Omron YRC - Chapter 9 Specifications; 1. Controller; 2. Programming box

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Chapter 9 Speciﬁcations

1. Controller 9-1

1.1 Specications 9-1

1.2 Basic functions 9-2

1.3 External view 9-3

2. Programming box 9-4

2.1 Basicspecications 9-4

2.2 External view 9-4

Main Page

Default Chapter3
- Table of Contents3
Safety Information13
Signal Words Used in this Manual14
Warning Labels15
- Warning Label Messages on Robot and Controller15
- Supplied Warning Labels18
- Warning Symbols19
Important Precautions for each Stage of the Robot Life Cycle20
- Precautions for Using Robots and Controllers20
- Design21
  - Precautions for Robots21
  - Precautions for Robot Controllers21
- Moving and Installation22
  - Precautions for Robots22
  - Precautions for Robot Controllers23
- Safety Measures25
  - Installing a Safety Enclosure26
- Operation27
- Inspection and Maintenance31
  - Before Inspection and Maintenance Work31
  - Precautions During Service Work32
- Disposal33
Emergency Action When a Person Is Caught by Robot34
Cautions Regarding Strong Magnetic Fields34
Using the Robot Safely35
- Movement Range35
- Robot Protective Functions36
- Residual Risk37
- Special Training for Industrial Robot Operation37
- KC Mark38
  - EMC Standards38
  - Examples of EMC Countermeasures38
Warranty39
Important Information before Reading this Manual41
Introduction41
- About this Manual41
Overview of the YRCX41
Before Using the Robot Controller (be Sure to Read the Following Notes)41
Chapter 1 Using the Robot Safely47
Emergency Action When a Person Is Caught by Robot49
Emergency Stop50
- Emergency Stop Release and Alarm Reset50
Power-ON Procedures52
Usage Environments53
Chapter 2 System Overview55
I/O Interface Overview57
- Main System Configuration57
- Axis Configuration for the YRCX58
Name of each Part and Control System59
- YRCX External View59
- Controller System60
Optional Devices61
- Programming Box61
- Basic Key Operation61
- Expansion I/O Board61
Basic Sequence from Installation to Operation62
Chapter 3 Installation63
Transport, Unpacking65
Installing the Robot Controller65
- Installation Conditions65
- Installation Methods66
Connecting to the Power67
- Power Supply and Ground Terminals67
- AC Power Connector Wiring68
- Considering Power Capacity and Generated Heat Amount69
- Installing an External Leakage Breaker70
  - Selecting Condition70
- Installing a Circuit Protector70
- Installing an Electromagnetic Contactor70
- Installing a Noise Filter71
- Installing a Surge Absorber71
Connecting the Absolute Battery72
Robot Connections73
- Connecting the Robot Cables73
- Noise Countermeasures74
Connecting the Programming Box74
I/O Connections75
Connecting the Regenerative Shorting Connector75
Connecting the Brake Power Supply76
Precautions for Cable Routing and Installation76
- Wiring Methods76
- Methods of Preventing Malfunctions77
Checking the Robot Controller Operation78
- Controller Wiring78
- Wiring Example of Emergency Stop Circuit for Operation Check79
- Operation Check79
Chapter 4 I/O Interface81
I/O Interface Overview83
- ID Settings84
- Power Supply84
- Power Connector Wiring Work85
- Connector I/O Signals86
  - Standard Specification I/O Connector Signal List86
  - Expanded Specification I/O Connector Signal List87
- Connector Pin Assignment Lists88
  - Standard Specification I/O Connector88
  - Expanded Specification I/O Connector88
- Connector Pin Numbers89
- Typical Input Signal Connection89
- Typical Output Signal Connection90
- Dedicated Input Signal Description91
- Dedicated Output Signal Description92
- Dedicated I/O Signal Timing Chart94
- General-Purpose I/O Signals99
Ratings100
- Input100
- Output100
Caution Items100
Chapter 5 SAFETY I/O Interface101
SAFETY I/O Interface Overview103
- Power103
- Connector I/O Signals103
- Connection Example Combining the Programming Box with External Emergency Stop Circuit104
  - Connection Example of Controller with CE Specifications and PBEX104
  - Connection Example Of Controller With Ce Specifications And Pbex104
- Connections Example of Dedicated Input Signal105
  - Emergency Stop Inputs (E-STOP RDY*, E-STOP COM*)105
  - AUTO Mode Inputs (AUTO*+, AUTO COM*)105
- Connection Example of Dedicated Output Signal106
Chapter 6 External Communication Interface109
Overview111
- Communication Overview111
- ONLINE and OFFLINE Modes112
- Character Code113
Rs-232C114
- Connectors and Cables114
- Communication Specifications115
- Connections115
- Communication Parameter Setting116
- Communication Flow Control117
  - Flow Control During Transmit117
  - Flow Control During Receive117
- Other Caution Items117
Ethernet118
- Connectors and Cables119
- Communication Specifications121
- Connections122
- Parameter Setting on Controller (Server)123
  - Setting the Communication Mode and Parameters124
  - Initializing Communication Parameters124
- System Setting on Personal Computer (Client)125
  - Setting the TCP/IP Protocol125
- Connection Check Using "Ping126
- Communication Example Using "TELNET.EXE126
- Appendix127
  - Example of Network System Configuration127
  - Glossary130
General Ethernet Port (GEP)132
- GEP Parameter Setting132
- GEP Parameter Setting Method133
- Initializing Communication Parameters134
Chapter 7 Controller System Settings135
Overview137
History137
Check138
Property138
- Robot Information138
- Option Information139
- Clock139
- Version139
- Configuration140
USB Memory Operation140
- Saving the Data140
- Loading the Data141
Execution Level142
- Changing the Access Level142
Safety Setting143
Initialize144
- Initializing the Data144
- Setting the Clock145
Generation146
Parameters146
- Parameter Setting Conditions146
- Setting the Parameters146
- Parameter List148
- Controller Parameters151
- Robot Parameters153
- Axis Parameters156
- I/O Parameters163
- Option Board Related Parameters165
Chapter 8 Periodic Inspection169
Before Carrying out Work171
Maintenance Parts171
Periodic Inspections171
- Daily Inspections171
- Three-Month Inspections172
Replacing the Absolute Battery172
Replacing the Memory Battery172
Chapter 9 Specifications175
Controller177
- Specifications177
- Basic Functions178
Programming Box178
- External View179
Programming Box180
- Basic Specifications180
- External View180
Troubleshooting181
Alarm Messages183
- Alarm Messages Related to the Controller183
- Alarm Messages Related to the Programming Box250
Troubleshooting251
- When Trouble Occurs251
- Acquiring the Alarm Information252
  - Checking the Alarm Occurrence Status252
  - Checking the Alarm History252
- Troubleshooting Checkpoints253

Omron YRC - Chapter 9 Specifications; 1. Controller; 2. Programming box

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