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Omron YRC User Manual
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2
System o
v
er
vie
w
2-4
2.2
Controller system
â–
Basic block diagram
ROBO
I/O
1-2
ROBO
I/O
3-4
BAT1
BAT2
BAT3
BAT4
SAFETY
PB
BK24V
COM
USB
EN
DRIVER1
DRIVER2
AXIS2
DRIVER2
AXIS3
DRIVER2
AXIS4
DRIVER POWER
CPU BOARD
FAN
REGISTOR
OP.1
OP.2
OP.3
OP.4
L
N
L1
N1
AC IN
RGEN
M1
M3
M2
M4
DRIVER2
AXIS1
59
61
Table of Contents
Default Chapter
3
Table of Contents
3
Safety Information
13
Signal Words Used in this Manual
14
Warning Labels
15
Warning Label Messages on Robot and Controller
15
Supplied Warning Labels
18
Warning Symbols
19
Important Precautions for each Stage of the Robot Life Cycle
20
Precautions for Using Robots and Controllers
20
Design
21
Precautions for Robots
21
Precautions for Robot Controllers
21
Moving and Installation
22
Precautions for Robots
22
Precautions for Robot Controllers
23
Safety Measures
25
Installing a Safety Enclosure
26
Operation
27
Trial Operation
27
Automatic Operation
29
Precautions During Operation
29
Inspection and Maintenance
31
Before Inspection and Maintenance Work
31
Precautions During Service Work
32
Disposal
33
Emergency Action When a Person Is Caught by Robot
34
Cautions Regarding Strong Magnetic Fields
34
Using the Robot Safely
35
Movement Range
35
Robot Protective Functions
36
Residual Risk
37
Special Training for Industrial Robot Operation
37
KC Mark
38
EMC Standards
38
Examples of EMC Countermeasures
38
Warranty
39
Important Information before Reading this Manual
41
Introduction
41
About this Manual
41
Overview of the YRCX
41
Before Using the Robot Controller (be Sure to Read the Following Notes)
41
Chapter 1 Using the Robot Safely
47
Emergency Action When a Person Is Caught by Robot
49
Emergency Stop
50
Emergency Stop Release and Alarm Reset
50
Power-ON Procedures
52
Usage Environments
53
Chapter 2 System Overview
55
I/O Interface Overview
57
Main System Configuration
57
Axis Configuration for the YRCX
58
Name of each Part and Control System
59
YRCX External View
59
Controller System
60
Optional Devices
61
Programming Box
61
Basic Key Operation
61
Expansion I/O Board
61
Basic Sequence from Installation to Operation
62
Chapter 3 Installation
63
Transport, Unpacking
65
Installing the Robot Controller
65
Installation Conditions
65
Installation Methods
66
Connecting to the Power
67
Power Supply and Ground Terminals
67
AC Power Connector Wiring
68
Considering Power Capacity and Generated Heat Amount
69
Installing an External Leakage Breaker
70
Selecting Condition
70
Installing a Circuit Protector
70
Installing an Electromagnetic Contactor
70
Installing a Noise Filter
71
Installing a Surge Absorber
71
Connecting the Absolute Battery
72
Robot Connections
73
Connecting the Robot Cables
73
Noise Countermeasures
74
Connecting the Programming Box
74
I/O Connections
75
Connecting the Regenerative Shorting Connector
75
Connecting the Brake Power Supply
76
Precautions for Cable Routing and Installation
76
Wiring Methods
76
Methods of Preventing Malfunctions
77
Checking the Robot Controller Operation
78
Controller Wiring
78
Wiring Example of Emergency Stop Circuit for Operation Check
79
Operation Check
79
Chapter 4 I/O Interface
81
I/O Interface Overview
83
ID Settings
84
Power Supply
84
Power Connector Wiring Work
85
Connector I/O Signals
86
Standard Specification I/O Connector Signal List
86
Expanded Specification I/O Connector Signal List
87
Connector Pin Assignment Lists
88
Standard Specification I/O Connector
88
Expanded Specification I/O Connector
88
Connector Pin Numbers
89
Typical Input Signal Connection
89
Typical Output Signal Connection
90
Dedicated Input Signal Description
91
Dedicated Output Signal Description
92
Dedicated I/O Signal Timing Chart
94
From the Controller Power on to Servo on
94
Controller Emergency Stop and Servo on Reset
95
Return-To-Origin
96
Program Reset and Program Execution
97
Stopping by Program Stop
98
General-Purpose I/O Signals
99
General-Purpose Input Signals
99
General-Purpose Output Signals
99
General-Purpose Output Signal Reset (Off)
99
Ratings
100
Input
100
Output
100
Caution Items
100
Chapter 5 SAFETY I/O Interface
101
SAFETY I/O Interface Overview
103
Power
103
Connector I/O Signals
103
Connection Example Combining the Programming Box with External Emergency Stop Circuit
104
Connection Example of Controller with CE Specifications and PBEX
104
Connection Example Of Controller With Ce Specifications And Pbex
104
Connections Example of Dedicated Input Signal
105
Emergency Stop Inputs (E-STOP RDY*, E-STOP COM*)
105
AUTO Mode Inputs (AUTO*+, AUTO COM*)
105
Connection Example of Dedicated Output Signal
106
Emergency Stop Contact Outputs (E-STOP*1, E-STOP*2)
106
Enable Switch Contact Outputs (ENABLE*1, ENABLE*2)
106
Motor Power Ready Outputs (MP RDY*+, MP RDY*-)
107
Chapter 6 External Communication Interface
109
Overview
111
Communication Overview
111
ONLINE and OFFLINE Modes
112
Character Code
113
Rs-232C
114
Connectors and Cables
114
Communication Specifications
115
Connections
115
Communication Parameter Setting
116
Communication Flow Control
117
Flow Control During Transmit
117
Flow Control During Receive
117
Other Caution Items
117
Ethernet
118
Connectors and Cables
119
Communication Specifications
121
Connections
122
Parameter Setting on Controller (Server)
123
Setting the Communication Mode and Parameters
124
Initializing Communication Parameters
124
System Setting on Personal Computer (Client)
125
Setting the TCP/IP Protocol
125
Connection Check Using "Ping
126
Communication Example Using "TELNET.EXE
126
Appendix
127
Example of Network System Configuration
127
Glossary
130
General Ethernet Port (GEP)
132
GEP Parameter Setting
132
GEP Parameter Setting Method
133
Initializing Communication Parameters
134
Chapter 7 Controller System Settings
135
Overview
137
History
137
Check
138
Property
138
Robot Information
138
Option Information
139
Clock
139
Version
139
Configuration
140
USB Memory Operation
140
Saving the Data
140
Loading the Data
141
Execution Level
142
Changing the Access Level
142
Safety Setting
143
Initialize
144
Initializing the Data
144
Setting the Clock
145
Generation
146
Parameters
146
Parameter Setting Conditions
146
Setting the Parameters
146
Parameter List
148
Controller Parameters
151
Robot Parameters
153
Axis Parameters
156
I/O Parameters
163
Option Board Related Parameters
165
Chapter 8 Periodic Inspection
169
Before Carrying out Work
171
Maintenance Parts
171
Periodic Inspections
171
Daily Inspections
171
Three-Month Inspections
172
Replacing the Absolute Battery
172
Replacing the Memory Battery
172
Chapter 9 Specifications
175
Controller
177
Specifications
177
Basic Functions
178
Programming Box
178
External View
179
Programming Box
180
Basic Specifications
180
External View
180
Troubleshooting
181
Alarm Messages
183
Alarm Messages Related to the Controller
183
Alarm Group Number List
185
Alarm Classification Number List
186
Warning Number List
186
0] Operation Messages
186
1] System Events
187
2] Alarm Related to the Robot Operation
189
3] Alarm Related to the Program File Operation
195
3] Alarm Related To The Program File Operation
195
4] Alarm Related to the Data Input
197
5] Alarm Related to the Syntax of the Robot Language (Compile
198
5] Alarm Related to the Syntax of the Robot Language (Compile)
198
6] Alarm Related to the Robot Language Execution
205
9] Alarm Related to the Memory
215
Alarm Related to the Environment and General Hardware
218
Alarm Related to the Option Board
220
Alarm Related to the Communication
228
Alarm Related to the Motor Control
231
Alarm Related to the YC-Link/E
237
Serious Alarm Related to Software
240
Serious Alarm Related to Hardware
241
Alarm Related to the Gripper
244
Alarm Related to the Driver I/F
248
Alarm Related To The Driver I/F
248
C] Warning
249
Alarm Messages Related to the Programming Box
250
Troubleshooting
251
When Trouble Occurs
251
Acquiring the Alarm Information
252
Checking the Alarm Occurrence Status
252
Checking the Alarm History
252
Troubleshooting Checkpoints
253
Installation and Power Supply
253
Robot Operation
254
I/O
255
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Omron YRC Specifications
General
Brand
Omron
Model
YRC
Category
Controller
Language
English
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