Omron YRC - I;O Interface Overview; Main System Configuration

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System overview

2-1

1. I/O interface overview

1.1 Main system configuration

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Configuration: System for controlling one robot

Example: R6YXG500

All the axes on the robot controller are used as axes of the robot 1.

OMRON robot

YRCX

Personal computer

External device

(PLC etc.)

Programming box

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 - I;O Interface Overview; Main System Configuration

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