the Shift Coordinate Range
219
Restoring a Shift Coordinate Range
221
Shift Coordinate Setting Method 1
222
Shift Coordinate Setting Method 2
225
Displaying, Editing and Setting Hand Definitions
228
Editing Hand Definitions
231
Restoring Hand Definitions
232
Hand Definition Setting Method 1
233
Changing the Display Units
235
Absolute Reset
236
Checking Absolute Reset
237
Absolute Reset on each Axis
238
Absolute Reset on All Axes
245
Setting the Standard Coordinates
251
Executing the User Function Keys
252
SYSTEM" Mode
253
Parameters
255
Parameter List
257
Robot Parameters
259
Axis Parameters
263
Other Parameters
283
Parameters for Option Boards
299
Option DIO Setting
301
Serial IO Setting
302
Setting the Network Parameters
307
Communication Parameters
309
OPTION Parameters
318
Setting the Area Check Output
319
Setting the "SERVICE" Mode
328
Saving the "SERVICE" Mode Parameters
334
Help Display in "SERVICE" Mode
335
SIO Settings
336
Double-Carrier Setting
339
Before Using a Double-Carrier
339
Setting the Double-Carrier Parameters
340
Initialization
343
Initializing the Parameters
344
Initializing the Memory
345
Initializing the Communication Parameters
346
Clock Setting
347
System Generation
348
Self Diagnosis
349
Controller Check
350
Error History Display
351
Displaying the Absolute Battery Condition
352
Displaying the Total Operation Time
353
System Error Details Display
354
Backup Processes
355
SD Memory Card
356
Loading Files
358
Saving Files
360
Deleting Files
362
Previewing Files
363
Internal Flash ROM
364
Loading Files
365
Saving Files
367
Initializing the Files
368
MONITOR" Mode
369
UTILITY" Mode
372
Canceling Emergency Stop; Motor Power and Servo On/Off
374
Canceling Emergency Stop
374
Motor Power and Servo On/Off
375
Overload Error Reset and Motor and Servo Power On/Off
377
Emergency Stop Reset
377
Overload Error Reset
377
Enabling/Disabling the Sequence Execution Flag
378
Resetting the Output Ports
379
Changing the Execution Level
380
Changing the Execution Level
381
Displaying the Help Message
382
Changing the Access Level (Operation Level)
383
Entering the Password
384
Changing the Access Level
385
Displaying the Help Message
386
Chapter 5 PARALLEL I/O INTERFACE
387
Standard I/O Interface Overview
389
ID Setting
390
Connector I/O Signals
391
Connector Pin Numbers
394
Connecting the Power Supply
395
NPN/PNP Power Connector Wiring
396
Typical Input Signal Connection
397
Typical Output Signal Connection
398
Dedicated I/O Signals
399
Dedicated Input Signals
399
Dedicated Output Signals
401
General-Purpose I/O Signals
403
General-Purpose Output Reset
403
Dedicated I/O Signal Timing Charts
404
Turning the Power on
404
Emergency Stop and Servo on
406
ABS (Absolute) Reset
407
Mode Switching
408
Automatic Operation
409
Ratings
410
Precautions
411
Chapter 6 SAFETY I/O INTERFACE
413
SAFETY I/O Interface Overview
415
Power
415
Connector I/O Signals
416
Connector Terminal Numbers
417
Emergency Stop Input Signal Connections
418
Dedicated Input Signal Connections
424
Dedicated Output Signal Connections
425
Input Signal Description
427
Meaning of Output Signals
428
Chapter 7 RS-232C INTERFACE
429
Communication Overview
431
Communication Function Overview
432
Communication Specifications
433
Connector
433
Transmission Mode and Communication Parameters
435
Communication Flow Control
436
Flow Control During Transmit
436
Flow Control During Receive
436
Other Caution Items
437
Character Code Table
439
Connecting to a PC
440
Chapter 8 SPECIFICATIONS
443
Controller Basic Specifications
443
Controller Basic Functions
445
Controller External View
446
RCX222 External View
446
RCX222HP External View
447
RPB Basic Specifications and External View
448
Chapter 9 TROUBLESHOOTING
453
Error Messages
453
Robot Controller Error Messages
453
0] Warnings and Messages
455
1] Warnings (Error History Entry)
457
2] Robot Operating Area Errors
458
3] Program File Operating Errors
461
4] Data Entry and Edit Errors
464
5] Robot Language Syntax (Compiling) Errors
465
6] Robot Language Execution Errors
473
9] Memory Errors
478
System Setting or Hardware Errors
481
I/O and Option Board Errors
483
RPB Errors
487
RS-232C Communication Errors
488
Memory Card Errors
490
Motor Control Errors
492
YC-Link (SR1) Related Error
500
Major Software Errors
506
Major Hardware Errors
508
RPB Error Messages
514
Troubleshooting
516
When Trouble Occurs
516
Acquiring Error Information
517
Acquiring Information from the RPB
517
Acquiring Information from the RS-232C
517
Troubleshooting Checkpoints
518
Yamaha RCX222 User Manual (478 pages)
2-AXIS ROBOT CONTROLLER
Brand:
Yamaha
| Category:
Robotics
| Size: 4.92 MB
Table of Contents
General
7
Introduction
3
Before Using the Robot Controller (be Sure to Read the Following Notes)
4
Overview of the RCX Series
5
Table of Contents
7
Chapter 1 Using the Robot Safely
15
Safety Information
17
Particularly Important Cautions
19
System Design Safety Points
19
Installation Safety Points
20
Wiring Safety Points
21
Start-Up and Maintenance Safety Points
22
Precautions for Disposal
24
Safety Precautions During Robot Operation
24
Motor Overload Precautions
25
Safety Measures for Robots
25
Safety Measures for Single-Axis Robots, Cartesian Robots, and Pick & Place Robots
25
Warning Labels
25
Warning Labels and Marks
25
Industrial Robot Operating and Maintenance Personnel
26
Warning Marks
26
Make Daily and Periodic Inspections
27
Operating Environment
27
Chapter 2 System Overview
29
Warranty
27
Main System Configuration
31
System Overview
31
RCX22 Series Axis Definition
32
Part Names and Functions
33
RCX222 (Maximum Number of Axes: 2)
33
RCX222HP (Maximum Number of Axes: 2)
33
Control System
34
Rcx222/Rcx222Hp
34
I/O Expansion
35
Optional Devices
35
Regenerative Unit
35
RPB Programming Box
35
Basic Sequence from Installation to Operation
36
Chapter 3 Installation
37
Packing Box
39
Unpacking
39
Installation Conditions
40
Installing the Robot Controller
40
Installation Methods
42
Connector Names
44
AC200 to 230V Single-Phase Specifications
45
AC Power Connector Wiring
46
Connecting to the Power
45
Power Capacity
47
Installing a Circuit Protector
48
Installing an External Leakage Breaker
48
Installing a Current Control Switch
49
Installing a Surge Absorber
49
Connecting the Robot Cables
50
Connecting the RPB Programming Box
51
I/O Connections
52
Connecting a Host Computer
53
Connecting the Absolute Battery
54
Replacing the Absolute Battery
56
Connecting a Regenerative Unit
57
Precautions for Cable Routing and Installation
59
Wiring Methods
59
Methods of Preventing Malfunctions
61
Precautions for Installation
61
Cable Connection
62
Checking the Robot Controller Operation
62
Operation Check
63
Chapter 4 Operation
65
Operation Overview
71
Main Functions
72
Part Names
72
The RCX Robot Controller
72
Main Functions
73
Part Names
73
RPB Programming Box
73
Connection to the Robot Controller
74
Changing the RPB Screen Settings
75
Turning Power on and off
76
Operation Keys
78
RPB Screen
78
Operation Key Layout
79
Basic Key Operation
80
Function Keys
81
Control Keys
83
Data Keys
85
Other Keys
85
Emergency Stop
86
Emergency Stop Reset
87
Basic Operation Modes
89
Mode Configuration
89
Other Operation Modes
90
Mode Hierarchy
91
Hold-To-Run Function
96
Operation Device
96
Prohibition of "AUTO" Mode Operation
96
SERVICE" Mode
96
Limitations on Robot Operating Speed
97
AUTO" Mode
98
Automatic Operation
101
Stopping the Program
102
Resetting the Program
103
Switching Task Display
105
Switching the Program
106
Changing the Automatic Movement Speed
107
Executing the Point Trace
108
PTP Motion Mode
110
ARCH Motion Mode
111
Linear Interpolation Motion Mode
113
Direct Command Execution
114
Break Point
115
Setting Break Points
116
Deleting Break Points
117
Executing a Step
118
Skipping a Step
118
Executing the Next Step
119
PROGRAM" Mode
120
Scrolling a Program Listing
121
Program Editing
122
Cursor Movement
124
Insert/Overwrite Mode Switching
125
Inserting a Line
126
Deleting a Character
126
Deleting a Line
126
User Function Key Display
127
Quitting Program Editing
128
Specifying the Copy/Cut Lines
128
Copying the Selected Lines
129
Cutting the Selected Lines
129
Pasting the Data
130
Backspace
130
Line Jump
131
Searching a Character String
132
Directory
133
Cursor Movement
135
Registering a New Program Name
135
Directory Information Display
136
Copying a Program
137
Erasing a Program
138
Renaming a Program
139
Changing the Program Attribute
140
Displaying Object Program Information
141
Creating a Sample Program Automatically
142
Compiling
144
Line Jump and Character String Search
145
Registering User Function Keys
145
Resetting an Error in the Selected Program
149
MANUAL" Mode
150
Manual Movement
152
Displaying and Editing Point Data
155
Point Data Input and Editing
157
Restoring Point Data
158
Point Data Input by Teaching
159
Point Data Input by Direct Teaching
161
Point Jump Display
162
Copying Point Data
163
Erasing Point Data
165
Point Data Trace
166
Point Comment Input and Editing
166
Point Data Input by Teaching
168
Jump to a Point Comment
169
Copying a Point Comment
169
Erasing Point Comments
171
Point Comment Search
172
Point Data Error Reset
173
Displaying, Editing and Setting Pallet Definitions
174
Editing Pallet Definitions
176
Point Setting in Pallet Definition
177
Editing the Point in Pallet Definition
178
Setting the Point in Pallet Definition by Teaching
178
Pallet Definition by Teaching
179
Copying a Pallet Definition
182
Deleting a Pallet Definition
183
Changing the Manual Movement Speed
184
Displaying, Editing and Setting Shift Coordinates
185
Editing Shift Coordinates
187
Restoring Shift Coordinates
188
Editing the Shift Coordinate Range
189
Restoring a Shift Coordinate Range
191
Shift Coordinate Setting Method 1
192
Shift Coordinate Setting Method
195
Displaying, Editing and Setting Hand Definitions
198
Editing Hand Definitions
201
Restoring Hand Definitions
202
Hand Definition Setting Method 1
203
Changing the Display Units
205
Absolute Reset
206
Checking Absolute Reset
207
Absolute Reset on each Axis
208
Absolute Reset on All Axes
215
Setting the Standard Coordinates
221
Executing the User Function Keys
222
SYSTEM" Mode
223
Parameters
225
Robot Parameters
227
Axis Parameters
231
Other Parameters
250
Parameters for Option Boards
264
Option DIO Setting
266
Serial IO Setting
267
Serial IO Setting
268
Setting the Network Parameters
272
Communication Parameters
274
OPTION Parameters
283
Setting the Area Check Output
284
Setting the "SERVICE" Mode
293
Saving the "SERVICE" Mode Parameters
299
Help Display in "SERVICE" Mode
300
SIO Settings
301
Double-Carrier Setting
304
Before Using a Double-Carrier
304
Setting the Double-Carrier Parameters
305
Initialization
308
Initializing the Parameters
309
Initializing the Memory
310
Initializing the Communication Parameters
311
Clock Setting
312
System Generation
313
Self Diagnosis
314
Controller Check
315
Error History Display
316
Displaying the Absolute Battery Condition
317
Displaying the Total Operation Time
318
System Error Details Display
319
Backup Processes
320
SD Memory Card
321
Loading Files
323
Saving Files
325
Deleting Files
327
Previewing Files
328
Internal Flash ROM
329
Loading Files
330
Saving Files
332
Initializing the Files
333
MONITOR" Mode
334
UTILITY" Mode
337
Canceling Emergency Stop; Motor Power and Servo On/Off
339
Canceling Emergency Stop
339
Motor Power and Servo On/Off
340
Enabling/Disabling the Sequence Execution Flag
342
Resetting the Output Ports
343
Changing the Execution Level
344
Changing the Execution Level
345
Displaying the Help Message
346
Changing the Access Level (Operation Level)
347
Entering the Password
348
Changing the Access Level
349
Displaying the Help Message
350
Chapter 5 Parallel I\/O Interface
351
Standard I/O Interface Overview
353
ID Setting
354
Connector I/O Signals
355
Connector Pin Numbers
358
Connecting the Power Supply
359
NPN/PNP Power Connector Wiring
360
Typical Input Signal Connection
361
Typical Output Signal Connection
362
Dedicated I/O Signals
363
Dedicated Input Signals
363
Dedicated Output Signals
365
General-Purpose I/O Signals
367
General-Purpose Output Reset
367
Dedicated I/O Signal Timing Charts
368
Turning the Power on
368
Emergency Stop and Servo on
370
ABS (Absolute) Reset
371
Mode Switching
372
Automatic Operation
373
Ratings
374
Precautions
375
Chapter 6 Safety I\/O Interface
377
Power
379
SAFETY I/O Interface Overview
379
Connector I/O Signals
380
Connector Terminal Numbers
381
Emergency Stop Input Signal Connections
382
Dedicated Input Signal Connections
388
Dedicated Output Signal Connections
389
Input Signal Description
391
Meaning of Output Signals
392
Chapter 7 Rs-232C Interface
393
Communication Overview
395
Communication Function Overview
396
Communication Specifications
397
Connector
397
Transmission Mode and Communication Parameters
399
Communication Flow Control
400
Flow Control During Transmit
400
Flow Control During Receive
400
Other Caution Items
401
Character Code Table
403
Connecting to a PC
404
Chapter 8 Specifications
405
Controller Basic Specifications
407
Controller Basic Functions
409
Controller External View
410
RCX222 External View
410
RCX222HP External View
411
RPB Basic Specifications and External View
412
Chapter 9 Troubleshooting
415
Error Messages
417
Robot Controller Error Messages
417
0] Warnings and Messages
419
1] Warnings (Error History Entry)
421
2] Robot Operating Area Errors
422
3] Program File Operating Errors
425
4] Data Entry and Edit Errors
428
5] Robot Language Syntax (Compiling) Errors
428
6] Robot Language Execution Errors
437
9] Memory Errors
442
System Setting or Hardware Errors
445
I/O and Option Board Errors
447
RPB Errors
451
RS-232C Communication Errors
452
Memory Card Errors
454
Motor Control Errors
456
Major Software Errors
464
Major Hardware Errors
465
Chapter 8 SPECIFICATIONS
470
RPB Error Messages
470
Troubleshooting
472
When Trouble Occurs
472
Acquiring Error Information
473
Acquiring Information from the RPB
473
Acquiring Information from the RS-232C
473
Troubleshooting Checkpoints
474
Yamaha RCX222 Supporting Supplement Manual (92 pages)
ROBOT CONTROLLER
Brand:
Yamaha
| Category:
Controller
| Size: 2 MB
Table of Contents
General Contents
5
Table of Contents
5
Chapter 1 Using the Robot Safely
9
Safety Information
11
Particularly Important Cautions
12
System Design Safety Points
12
Installation Safety Points
13
Wiring Safety Points
14
Start-Up and Maintenance Safety Points
15
Safety Precautions During Robot Operation
17
Motor Overload Precautions
18
Precautions for Disposal
18
Safety Measures for Robots
18
Safety Measures for SCARA Type Robots
18
Safety Measures for Single-Axis Robots, Cartesian Robots, and Pick & Place Robots
18
Warning Labels
19
Warning Labels and Marks
19
Warning Marks
19
Industrial Robot Operating and Maintenance Personnel
20
Make Daily and Periodic Inspections
20
Chapter 2 CE Marking
21
Cautions Regarding Compliance with EC Directives
23
CE Marking
23
Safety Standards
23
Applicable EC Directives and Their Related Standards
24
Cautions Regarding the Official Language of EU Countries
24
Robots Subject to CE Marking
24
Usage Conditions
25
Chapter 3 System Overview
27
Main System Configuration
29
System Overview
29
Basic Configuration
31
Control System Configuration
31
Power Supply and Emergency Stop System Circuit Configuration
34
Part Names and Functions
35
Programming Box (RPB-E)
35
RPB Connector
37
SERVICE Mode
39
What Is SERVICE Mode
39
Flow for Enabling the SERVICE Mode Functions
41
SERVICE Mode Parameter Settings
41
SERVICE Mode Level
42
Limitations on Operating Speed During SERVICE Mode
42
Operation Device Control During SERVICE Mode
42
Chapter 4 Emc Countermeasure
43
EMC Countermeasure Examples 4.1.1 RCX240
45
EMC Countermeasure Examples
45
Configuration
46
Rcx240
46
Countermeasure Components
47
Rcx221/Rcx222
52
Configuration
52
Countermeasure Components
53
Chapter 5 External Safety Circuit Examples
57
Performance Level
59
Circuit Examples for the RCX240
60
Category
62
Category
64
Overview of Circuit Operation
65
Circuit Examples for the RCX221/RCX222
66
Category
68
Category
69
Category
70
Overview of Circuit Operation
71
Chapter 6 Specifications
73
Basic Specifications
75
Rcx240
75
Rcx221
77
Rcx222
79
Controller
75
Basic Functions
81
External View
82
Rcx240
82
Rcx221
85
Rcx221Hp
86
Rcx222
87
Rcx222Hp
88
Basic Specifications
89
Rpb-E
89
Programming Box
89
External View
90
Rpb-E
90
Related Products
Yamaha RCX240
Yamaha RCX40
Yamaha RCX142
Yamaha RCX340
Yamaha CEmarking RCX221
Yamaha RCX141
Yamaha RCX1
Yamaha RCX series
Yamaha RC-D24
Yamaha RCR-1
Yamaha Categories
Motorcycle
Musical Instrument
Electronic Keyboard
Receiver
Amplifier
More Yamaha Manuals